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Clutter Rejection
MTI and Pulse Doppler Processing
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Transmitter
Antenna
Receiver
A/D
Detection
Why does Steve always talk me into doing ridiculous stunts like this ?
Sea Clutter
Radar Course_6.ppt ODonnell (2) 6-19-02 MTI_RadSys2001-6 JW 7/31/2008
Outline
Introduction Moving Target Indicator (MTI) Techniques Pulse Doppler Processing Techniques Summary
Terminology
Just separate moving targets from clutter Use short waveforms (two or three pulses) Do not provide target velocity estimation
Separate targets into different velocity regimes in addition to canceling clutter Provide good estimates of target velocity Use long waveforms -- (many pulses, tens to thousands of pulses)
Doppler Frequency
10000 Doppler Frequency (Hz)
1000
35
Hz 10 GH z 3 z GH Hz M
0 45
100
0 15
Hz
Doppler Frequency
2V fd =
1000
MIT Lincoln Laboratory
10 1
Radar Course_9.ppt ODonnell (2) 6-19-02
Clutter comes from same range/angle cell as a target Clutter RCS can be much larger than targets of interest (>50 dB) Characteristics vary with terrain (land/sea), weather, etc. PPI Display of Heavy Rain
30 20 10 0
Aircraft Chaff Clutter Birds
-10 -20 0
200
MIT Lincoln Laboratory
T T B B T Trr f frr T Tc c M M
Pulse Pulse length length Bandwidth Bandwidth Pulse Pulse repetition repetition interval interval (PRI) (PRI) Pulse Pulse repetition repetition frequency frequency (PRF) (PRF) Duty Duty Factor Factor Coherent Coherent processing processing interval interval (CPI) (CPI) Number Number of of pulses pulses in in the the CPI CPI M M= = 2, 2, 3, 3, or or sometimes sometimes 4 4 for for MTI MTI M M usually usually much much greater greater for for Pulse Pulse Doppler Doppler
MIT Lincoln Laboratory
Time Range
Pulse 1 Sample 12 e.g. 8.3 km Pulse 2 Sample 12 e.g. 8.3 km Pulse 3 Sample 12 e.g. 8.3 km
A/D
Outline
Introduction Moving Target Indicator (MTI) Techniques Pulse Doppler Processing Techniques Summary
Moving targets
Moving targets change in amplitude from one pulse to the next because of their Doppler frequency shift. If one pulse is subtracted from the other, the result will be an uncancelled residue
Block Diagram
Delay Tr=1/PRF
Subtract
Input
Output
Voutput = Vi+1 - Vi
Radar Course_15.ppt ODonnell (2) 6-19-02
processor at Doppler frequency, fd (Signal / Clutter)out MTI Improvement Factor = I(fd) = (Signal / Clutter)in f d
MTI Improvement Factor
Rain Clutter
fd
-20
200
Clutter Attenuation
Signal Gain
MIT Lincoln Laboratory
2-Pulse MTI
50
Voutput = Vi - Vi-1
3-Pulse MTI
40 30 20 10 0 0 Frequency = 2800 MHz CNR = 50 dB per pulse fd = 1000 Hz 200 400 600 Doppler Frequency (Hz) 800 1000
Three-pulse canceller provides wider clutter notch and greater clutter attenuation
Radar Course_17.ppt ODonnell (2) 6-19-02
100 200 300 400 500 600 700 800
-10 -20 0
Staggering or changing the time between pulses will raise the blind speed Although the staggered PRFs remove the blind speeds that would have been obtained with a constant PRF, there will be a new much higher blind speed
-10 -20 0 100 200 300 400 500 600 700 800
Outline
Introduction Moving Target Indicator (MTI) Techniques Pulse Doppler Processing Techniques
Pulse Doppler Filtering Concept
Basic Concepts Example - Moving Target Detector (MTD)
Summary
Time Range
Pulse 1 Sample 12 e.g. 8.3 km Pulse 2 Sample 12 e.g. 8.3 km Pulse 3 Sample 12 e.g. 8.3 km
A/D
M pulses in
Resolving targets into different velocity segments and allowing for finegrain target radial velocity estimation
MIT Lincoln Laboratory
Pulse Doppler filtering on groups of 8 or greater pulses with a fine grained clutter map. Aircraft are detected in ground clutter and / or rain with the Doppler filter bank & use of 2 PRFs. Birds and ground traffic are rejected in post processing, using Doppler velocity and a 2nd fine grained clutter map
Courtesy of Northrop Grumman Used with permission. ASR-9 Filter Bank 10 Magnitude (dB) 0 Magnitude (dB) -10 -20 -30 -40 -50 -60 -70 0
Radar Course_23.ppt ODonnell (2) 6-19-02
ASR-9 One Doppler Filter 10 0 -10 -20 -30 -40 -50 -60 Aircraft Rain Echo
20
100
-70 0
20
100
Doppler Velocity
Radar Course_24.ppt ODonnell (2) 6-19-02
Doppler Ambiguities
Sample Times
Pulse Doppler waveform samples target with sampling rate = PRF Sampling causes aliasing at multiples of PRF Two targets with Doppler frequencies separated by an integer multiple of the PRF are indistinguishable Unambiguous velocity
Moving V=3Vu Stationary V=0 Moving V=Vu
Vu =
fr 2
0 1 2 3
Time / PRI
Radar Course_25.ppt ODonnell (2) 6-19-02
Range Ambiguities
Target 1 Target 2
R1
R 2 = R1 + R u
True Range
Radar Range
Unambiguous range Range ambiguities occur when echoes from one pulse are not all received before the next pulse Strong close targets (clutter) can mask far weak targets
cTr Ru = 2
MIT Lincoln Laboratory
0 15
Hz
Vu =
M Hz
z GH
10 G
fr 2
0 45
100
Hz
35
Hz G
cTr c = Ru = 2 2 fr
10
100
1000
10000
PRF (Hz)
Radar Course_27.ppt ODonnell (2) 6-19-02
Attenuation of radar return by R-4 will result in constant SNR as a function of range for a constant cross section target STC cannot be used if the radars waveform is ambiguous in range
Targets which are beyond the ambiguous range of the radar will be attenuated, because they folded over to close ranges
MIT Lincoln Laboratory
Medium PRF
Ambiguous
High PRF
Very Ambiguous
Very Ambiguous
Ambiguous
Unambiguous
Medium PRF Wind blown clutter may be a problem Range eclipsing losses Far out targets compete with near in clutter Cant use STC Ambiguities hardest to remove
High PRF Range eclipsing losses Far out targets compete with near in clutter Cant use STC
CPI #1 PRF = f1
f1 2f1 3f1 4f1 5f1
Blind Zones
CPI #2 PRF = f2
Individual CPI unambiguous velocity regions f2 2f2 3f2 4f2
Doppler (Velocity)
Doppler (Velocity)
Moves blind velocities to ensure detection of all non-zero velocity targets True target velocity is where best correlation across CPIs occurs Choose PRFs so that least common multiple occurs above desired maximum unambiguous velocity
MIT Lincoln Laboratory
T1 T2
If the aircraft motion is exactly compensated by the movement of the phase center of the antenna beam, then there will be no clutter spread due to aircraft motion, and the clutter can be cancelled with a two pulse canceller
344334_2.ppt RMO 9-01-00
Summary
Radar Course_36.ppt ODonnell (2) 6-19-02
Ambiguities in range and Doppler velocity can be resolved by transmitting multiple bursts of pulses with different PRFs Airborne radars use multiple PRF waveforms to suppress clutter
MIT Lincoln Laboratory
References
Skolnik, M., Introduction to Radar Systems, New York,
McGraw-Hill, 3rd Edition, 2001