CN110988864A - MTI radar speed measuring method with frequency agility - Google Patents

Abstract

The invention provides a frequency agility MTI radar speed measurement method, which utilizes double transmitting and receiving channels to simultaneously transmit and receive signals with different frequencies, then performs signal level fusion on the signals of the two channels through signal processing to improve the detection performance, and simultaneously performs speed calculation by utilizing signal phase information of the two receiving channels without additionally transmitting redundant waveforms for speed ambiguity calculation. The invention adopts the simultaneous dual-frequency transmission, reduces the probability of the reconnaissance receiver intercepting the radar transmission signal, and simultaneously, the dual-frequency reception can effectively resist the narrow-band aiming type interference, overcomes the defect of weak electronic resistance in the existing MTI radar, realizes target detection by adopting dual-channel signal level fusion, does not need redundant waveforms to realize speed ambiguity resolution, overcomes the defect of serious energy loss by transmitting the redundant waveforms in the prior art, and effectively improves the comprehensive detection performance of the target.

Description

MTI radar speed measuring method with frequency agility

Technical Field

The invention relates to the technical field of radar target detection, in particular to a frequency agility MTI radar system structure and a speed measuring method.

Background

The modern radar is faced with increasingly complex tasks, and in order to improve the detection performance of the radar in a complex and variable environment, a plurality of advanced theories and methods are proposed, and a clutter suppression technology is one of key technologies. Moving object display technology, which is one of the earliest technologies for suppressing clutter, uses the doppler shift of the echo signal of a moving object to distinguish between a fixed object and a moving object. The low repetition frequency MTI radar increases the transmitted energy by transmitting a long pulse width, theoretically if the duty cycle and the total time are the same, the detection power of different repetition frequency radars is the same, because the average power and energy are the same, and in fact, the actual detection distance of the low repetition frequency radar is farther because there is no accumulated loss. The repetition frequency is low, the unambiguous Doppler frequency of the low repetition frequency radar is low, the velocity ambiguity is serious, the low repetition frequency radar is not suitable for pulse Doppler processing, the clutter resistance is weak, but with the development of the technology, the improvement factor of the current advanced MTI radar can reach 60 decibels, the capability of detecting a moving target in clutter can be effectively improved, and the anti-jamming capability of the radar is improved.

At present, the low-repetition-frequency MTI radar is mainly applied to the fields of remote early warning, space surveying and mapping and the like due to the characteristic of clear ranging, and due to the radar system, the low-repetition-frequency MTI radar has serious speed ambiguity when measuring the speed and is not suitable for measuring the speed. However, if the speed information of the target can be obtained, the point trace filtering can be performed by using the speed difference between the target and the clutter, so that a better clutter suppression effect can be achieved. In addition, the speed information of the target can improve the tracking precision of the target and also can roughly estimate the type of the target.

In recent years, the electromagnetic environment in which radar is located has become increasingly complex. In order to improve the anti-interference capability, the radar mostly adopts a frequency agility working mode. Pulse-to-pulse frequency agility has the important advantage of increasing the detectability of certain targets, and frequency agility also mitigates the deleterious effects of echo flicker in tracking radar, facilitating more accurate target tracking. In military radars, inter-pulse frequency agility will force enemy interference signal energy to be spread out over a wide bandwidth, rather than concentrating all energy within the narrow bandwidth of fixed frequency radars.

At present, the study on MTI radar speed measurement by domestic scholars is less. The MTI radar speed measurement algorithm based on phase unwrapping is provided by the inventor of Zweiweicheng et al in China, the algorithm adopts the phase unwrapping and the repetition frequency dispersion ambiguity solution method to realize the MTI radar speed measurement, but the algorithm needs to send six repetition frequency dispersion periods for ambiguity resolution, compared with a radar without ambiguity, redundant waveforms mean the energy loss with serious difference and can seriously affect the action distance of the radar, and waveforms sending the same working frequency for a long time are easily interfered by narrow-band aiming, so that target detection cannot be effectively realized, the ambiguity resolution effect difference of different repetition periods is large, and in order to improve the effect, special optimization design needs to be carried out on the repetition frequency periods. In recent years, in the field of radar technology, the development of multi-channel transmitting and receiving technology is rapid, but the current research mainly focuses on transmitting and receiving a single working frequency, that is, all transmitting and receiving channels are consistent, and the structural design is simple to implement, but the anti-interference performance is weak. The 2011 li founding nation proposes a linear channel and logarithmic channel dual-channel receiver, which not only completely retains the amplitude signal of the signal, but also expands the dynamic range of the receiver, but does not research the electronic impedance performance.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides a speed measuring method of a frequency agile MTI radar, which overcomes the defects of weak anti-interference capability and serious energy loss of transmitted redundant waveform of the MTI radar in the prior art. Because single frequency transmission is adopted and redundant waveforms are transmitted in a repeated frequency staggered mode to solve the real speed of a target, the same frequency signal is transmitted for a long time and is extremely easy to be intercepted by a reconnaissance receiver and implement narrow-band aiming type interference, and the redundant waveforms transmitted in the repeated frequency staggered mode mean serious energy loss and can seriously influence the action power of a radar.

The technical scheme adopted by the invention for solving the technical problem comprises the following specific steps:

S1：in order to reduce the probability of interception of the transmitted signal by the reconnaissance receiver, the waveform generator generates a waveform and divides the waveform into two paths to be respectively sent to two transmitting channels, and the two transmitting channels respectively receive the local oscillation signal f sent by the local oscillation source_LO1And f_LO2Require | f_LO1-f_LO2If the frequency is more than 1GHz, the two paths of signals respectively radiate signals to a space target through the same antenna at different transmitting frequencies after up-conversion;

s2: in order to resist narrow-band aiming type interference, an antenna collects a target reflection signal and sends the target reflection signal to two receiving channels, and the two receiving channels respectively receive a local oscillation signal f sent by a local oscillation source_LO1And f_LO2Respectively completing the preprocessing of signal amplification, down conversion, AD conversion and digital down conversion, and then sending the signal to a signal processor;

s3: in order to improve the target detection performance, the signals preprocessed by the two receiving channels respectively complete pulse compression and MTI processing, then the signals processed by the MTI processing of the two receiving channels are subjected to non-coherent fusion to improve the signal-to-noise ratio, and target constant false alarm detection is completed, wherein the specific contents of the non-coherent fusion are as follows:

receiving channel-MTI processed signal M₁₁(t)、M₁₂(t) are respectively:

wherein A is₁Representing the amplitude of a signal of the receiving channel, f_d1Representing the Doppler frequency, T_rWhich represents the pulse repetition period, is shown,

representing an initial phase value;

receiving channel two-MTI processed signal M₂₁(t)、M₂₂(t) is:

in the same way, there are

Wherein A is₂Representing the amplitude of the two signals of the receiving channel, f_d2Representing the Doppler frequency, T_rThe pulse weight gain period is shown as,

representing an initial phase value;

receiving channel-MTI processed signal M₁₁(t)、M₁₂(t) and reception channel two MTI processed Signal M₂₁(t)、M₂₂(t) performing modulo value operation to obtain | M₁₁(t)|、|M₁₂(t)|、|M₂₁(t)|、|M₂₂(t) |, and then performing non-coherent fusion, namely:

M(t)＝|M₁₁(t)|+|M₁₂(t)|+|M₂₁(t)|+|M₂₂(t)|

completing target detection on the non-coherent fused data M (t) by adopting a unit average constant false alarm algorithm to obtain a detection result D;

s4: in order to obtain the speed information of the target, the signals processed by the two receiving channels MTI in S3 and the detection result of the target constant false alarm are used to complete the resolution of the target speed by using the phase information and the screening method, which includes the following specific contents:

s41: according to the receiving channel-MTI processed signal M₁₁(t) and reception channel two MTI processed Signal M₁₂(t), and let initial time t be 0, calculate the phase value:

Phase₁₁＝-2πf_d1T_r+π-φ₀₁

Phase₁₂＝-4πf_d1T_r+π-φ₀₁

the phase difference value is:

phase_dif₁＝Phase₁₁-Phase₁₂＝2πf_d1T_r

this gives:

s42: according to the cancellation result M of the three pulses in S3₂₁(t) and M₂₂(t), and let initial time t be 0, calculate the phase value:

Phase₂₁＝-2πf_d2T_r+π-φ₀₁

Phase₂₂＝-4πf_d2T_r+π-φ₀₁

the phase difference value is as follows:

phase_diff₂＝Phase₂₁-Phase₂₂＝2πf_d2T_r

this gives:

s43: will f is_d1All possible corresponding target speeds are listed, namely:

N₁＝floor(2V_maxf_R1/(f_rc) wherein V) is_maxTo target maximum possible speed, f_R1For the transmit channel, a transmit frequency, c the speed of light, f_r＝1/T_rIs the pulse repetition frequency;

will f is_d2All possible corresponding target speeds are listed, namely:

N₂＝floor(2V_maxf_R2/(f_rc) wherein V) is_maxTo target maximum possible speed, f_R2For the emission channel two emission frequencies, c is the speed of light, f_r＝1/T_rIs the pulse repetition frequency;

will be provided with

Each value of (1) is respectively

The difference value of each value is calculated and the absolute norm is obtained

In that

Search for the minimum value, if

Is the minimum value, then k₁Or k₂The target correct speed is finally obtained for the ambiguity

S5: detecting the target D in S3 and the speed information V of the target in S4_rAnd sending the data to a subsequent data processing subsystem together for further completing target tracking.

The invention has the beneficial effects that: first, since the present invention employs simultaneous dual frequency transmission, it is possible

The probability of a reconnaissance receiver intercepting radar transmitted signals is reduced, and meanwhile, narrow-band aiming type interference can be effectively resisted by double-frequency receiving, so that the defect that the electronic countermeasure capability in the existing MTI radar is weak is overcome, and the method has the advantage of strong anti-interference capability; secondly, the invention adopts the dual-channel signal level fusion to realize the target detection and does not need redundant waveforms to realize the speed ambiguity resolution, thereby overcoming the defect of serious energy loss by transmitting the redundant waveforms in the prior art and effectively improving the comprehensive detection performance of the target. Therefore, the invention effectively solves the problems of weak anti-interference capability and low utilization rate of transmitting energy of the MTI radar, and provides powerful technical support for realizing remote target detection in a complex electromagnetic environment.

Drawings

Fig. 1 is a schematic block diagram of a frequency agile MTI radar according to the present invention.

Fig. 2 is a schematic diagram of the variation of the speed measurement accuracy with the signal-to-noise ratio according to the present invention.

Fig. 3 is a detection probability curve of the present invention and the conventional method under different signal-to-noise ratios under the same false alarm rate.

Detailed Description

The invention is further illustrated with reference to the following figures and examples.

The invention utilizes the technology of simultaneously transmitting and receiving signals with different frequencies by two channels, thereby not only effectively improving the detection and speed measurement performance of the target, but also improving the comprehensive anti-interference capability and providing powerful technical support for the practical use of the method in the MTI radar.

The invention provides a frequency agility MTI radar speed measurement method, which not only can effectively detect the speed of a target, but also can obviously improve the detection performance and the comprehensive anti-interference capability of a radar, and lays a technical foundation for improving the comprehensive detection capability of the radar in a defense area.

Referring to fig. 1, a schematic block diagram of a frequency agile MTI radar system structure and a speed measurement method according to the present invention is shown. The invention relates to a method for measuring the speed of a frequency agility MTI radar, which comprises the following steps:

s1: referring to fig. 1, a waveform generator generates four pulse periodic waveforms and divides the waveforms into two paths of signals, one of which is sent to a first transmission channel and a local oscillation signal f sent from a local oscillation source_LO1Performing up-conversion, filtering, amplifying, and processing by circulator at RF frequency f_R1Radiating a signal to a spatial target; at the same time, the other path of signal is sent to the local oscillation signal f sent by the second transmission channel and the local oscillation source_LO2Performing up-conversion, filtering, amplifying, and processing by circulator at RF frequency f_R2Radiating a signal to a target in space, requiring | f_LO1-f_LO2| > 1GHz, i.e. | f_R1-f_R2|＞1GHz。

S2: the antenna collects the target reflection signal and sends the target reflection signal to two receiving channels through a circulator: receiving a local oscillation signal f sent by a local oscillation source after a target echo signal is received by a first receiving channel and is subjected to amplification and filtering processing_LO1Finishing down-conversion treatment, and obtaining a four-pulse signal set of a receiving channel I through AD conversion and digital down-conversion filtering treatment after filtering and amplifying

Namely:

T_rdenotes the pulse repetition period, r₁It is indicated that the receiving channel one,

indicates the first pulse signal of the receiving channel, and l indicates the pulse number.

The second receiving channel receives the local oscillation signal f sent by the local oscillation source after the target echo signal is amplified and filtered_LO1Finishing down-conversion treatment, and obtaining a four-pulse signal set of a second receiving channel through AD conversion and digital down-conversion filtering treatment after filtering and amplifying

Namely:

here T_rDenotes the pulse repetition period, r₂It is indicated that the receiving channel one,

indicates the first pulse signal of the receiving channel, and l indicates the pulse number.

S3: the signals preprocessed by the two receiving channels respectively complete pulse compression and MTI processing, and then the signals preprocessed by the two receiving channels MTI are subjected to non-coherent fusion, and the implementation is as follows:

s31: receiving channel one according to the preprocessed signal S in S2_r1(t) respectively completing the pulse compression treatment to obtain the result after the pulse compression

The signal model is represented as:

wherein A is₁Representing the amplitude of a signal of the receiving channel, f_d1Representing the Doppler frequency, T_rWhich represents the pulse repetition period, is shown,

representing the initial phase value.

And (3) three-pulse cancellation MTI treatment:

s32: the second receiving channel is based on the preprocessed signal S in S2_r2(t) respectively completing the pulse compression treatment to obtain the result after the pulse compression

Signal moduleThe type is represented as:

wherein A is₂Representing the amplitude of the two signals of the receiving channel, f_d2Representing the Doppler frequency, T_rThe pulse weight gain period is shown as,

representing the initial phase value.

And (3) three-pulse cancellation MTI treatment:

in the same way, there are

S33: receiving channel-MTI processed signal M₁₁(t)、M₁₂(t) and reception channel two MTI processed Signal M₂₁(t)、M₂₂(t) performing modulo value operation to obtain | M₁₁(t)|、|M₁₂(t)|、|M₂₁(t)|、|M₂₂(t) |, and then subjected to non-coherent fusion, i.e.

M(t)＝|M₁₁(t)|+|M₁₂(t)|+|M₂₁(t)|+|M₂₂(t)|

S34: and (4) completing target detection on the data M (t) after non-coherent fusion in the S33 by adopting a traditional unit average constant false alarm algorithm to obtain a detection result D.

S4: and (3) utilizing the signals processed by the two receiving channels MTI in S31 and S32, the target constant false alarm detection result and the phase information to complete the calculation of the target real speed by adopting a screening method, and concretely implementing the following steps:

s41: according to the receiving channel-MTI processed signal M₁₁(t) and reception channel two MTI processed Signal M₁₂(t), and let initial time t be 0, calculate the phase value:

Phase₁₁＝-2πf_d1T_r+π-φ₀₁

Phase₁₂＝-4πf_d1T_r+π-φ₀₁

the phase difference value is:

phase_diff₁＝Phase₁₁-Phase₁₂＝2πf_d1T_r

this gives:

s42: according to the cancellation result M of the three pulses in S3₂₁(t) and M₂₂(t), and let initial time t be 0, calculate the phase value:

Phase₂₁＝-2πf_d2T_r+π-φ₀₁

Phase₂₂＝-4πf_d2T_r+π-φ₀₁

the phase difference value is as follows:

phase_diiff₂＝Phase₂₁-Phase₂₂＝2πf_d2T_r

this gives:

s43: will f is_d1All possible corresponding target speeds are listed, namely:

N₁＝floor(2V_maxf_R1/(f_rc) wherein V) is_maxTo target maximum possible speed, f_R1For the transmit channel, a transmit frequency, c the speed of light, f_r＝1/T_rIs the pulse repetition frequency;

will f is_d2All possible corresponding target speeds are listed, namely:

N₂＝floor(2V_maxf_R2/(f_rc) wherein V) is_maxTo target maximum possible speed, f_R2For the emission channel two emission frequencies, c is the speed of light, f_r＝1/T_rIs the pulse repetition frequency;

will be provided with

Each value of (1) is respectively

The difference value of each value is calculated and the absolute norm is obtained

In that

Search for the minimum value, if

Is the minimum value, then k₁Or k₂The target correct speed is finally obtained for the ambiguity

S5: detecting the target D in S3 and the speed information V of the target in S4_rConstituent target detection information R ═ { D, V_rAnd sending the data to a subsequent data processing subsystem to further complete target tracking.

The effect of the present invention is further explained by simulation experiments.

Simulation experiment contents: setting the transmitting waveform as linear frequency modulation signal with time width of 100 mus, bandwidth of 4MHz and pulse repetition period T_r1000 mus, target speed [100m/s,1500m/s]Randomly generated, radar transmission channel-transmission frequency f_R10.9GHz, two transmitting frequencies f of radar transmitting channel_R2The number of monte carlo tests was 1000 times at 2 GHz. Experiments are carried out in MATLAB13.0a software, and target speed calculation is carried out according to the method provided by the invention to obtain the real speed of the target. Referring to fig. 2, a schematic diagram of speed correct resolution probability variation under different signal-to-noise ratios is shown, in fig. 2, a horizontal axis represents the signal-to-noise ratio (unit: decibel), and a vertical axis represents the detection probability; referring to fig. 3, it is a detection probability curve of the method of the present invention and the conventional method under the condition of the same false alarm rate and different signal-to-noise ratios, in fig. 3, the horizontal axis represents the signal-to-noise ratio (unit: decibel) and the vertical axis represents the detection probability.

From fig. 2, it can be seen that the method provided by the invention has a high probability of correctly resolving the target speed under a certain signal-to-noise ratio; from fig. 3, it can be seen that the method provided by the present invention has better detection performance compared with the conventional method, thereby proving the effectiveness of the present invention.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.

Claims (1)

Translated fromChinese

1.一种频率捷变MTI雷达测速方法，其特征在于包括下述步骤：1. a frequency agility MTI radar speed measurement method is characterized in that comprising the following steps:S1：为了降低发射信号被侦察接收机截获概率，波形产生器产生波形并功分两路分别送给两个发射通道，两个发射通道分别接收本振源送来的本振信号f_LO1和f_LO2，要求|f_LO1-f_LO2|＞1GHz，经上变频后两路信号分别以不同的发射频率通过同一天线向空间目标辐射信号；S1: In order to reduce the probability of the transmitted signal being intercepted by the reconnaissance receiver, the waveform generator generates a waveform and divides the power into two channels and sends them to two transmitting channels respectively. The two transmitting channels receive the local oscillator signals f_LO1 and f sent by the local oscillator source respectively._LO2 , it is required that |f_LO1 -f_LO2 |＞1GHz, after up-conversion, the two signals respectively radiate signals to the space target through the same antenna at different transmit frequencies;S2：为对抗窄带瞄准式干扰，天线收集目标反射信号送两个接收通道，两个接收通道分别接收本振源送来的本振信号f_LO1和f_LO2分别完成信号放大、下变频、AD变换和数字下变频的预处理，然后送信号处理机；S2: In order to combat narrow-band aiming interference, the antenna collects the reflected signal of the target and sends it to two receiving channels. The two receiving channels respectively receive the local oscillator signal f_LO1 and f_LO2 sent by the local oscillator source to complete signal amplification, down-conversion and AD conversion respectively. and digital down-conversion preprocessing, and then sent to the signal processor;S3：为提高目标探测性能，两个接收通道预处理后的信号分别完成脉冲压缩和MTI处理，然后将两个接收通道MTI处理后的信号进行非相参融合以提高信噪比，并完成目标恒虚警检测，非相参融合的具体内容如下：S3: In order to improve the target detection performance, pulse compression and MTI processing are performed on the preprocessed signals of the two receiving channels, respectively, and then the MTI-processed signals from the two receiving channels are non-coherently fused to improve the signal-to-noise ratio and complete the target. Constant false alarm detection, the specific content of non-coherent fusion is as follows:接收通道一MTI处理后的信号M₁₁(t)、M₁₂(t)分别为：Signals M₁₁ (t) and M₁₂ (t) processed by receiving channel one MTI are respectively:

其中，A₁表示接收通道一信号幅度，f_d1表示多普勒频率，T_r表示脉冲重复周期，

表示初始相位值；Among them, A₁ represents the signal amplitude of the receiving channel, f_d1 represents the Doppler frequency,_Tr represents the pulse repetition period,

represents the initial phase value;接收通道二MTI处理后的信号M₂₁(t)、M₂₂(t)为：The signals M₂₁ (t) and M₂₂ (t) processed by the MTI of the receiving channel 2 are:

同理，有Similarly, there are

其中A₂表示接收通道二信号幅度，f_d2表示多普勒频率，T_r表示脉重得周期，

表示初始相位值；where A₂ represents the signal amplitude of the receiving channel 2, f_d2 represents the Doppler frequency,_Tr represents the pulse weight cycle,

represents the initial phase value;将接收通道一MTI处理后的信号M₁₁(t)、M₁₂(t)和接收通道二MTI处理后的信号M₂₁(t)、M₂₂(t)分别进行取模值运算，得到|M₁₁(t)|、|M₁₂(t)|、|M₂₁(t)|、|M₂₂(t)|，然后进行非相参融合，即：The signals M₁₁ (t) and M₁₂ (t) processed by MTI of receiving channel one and the signals M₂₁ (t) and M₂₂ (t) processed by MTI of receiving channel two are respectively subjected to modulo operation to obtain |M₁₁ (t)|, |M₁₂ (t)|, |M₂₁ (t)|, |M₂₂ (t)|, and then perform non-coherent fusion, that is:M(t)＝|M₁₁(t)|+|M₁₂(t)|+|M₂₁(t)|+|M₂₂(t)|M(t)=|M₁₁ (t)|+|M₁₂ (t)|+|M₂₁ (t)|+|M₂₂ (t)|对非相参融合后的数据M(t)采用单元平均恒虚警算法完成目标检测，得到检测结果D；For the non-coherently fused data M(t), the unit average constant false alarm algorithm is used to complete the target detection, and the detection result D is obtained;S4：为了获得目标的速度信息，利用S3中两个接收通道MTI处理后的信号和目标恒虚警检测结果利用相位信息采用筛选法完成目标速度的解算，具体内容如下：S4: In order to obtain the speed information of the target, use the signal processed by the MTI of the two receiving channels in S3 and the detection result of the target constant false alarm, and use the phase information to complete the calculation of the target speed by the screening method. The details are as follows:S41：根据接收通道一MTI处理后的信号M₁₁(t)和接收通道二MTI处理后的信号M₁₂(t)，并令初始时刻t＝0，计算相位值：S41: Calculate the phase value according to the signal M₁₁ (t) processed by the MTI of the receiving channel 1 and the signal M₁₂ (t) processed by the MTI of the receiving channel 2, and set the initial time t=0:Phase₁₁＝-2πf_d1T_r+π-φ₀₁Phase₁₁ = -2πf_d1 T_r +π-φ₀₁Phase₁₂＝-4πf_d1T_r+π-φ₀₁Phase₁₂ = -4πf_d1 T_r +π-φ₀₁相位差值为：The phase difference is:phase_diif₁＝Phase₁₁-Phase₁₂＝2πf_d1T_rphase_diif₁ =Phase₁₁ -Phase₁₂ =2πf_d1 T_r由此得到：This results in:

S42：根据S3中三脉冲对消结果M₂₁(t)和M₂₂(t)，并令初始时刻t＝0，计算相位值：S42: According to the three-pulse cancellation results M₂₁ (t) and M₂₂ (t) in S3, and set the initial time t=0, calculate the phase value:Phase₂₁＝-2πf_d2T_r+π-φ₀₁Phase₂₁ =-2πf_d2 T_r +π-φ₀₁Phase₂₂＝-4πf_d2T_r+π-φ₀₁Phase₂₂ =-4πf_d2 T_r +π-φ₀₁其相位差值：Its phase difference value:phase_diff₂＝Phase₂₁-Phase₂₂＝2πf_d2T_rphase_diff₂ =Phase₂₁ -Phase₂₂ =2πf_d2 T_r由此得到：This results in:

S43：将f_d1所有可能的对应目标速度一一列出，即：S43: List all possible corresponding target speeds of f_d1 one by one, namely:

N₁＝floor(2V_maxf_R1/(f_rc))，其中V_max为目标最大可能速度，f_R1为发射通道一发射频率，c为光速，f_r＝1/T_r为脉冲重复频率；N₁ =floor(2V_max f_R1 /(f_r c)), where V_max is the maximum possible speed of the target, f_R1 is the emission frequency of the emission channel, c is the speed of light, and f_r =1/T_r is the pulse repetition frequency ;将f_d2所有可能的对应目标速度一一列出，即：List all possible corresponding target speeds of f_d2 one by one, namely:

N₂＝floor(2V_maxf_R2/(f_rc))，其中V_max为目标最大可能速度，f_R2为发射通道二发射频率，c为光速，f_r＝1/T_r为脉冲重复频率；N₂ =floor(2V_max f_R2 /(f_r c)), where V_max is the maximum possible speed of the target, f_R2 is the emission frequency of the emission channel 2, c is the speed of light, and f_r =1/T_r is the pulse repetition frequency ;将

中的每一个值分别与

中每一个值求取差值并取绝对值范数，得Will

Each value in

Calculate the difference of each value in and take the absolute value norm, we get

在

中搜索最小值，若

为最小值，则k₁或k₂为所求的模糊度，最后得到目标正确的速度为

exist

search for the minimum value in , if

is the minimum value, then k₁ or k₂ is the desired ambiguity, and finally the correct speed of the target is obtained as

S5：将S3中目标检测结果D和S4中目标的速度信息V_r一起送后续数据处理分系统，用于进一步完成目标跟踪。S5: Send the target detection result D in S3 and the speed information V_r of the target in S4 together to the subsequent data processing subsystem for further completion of target tracking.

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