Radar System Design

Chapter 13
Continuous Wave Radar

Radar System Design

Radar Types
CW systems
CW radar
- No range information
- single target
- Unambiguous velocity
information
FM-CW systems
- measure both range
and velocity
- broaden the transmitted
freq. spectrum
Pulsed Systems
Pulsed radar
- measurement of range
Pulsed Doppler radar
- measure both range
and velocity

Chapter 13: Continuous Wave Radar 13 - 1 Dr. Sheng-Chou Lin

 Radar System Design

CW Radar
Primary useful where no range information is Pulsed Radar Wave Shape

required P peak
Advantage of CW radar P ave
- Simplicity; Smaller and lighter
Rmin
- Peak transmit is equal to average transmit
power TX is lower than the peak power of a
CW spectrum Pulsed spectrum
pulsed radar; no high voltage modulators are
required for simple CW radar; radar ability to
detect targets is determined by the average
power
- Good for short range application; pulsed radars
use TR switch or tube to protect receiver
echo returns from short-range targets will not fd fd
reach the receiver these targets will not be
detected. CW radars do not use TR tubes; TX/
RX isolation is achieved by using other types of
duplexer (ferrite circulators) or FM tech.
- It is generally simpler to extract Doppler Isolation
information for a CW system than from a pulsed
system. Pulsed radar requires additional signal
processing (gate filter, delay canceller, FFT)

Chapter 13: Continuous Wave Radar 13 - 2 Dr. Sheng-Chou Lin

Radar System Design

CW Radar
Disadvantage of CW radar - Radar aircraft altimeter: frequency CW radars
- No target range formation for a simple capable of aircraft-to-terrain range
radar ability to determine target range is determination.
poor
- Rather poor TX/ RX isolation
- can be overcome using proper CW
waveform design
Common applications
- Simple (encoded), no range information:
Weapon fuses, weapon seeker,
lightweight portable personnel detector,
police radar

Chapter 13: Continuous Wave Radar 13 - 3 Dr. Sheng-Chou Lin

 Radar System Design

CW Radar and Doppler Effect

CW radar as a speed monitor device
Doppler effect (frequency shift): only indicates f d for
targets moving toward or away from radar

f d = 2v
------- , v: speed ,c = f

General form
R
2 v R
f d = ------------ ------
R
v
f = 10G. v = 1mile/hour, f d = 30Hz .

Chapter 13: Continuous Wave Radar 13 - 4 Dr. Sheng-Chou Lin

Radar System Design

Simple CW Radar Systems

Homodyne receiver
TX/RX Isolation required of circulator: power
level of the TX signal and sensitivity
- HP series 35200 lower power, solid-state, X- Isolation
band, Doppler radar: 18 dB of isolation is
required
- Circulators with 30 ~ 40 dB of isolation and
higher have also been built
- In high-power radars, more isolation may be
required
- Other isolation tech. such as dual antennas
may have to be used.
- major shortcoming sensitivity: al low
Doppler freq. flicker noise is very strong
amplify received signal at a high freq.
Superheterodyne receiver
Superheterodyne receiver
IF ~ 60 MHz flicker noise is negligible
Baseband Filtering: sweeping LO + a single
filter, analog filter bank (IF stage), digital filters
or FFT processor (Baseband stage)

Chapter 13: Continuous Wave Radar 13 - 5 Dr. Sheng-Chou Lin

 Radar System Design

CW Radar Doppler Ambiguity

For infinite period of time, the received signal
(ignoring amp. fixed-phase terms): receding approaching

s
t = cos w 0 w d t
= cos
wd t
cos w 0 t
sin
wd t
sin
w0 t
I Q
Down to baseband (Video band) f d fc f d

s
t = cos w d
t = cos wd t,
S 1
f = --- f 1
f d + --- f
f d
2 2
Nothing additional is done, then the sign of the
f d fd
Doppler frequency shift will be lost
Relative target motion (approaching or
receding) will be indeterminate.
counter
The problem of ambiguous relative motion IF
signal into two channels, I and Q channels.
j2f d t
s
t = cos
wd t
j sin
w d t = e ,

f = 1
S --- f
f d
, sign for approaching 90o
2
Phase detection: DC output FFT
sin
wd t
j sin
wd t
=
12
.

Chapter 13: Continuous Wave Radar 13 - 6 Dr. Sheng-Chou Lin

Radar System Design

CW Radar Spectrum and Resolution

Recall that we talked about
spreading of the signal
spectrum due to finite
length signals from
Finite time in beam,
if B : beamwidth
; s :
scan rate
sec

t 0 B
s
ex:B = 2 , ,
s = 36sec
t 0 2 36 = 1
18 sec
Bandwidth of doppler filter

BW = 18Hzsec
Cross-section fluctuation
during time target is in
beam (effectively an amp.
modulation)
Moving Target
components. e.g. propeller

Chapter 13: Continuous Wave Radar 13 - 7 Dr. Sheng-Chou Lin

 Radar System Design

Doppler filtering
If we select the IF beamwidth so as to
encompass all possible Doppler frequencies,
the S/N will be poor. For example: ideally, we
would like to use a matched filter
Analog approaches to optimizing Matched Doppler filter BW

Could also use a single tunable BP filter that

sweeps over the IF bandwidth.
Simple digital filters
Adaptive processing
None of these approaches by themselves
will account for sign of f d .

Implement at IF or RF stage.
select so that overlap occurs at -3dB

BW
f dmin f dmax
3dB
BW IF

f IF f IF
Chapter 13: Continuous Wave Radar 13 - 8 Dr. Sheng-Chou Lin

Radar System Design

Doppler filtering

Chapter 13: Continuous Wave Radar 13 - 9 Dr. Sheng-Chou Lin

 Radar System Design

Doppler filtering and PRF

Chapter 13: Continuous Wave Radar 13 - 10 Dr. Sheng-Chou Lin

Radar System Design

CW Radar Range Equation

A single Pulsed SNR S
N = n
SN
single pulse
PG 2 2
SNR = ----------------------------------------- Pt fr G 2 2
4 3 R 4 kTBFL SNR = -------------------------------------------------------
-
4 3 R 4 kT 1 Td FL
Single pulse
integrated over a dwell period For CW, P = P avg , B = B vid = 1
Td
- Coherent or incoherent pulsed radar
For a single (I) channel CW 3dB loss
- CW Radar (~ 1
)
P : Peak power P t . Single pulsed power = P t Integrated Pulses

B: IF bandwidth, B IF 1
for a matched filter
Integrated Pulse SNR

integrated SNR during a target dwell period, T d . Tr = 1

fr

Td
Number of Pulses, n, during T d . n = f r T d ,
fr = 1
Tr = PRF (Pulse repetition freq.) B = 1
Td
P = P avg = P t f r

B = B vid = 1
Td

Chapter 13: Continuous Wave Radar 13 - 11 Dr. Sheng-Chou Lin

 Radar System Design

CW Radar Maximum Range

Example: Consider a CW police radar with
single channel. Dual antenna a single
antenna, a circulator

P = 100mW , G = 20dB ,f = 10.525G ,

= 2.85cm , F = 6dB ,L = 9dB ,
f = 1mph f d = 30Hz = B : Velocity
resolution. RCS = 30m 2 , Required SNR =
10dB.
For CW, P = P avg = 100mW B, = 30Hz
Max. R = 4.2 km ~ 2.6 miles
2 2.85 10 2 2
A e = ------- G = -------------------------------------------100
4 4
= 6.467 10 3 1
4
P t GA e
S imin = F T kTB
So
No L R max = -------------------------------
min 4 2S
imin
=
114 dBm + 10 log
B MHz
+ F TdB +
So
No +L 1
mindB 0.1 100 6.467 10 3 30 4
= -----------------------------------------------------------------------------------
-
= 114 + 10 log
30 10 6 + 6 + 10 + 10 4 2 4.755 10 17

= 133.229dBm = 4.755 10 14 mW = 4010.4m = 4.01km

Chapter 13: Continuous Wave Radar 13 - 12 Dr. Sheng-Chou Lin

Radar System Design

CW Ranging

In order to measure range, it is

necessary to place a time
marker (modulation) in the
transmitted signal
- amplitude, frequency,
phase
- Pulsed radar AM.
CW ranging
- Frequency-modulated CW
(FMCW)
- Multiple-frequency CW
- Phase-coded-CW
FM-CW radar
- Correlation of frequency of
TX and RX signals
- ameas ureoft arget
sr
ange
and radial speed.
- Linear frequency
modulation

Chapter 13: Continuous Wave Radar 13 - 13 Dr. Sheng-Chou Lin

 Radar System Design

FM-CW Ranging (No Doppler)

Frequency Modulation rate
f o + f
fm = 1

Target Range f fb

R = cT
------- = T = 2R ------- fo
2 c t
f: Amp. of frequency modulation
T
f f
We have -----b- = ---------- 4

T 4
1
fm =
2R f 4 8R f 8R ff m
f b = -------
----------- = --------------- = ---------------------
c c c
fb
cf b
R = -----------------
8 ff m

Transmitted BW = 2 f (
Car
lson
srul
e) R max
Maximum unambiguous range
c c
R max = --- = ----------
2 2f m

Chapter 13: Continuous Wave Radar 13 - 14 Dr. Sheng-Chou Lin

Radar System Design

FM-CW Radar (Low Doppler)

(1) f d f b f b+
f o + f Target moving
- For positive slopes fd = + toward Radar
8R ff f b-
f b = f b+ = f b f d = ---------------------m f d
(toward) c f fd
f b = f b+ = f b f d(negative sign)
(away) fb
- For negative slopes fo
8R ff t
f b = f b- = f b + f d = ---------------------m + f d fd = -
(toward) c
Target moving
f b = f b- = f b + f d(negative sign) away Radar
(away)
T
f b+ + f b- 8R ff
- =
f b = ------------------ f b= ---------------------m
4
2 c
1
fm =
c
R = ---------------------
f fb
8R ff m b
fd = + fd = + fd = -
f b- f b+
- = 2v
Target moving
f d = ------------------ ------- toward Radar
f b-
2
fd = -
v = --
-f - f b+ Target moving
f b+
4 b away Radar

Chapter 13: Continuous Wave Radar 13 - 15 Dr. Sheng-Chou Lin

 Radar System Design

FM-CW Radar (high Doppler)

(2) f d f b
f b+ f b-
- For positive slopes f o + f
8R ff
Target moving
fd = + toward Radar
fb = = f d f b = f d ---------------------m
f b+
(toward) c f fd
fd
f b = f b+ = f d f b(negative sign)
(away)
fb
- For negative slopes
8R ff fo
f b = f b- = f d + f b = ---------------------m + f d t
(toward) c fd = -
f b = f b- = f d + f b (negative sign) Target moving
(away) away Radar

f b- f b+ 8R ff T
- =
f b = ------------------ f b= ---------------------m
2 c
4
c 1
fm =
R = ---------------------
f fb
8R ff m b
fd = + fd = + fd = -
f b- + f b+ 2v Target moving
f b-
f d = ------------------
- = ------- toward Radar
2
fd = -
v = --
-f - + f b+ Target moving
f b+
4 b away Radar

Chapter 13: Continuous Wave Radar 13 - 16 Dr. Sheng-Chou Lin

Radar System Design

FM-CW Range Resolution

Range resolution (accuracy) R : the frequency

difference, f b , can be measured. f b B = 2 f
For a linear FM, f b (thus R ) depends on the BW
and linearity of the modulation.
- Nonlinearity is given by f
B .f : deviation in
modulation from linear.
- Nonlinearity must be much less than fm
B .
Maxi. range resolution R = c
2B ,T( 1
fm )

For a given R max and

R
max ,
nonlinearity fm
B = R
Rm .
EXample:
For a range resolution of 1ft and a
maxi. unambiguous range of 3000 ft.
the nonlinearity of the FM waveform
must be less than
R Rm = 1 3000 = 0.03% .

Chapter 13: Continuous Wave Radar 13 - 17 Dr. Sheng-Chou Lin

 Radar System Design

FM-CW for Multi-target

Ghost Identifying

- Adding another segment

- Adding more slopes
- Similar to Multi-PRF

r
te
it
f

m
s
n

s
a

e
tr

o
h
c
e
d
e
iv
fd

e
c
e
R
Ghost
- Multi-target (Two targets, Three targets)
- Impossible to tell the paired differences

Ghost

FFT, Filter bank

Chapter 13: Continuous Wave Radar 13 - 18 Dr. Sheng-Chou Lin

Radar System Design

FM-CW Radar Design

TX RF
Amplifier
Modulator Timing signal Average Velocity
Waveform Frequency
VCO Generator
10dBm (8-12G) counter
Range
f = 10G

f IF = 1G
Average
10dBm Frequency
counter

Filter Bandwidth RF Sideband

BW = 5% ~ 50% fc IF OSC
Filter (fc= 9G)
BW = 500M
Video Amp.
RF f f IF = 9G 10dBm
RX Amplifier IF
Amplifier
f IF + f b IF Sideband fb Low pass
20dB 20dB Filter (fc= 1G)
Filter
f + fb BW = 200M

Chapter 13: Continuous Wave Radar 13 - 19 Dr. Sheng-Chou Lin

 Radar System Design

Sinusoidal-FM Ranging (1)

Modulation with an instantaneous frequency
of f
t = f 0 + f cos 2f m t
The transmitted signal in this case is
s
t = A 1 sin t , where

t t
= 2f t d T

= 2f o t + f- sin
------ 2f m t
fm

The received waveform for a point target is a replica of the transmitter waveform, in other words,
f
r
t = A 2 sin
t
T
= A 2 sin 2f o
t T + ------- sin
2f m
t T

fm
After mixing and filtering of the two signals in the receiver, the output is
sin A sin A B
A1A2 f
r
t s - cos 2f 0 T + -------
t = ------------ sin
2f m t sin
2f m
t T

2 fm = 2 sin B--- cos
A ---

B

2 2
2 f
f m t cos
2f
t ---
A1 A2 T
- cos 2f 0 T + ----------- sin
= ------------
2 fm m 2
If one assume that T 1
f m ,
f b= 8R ff m
c

Chapter 13: Continuous Wave Radar 13 - 20 Dr. Sheng-Chou Lin

Radar System Design

Sinusoidal-FM Ranging (2)

A1A2 2 f
cos f m T cos
2f
t ---
T
r
t s
t = ------------ cos
2f 0 T ----------- sin
2 f m m 2

sin sin
2f 0 T
2 f
f T cos
----------- sin 2f
t ---
T
f m 2
m

A1A2 2 f
2f 0 T J 0 2J cos
22f
t ---
T + 2
- cos
= ------------ ----------- sin
f m T J 4
cos

2 f 2 m 2
m

2f 0 T J 1
2 sin 2 f
----------- sin cos
f m T 2f m
T
t --- J 3 cos
22f
t ---
T +
f 2 m 2
m
We use expansion of the form Bessel function

cos
z cos = J o
z +2 1 k J2k
z cos
2k
k=1

sin
z cos = 2 1 k J2k + 1
z cos
2k + 1

k=1

Chapter 13: Continuous Wave Radar 13 - 21 Dr. Sheng-Chou Lin

 Radar System Design

Sinusoidal-FM Ranging (3)

If we add a Doppler component, the net result look like f
D = 2
----------- sin
f m T
= J 0
D cos
2f d t 0 + 2J 1
D sin
2f d t 0
cos
2f m t m fm
0 = 2f o T
2J 2
D sin
2f d t 0
cos
22f m t m

T
+ 2J 3
D sin
2f d t 0
cos
32f m t m
+ m = 2f m ---
2
f
0 = 2f o
2vf 2R R
m = 2f m --- ----------- sin
D = 2 ---
2 f R
2R
f d = -------------o- -------
c mc
T = -------
c c fm c
The harmonics of fm are modulated by the doppler frequency and weighted in amplitude
by a Bessel function
J n
D D n R n for a small argument
Advantage: Jo gives a maximum weighting at
low D, (i.e. near range) and lower weighting at J o
D J 1
D J 2
D J 3
D
far range (for example: far clutter)
- When the received signals are from close-in
clutter, higher-order harmonics should be
chosen
Disadvantages:
- Insufficient use of energy
- Probably most suitable for a single target

Chapter 13: Continuous Wave Radar 13 - 22 Dr. Sheng-Chou Lin

Radar System Design

Multiple-Frequency Ranging (1)

Target range could be determined by measuring
the receive phase difference between the RX
transmitted and received waves TX

The relative difference, , is given by

2d 4R 4fR c
= ----------- = ----------- = --------------- R = ---------- = -----------
c 4 4f
The maximum unambiguous range
- Advantage: Large unambiguous range
= 2 R max =
2 - Disadvantage: poor range resolution

- 15cm at L-band (1GHz) to 1.6mm at 95 GHz Two CW signals with f 1 and f 2

The approach we intend to look at use two or more Transmitter signal
CW signals that are very close-in frequency.
v 1T = sin
2f 1 t + 1
If we have a sufficiently f diff = f 2 f 1 , then
range measurement may be possible since v 2T = sin
2f 2 t + 2
diff = 2 1 is large Receiver signal

We examined the case of two frequency that only v

differed by kHz 1R = sin 1 f D1
2f t 4f 1 R
c + 1
v 2R = sin 2 f D2
2f t 4f 2 R
c + 2

Chapter 13: Continuous Wave Radar 13 - 23 Dr. Sheng-Chou Lin

 Radar System Design

Multiple-Frequency Ranging (2)

Low side of mixing v 1T to v 1R c2 c

- R unamb = -------------- = -----------
4f 2 f
v 1d = sin
2f D1 t 4f 1 R
c
- If f = 1.5kHz , and then
v 2d = sin
2f D2 t 4f 2 R
c 3 10 8
R unamb = ----------------------------------- = 100km
Phase difference between v 1d and v 2d 2 1.5 10 3

4R However, a small f also gives a poor range

= 2f D1 f D2 + -----------
f 1 f 2 resolution degree
c
- Range per (o ) degree for f = 1.5kHz
4R 0
----------- f 1 f 2 c 180
c R = --------------------------
4f
= 3 10 8 180
If f 1 and f 2 are nearly the same.
- = 278
----------------------------------------------- m phase
41.5 10 3
f = f 1 f 2 . therefore
- If measurement accuracy is 5o, then the range
4R f c
= ------------------ R = -------------- resolution is 5(278) = 1.4 km
c 4f
- For small f 1 f 2 asf 1 f 2 becomes
Assume R = 0 = 0 smaller, R unamb becomes higher asf 1 f 2
Determine R necessary to give = 2 becomes smaller ability to determine R
- Solution: use more than 2 frequencies.

Chapter 13: Continuous Wave Radar 13 - 24 Dr. Sheng-Chou Lin

Radar System Design

Three-Frequency Ranging (3)

3-frequency system Then by comparing phase

f 3 f 1
f 2 f 1
, let f 3 f 1 = 15kHz c 3 1
R
f3 f 1 = ------------------------------
- = 1.91km
and f 2 f 1 = 1.5 kHz
4f 3 f 1

For f 3 f 1 = 15kHz (Fine) c 2 1

R
f 2 f 1 = ------------------------------
- = 20.7km
R unamb31 = c 2 f3 f 1 = 10km , 4f 2 f 1
c 180
R = ------------------------------
- = 28 m
Infer range of
4f 3 f 1 R = 2 R unamb31 + R
f 3 f 1
= 2 10 + 1.91 = 21.91km
For f 2 f 1 = 1.5 kHz (Rude)
R unamb21 = c 2 f2 f 1 = 100km , Could use an even greater number of
frequency to obtain the best combination of
c 180
R = ------------------------------- = 278 m
R unamb and R .
4f 3 f 1
Rrude = 20.7km
Example: Assume we are taking R fine = 21.91km
measurements with an actual system and
measured values as
10km 10km
3 1 = 1.2rad , 2 1 = 1.3rad
1.91km

Chapter 13: Continuous Wave Radar 13 - 25 Dr. Sheng-Chou Lin