Introduction to Radar Systems. Clutter Rejection. MTI and Pulse Doppler Processing. MIT Lincoln Laboratory. Radar Course_1.ppt ODonnell
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1 Introduction to Radar Systems Clutter Rejection MTI and Pulse Doppler Processing Radar Course_1.ppt ODonnell
2 Disclaimer of Endorsement and Liability The video courseware and accompanying viewgraphs presented on this server were prepared as an account of work sponsored by an agency of the United States Government. Neither the United States Government nor any agency thereof, nor any of their employees, nor the Massachusetts Institute of Technology and its Lincoln Laboratory, nor any of their contractors, subcontractors, or their employees, makes any warranty, express or implied, or assumes any legal liability or responsibility for the accuracy, completeness, or usefulness of any information, apparatus, products, or process disclosed, or represents that its use would not infringe privately owned rights. Reference herein to any specific commercial product, process, or service by trade name, trademark, manufacturer, or otherwise does not necessarily constitute or imply its endorsement, recommendation, or favoring by the United States Government, any agency thereof, or any of their contractors or subcontractors or the Massachusetts Institute of Technology and its Lincoln Laboratory. The views and opinions expressed herein do not necessarily state or reflect those of the United States Government or any agency thereof or Radar Course_2.ppt
3 MTI and Doppler Processing Propagation Medium Transmitter Waveform Generator Target Cross Section Antenna Receiver A / D Pulse Compression Signal Processor Doppler Processing Main Computer Detection Tracking & Parameter Estimation Console / Display Recording Radar Course_3.ppt
4 How to Handle Noise and Clutter Radar Course_4.ppt
5 How to Handle Noise and Clutter If he doesn t take his arm off my shoulder I m going to hide his stash of Hershey Bars!! Why does Steve always talk me into doing ridiculous stunts like this? Radar Course_5.ppt
6 Naval Air Defense Scenario Moving Target Indicator (MTI) and Pulse-Doppler (PD) processing use Doppler to reject clutter and enhance detection of moving targets Smaller targets require more clutter suppression Rain Clutter Chaff Birds Ground Clutter Sea Clutter Radar Course_6.ppt MTI_RadSys JW 7/31/2008
7 Outline Introduction Moving Target Indicator (MTI) Techniques Pulse Doppler Processing Techniques Summary Radar Course_7.ppt
8 Terminology Moving Target Indicator (MTI) Techniques Just separate moving targets from clutter Use short waveforms (two or three pulses) Do not provide target velocity estimation Pulsed Doppler (PD) Techniques 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) Radar Course_8.ppt
9 Doppler Frequency Doppler Frequency (Hz) GHz 10 GHz 3 GHz 450 MHz 150 MHz At S-Band (2800 MHz) f d ~ 1 khz / 40 m/s Doppler Frequency f d V = 2 λ Radar Course_9.ppt Radial Velocity (m/s)
10 Example Clutter Spectra Relative Power (db) Land Clutter Sea Clutter Rain Clutter Chaff Clutter Birds Radial Velocity (m/s) 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. Aircraft PPI Display of Heavy Rain Radar Course_10.ppt
11 MTI and Pulse Doppler Waveforms T c = MT r T r T T = Pulse length B = 1/T Bandwidth Time T r = Pulse repetition interval (PRI) f r = 1/T r Pulse repetition frequency (PRF) δ = T /T r Duty Factor T c = MT r Coherent processing interval (CPI) M = Number of pulses in the CPI M = 2, 3, or sometimes 4 for MTI M usually much greater for Pulse Doppler Radar Course_11.ppt
12 Data Collection for Doppler Processing Pulse 1 Sample 12 e.g. 8.3 km Pulse 2 Sample 12 e.g. 8.3 km Samples at same range gate Pulse 3 Sample 12 e.g. 8.3 km M Time Range A/D In-phase and Quadrature Sampling Complex I / Q samples (the complex envelope of received waveform) Pulse Number (Slow time) Radar Course_12.ppt 1 1 Sample No. L Range - >
13 Outline Introduction Moving Target Indicator (MTI) Techniques Pulse Doppler Processing Techniques Summary Radar Course_13.ppt
14 Moving Target Indicator (MTI) Processing Notch out Doppler spectrum occupied by clutter Provide broad Doppler passband everywhere else Blind speeds occur at multiples of the pulse repetition frequency When sample frequency (PRF) equals a multiple of the Doppler frequency Clutter Notch Blind Speeds MTI Filter Clutter Spectrum 0 f r = 1/T 2f r Radar Course_14.ppt
15 Fixed Clutter echoes Two Pulse MTI Canceller If one pulse is subtracted from the previous pulse, fixed clutter echoes will cancel and will not be detected 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 Input Delay T r =1/PRF Subtract Output Radar Course_15.ppt V output = V i+1 -V i Figure by MIT OCW.
16 MTI Improvement Factor Relative Power (db) S in and C in - Input target and clutter power per pulse S out (f d ) and C out (f d ) Output target and clutter power from processor at Doppler frequency, f d (Signal / Clutter) MTI Improvement Factor = I(f d ) = out (Signal / Clutter) in Radar Course_16.ppt Land Clutter Rain Clutter Aircraft Radial Velocity (m/s) MTI Improvement Factor C in C out I(f d ) = x Clutter Attenuation S out S in f d Signal Gain f d
17 MTI Improvement Factor Examples 2-Pulse MTI Spread Clutter (σ v =1 m/s, σ c =10 Hz ) 2 Pulse MTI 3 Pulse MTI V output = V i -V i-1 3-Pulse MTI V output = V i -2V i-1 + V i-2 Improvement Factor (db) Frequency = 2800 MHz CNR = 50 db per pulse f d = 1000 Hz Doppler Frequency (Hz) Three-pulse canceller provides wider clutter notch and greater clutter attenuation Radar Course_17.ppt
18 Staggered PRFs to Increase Blind Speed MTI Frequency Response SNR Relative to Single Pulse (db) Radial Velocity (m/s) Radial Velocity (m/s) Radar Course_18.ppt HGT 03/04/98 Fixed 2 khz PRI at S-Band Staggered 2 khz, khz PRI Staggering or changing the time between pulses will raise the blind speed Although the staggered PRF s remove the blind speeds that would have been obtained with a constant PRF, there will be a new much higher blind speed
19 Outline Introduction Moving Target Indicator (MTI) Techniques Pulse Doppler Processing Techniques Pulse Doppler Filtering Concept Basic Concepts Example - Moving Target Detector (MTD) Range Doppler Ambiguities Airborne Radar Summary Radar Course_19.ppt
20 Data Collection for Doppler Processing Pulse 1 Sample 12 e.g. 8.3 km Pulse 2 Sample 12 e.g. 8.3 km Samples at same range gate Pulse 3 Sample 12 e.g. 8.3 km M Time Range A/D In-phase and Quadrature Sampling Complex I / Q samples (the complex envelope of received waveform) Pulse Number (Slow time) Radar Course_20.ppt 1 1 Sample No. L Range - >
21 Pulse Doppler Processing Doppler Filter Bank Filter 1 (f 1, v 1 ) M pulses in Filter 2 (f 2, v 2 ) Filter 3 (f 3,v 3 ) M Doppler velocity bins out Filter M (f M,v M ) Coherent integration of all pulses of a CPI Clutter rejection Resolving targets into different velocity segments and allowing for finegrain target radial velocity estimation Radar Course_21.ppt Doppler Frequency Doppler Velocity
22 Moving Target Detector (MTD) Digitized Radar Echoes From Each Range Cell Zero Velocity Filter 8 or Greater Pulse Doppler Filter Bank Clutter Map Filter Adaptive Thresholding Post Processing Thresholding Output Detections 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 2 nd fine grained clutter map Radar Course_22.ppt
23 ASR-9 8-Pulse Filter Bank Courtesy of Northrop Grumman Used with permission. Magnitude (db) Radial Velocity (kts) Radar Course_23.ppt ASR-9 Filter Bank Magnitude (db) Aircraft ASR-9 One Doppler Filter Rain Echo Radial Velocity (kts)
24 MTD Performance in Rain Unprocessed Radar Returns Time History of Radar Tracker Output August 1975, FAA Test Center Doppler Spectrum of Rain Received Power (db) Kt Radar Course_24.ppt Kt Doppler Velocity
25 Doppler Ambiguities 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 Radar Course_25.ppt V u f = λ r 2 Sample Times Stationary V=0 Moving V=V u Moving V=3V u Time / PRI
26 Range Ambiguities Target 1 Target 2 R 1 R 2 = R 1 + 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 R u = ct r 2 Radar Course_26.ppt
27 Unambiguous Range and Doppler Velocity Unambiguous Range (km) Unambiguous Velocity (m/s) MHz 450 MHz 3 GHz 10 GHz 35 GHz R V u u f = λ r 2 ct r c = = 2 2 fr Radar Course_27.ppt PRF (Hz)
28 Sensitivity Time Control (STC) Deliberately reduce radar sensitivity at short ranges Why? Both Targets Give Returns with Same Signal-to-Noise ratio -64 dbsm Mosquito at 5 km 0 dbsm Aircraft at 200 km 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 radar s 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 Radar Course_28.ppt HGT 03/04/98
29 Classes of MTI and Pulse Doppler Radars Low PRF Medium PRF High PRF Range Measurement Unambiguous Ambiguous Very Ambiguous Velocity Measurement Very Ambiguous Ambiguous Unambiguous Low PRF Medium PRF High PRF Wind blown clutter may be a problem Can use STC Wind blown clutter may be a problem Range eclipsing losses Far out targets compete with near in clutter Can t use STC Ambiguities hardest to remove Range eclipsing losses Far out targets compete with near in clutter Can t use STC Radar Course_29.ppt
30 Velocity Ambiguity Resolution CPI #1 PRF = f 1 Unfold detections out to some maximum velocity Blind Zones CPI #2 PRF = f 2 f 1 2f 1 3f 1 4f 1 5f 1 Doppler (Velocity) Individual CPI unambiguous velocity regions f 2 2f 2 3f 2 4f 2 Doppler (Velocity) Split dwell into multiple CPIs at different PRFs Radar Course_30.ppt Scan to scan, even pulse-to-pulse changes also possible 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
31 Examples of Airborne Radar E-2C APS-125 F-16 APG-66, 68 JOINT STARS E-8A APY-3 F-18 APG-65 AWACS E-3A APY-1 F-15 APG-63, 70 Radar Course_31.ppt
32 Radar Course_32.ppt MIT Lincoln Figure Laboratory by MIT OCW.
33 Airborne Radar Clutter Spectrum Illustrative example without Pulse Doppler ambiguities Figure by MIT OCW. Radar Course_33.ppt
34 Airborne Radar Clutter Spectrum Illustrative example without Pulse Doppler ambiguities Figure by MIT OCW. Radar Course_34.ppt
35 Displaced Phase Center Antenna (DPCA) Concept T 1 T 2 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 _2.ppt RMO Radar Course_35.ppt
36 Summary Moving Target Indicator (MTI) techniques Radar Course_36.ppt Doppler filtering techniques that reject stationary clutter No velocity measurement Blind speeds are regions of Doppler space where targets with that Doppler velocity cannot be detected Changing the PRF between sets of pulses can alleviate the blind speed problem MTI techniques have a limited capability to suppress rain clutter Pulse Doppler techniques Used to optimally reject various forms of radar clutter Measurement of target radial velocity Moving Target Detector techniques are an example of optimum Doppler processing and associated adaptive thresholding Ambiguities in range and Doppler velocity can be resolved by transmitting multiple bursts of pulses with different PRF s Airborne radars use multiple PRF waveforms to suppress clutter
37 References Skolnik, M., Introduction to Radar Systems, New York, McGraw-Hill, 3 rd Edition, 2001 Radar Course_37.ppt
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