Radar return signal processing method

• US 5,416,488 A
• Filed: 12/27/1993
• Issued: 05/16/1995
• Est. Priority Date: 12/27/1993
• Status: Expired due to Fees

• Current Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Original Assignee: Motorola, Inc. (Motorola Solutions, Inc.)
• Inventors: Carlson, Eric J., Grover, Richard K., Kronick, Michael S.
• Primary Examiner(s): Hellner, Mark
• Application Number:
  US08/173,235
• Time in Patent Office: 505 Days
• Field of Search: 342/159, 342/109, 342/110, 342/111, 342/91, 342/93
• US Class Current: 342/159
• CPC Class Codes: G01S 13/50 Systems of measurement based on relative movement of target
• CPC Class Codes: G01S 7/2927 by deriving and controlling a threshold value
• CPC Class Codes: G01S 7/415 Identification of targets based on measurements of movement associated with the target

Abstract

A radar system (10) forms a range-Doppler map (28). A CFAR processor (57) determines a threshold (60) and evaluates the map (28) to identify potential targets whose amplitudes are greater than the threshold. The potential targets are evaluated to determine (88) whether they form substantial peaks for the Doppler bins (32) where they are located, and to determine (98) whether they resemble noise more than targets. In addition, the potential targets are evaluated to determine (114) whether they are most likely the result of range sidelobes and to determine (118) whether they are most likely images of targets rather than targets. When any of these situations are detected, the potential targets are removed from a potential target list (50).

Claims

1. A method for distinguishing targets from active clutter and from passive clutter in a radar system, said method comprising the steps of:

forming a range-Doppler map from a return signal generated by a radar receiver, said map having a multiplicity of map cells wherein each map cell characterizes an amplitude component of said return signal at one of a plurality of range gates and one of a plurality of Doppler bins;

forming a list of potential targets from said map, said list identifying subject map cells whose amplitudes exceed a threshold value;

evaluating amplitudes of said subject cells against amplitudes of selected ones of said map cells to identify subject cells whose amplitudes are likely to have resulted from passive clutter; and

said evaluating step comprises, for each Doppler bin of said map, the step of comparing amplitudes of said subject cells with peak amplitudes for the Doppler bins within which said subject cells reside.

2. A method for distinguishing targets from active and passive clutter as claimed in claim 1 additionally comprising the steps of:

adjusting said list to remove subject cells in response to said evaluating step; and

indicating that targets reside at the cells identified by said list after said adjusting step.

3. A method for distinguishing targets from active and passive clutter as claimed in claim 1 wherein said comparing step comprises the step of identifying, for each Doppler bin, subject cells having amplitudes less than approximately 1/3 of said peak amplitude for the Doppler bin.

4. A method for distinguishing targets from active and passive clutter as claimed in claim 1 wherein said evaluating step comprises the step of determining whether the sum of the amplitude of a subject cell and the amplitude of a cell adjacent in said map to said subject cell at the same range gate as said subject cell does not exceed said threshold value by a predetermined amount.

5. A method for distinguishing targets from active and passive clutter as claimed in claim 4 wherein said predetermined amount is at least twice said threshold value.

6. A method for distinguishing targets from active and passive clutter as claimed in claim 4 wherein said determining step determines whether the sum of the amplitude of said subject cell and the amplitudes of two adjacent cells in said map at the same range gate as said subject cell does not exceed said threshold value by said predetermined amount.

7. A method for distinguishing targets from active and passive clutter as claimed in claim 1 wherein said evaluating step determines whether the amplitude of one of said subject cells is less than the amplitude of a map cell that resides substantially in the same range gate for said subject cell but in a Doppler bin where a target image for said subject cell could appear.

8. A method for distinguishing targets from active and passive clutter as claimed in claim 7 wherein:

said forming a range-Doppler map step is configured to define a maximum Doppler; and

said evaluating step comprises the step of identifying a cell from said map which resides at the same range as said subject cell but is offset in Doppler from said subject cell by the difference between said maximum Doppler and the Doppler bin for said subject cell to be said map cell where said target image could appear.

9. A method for distinguishing targets from active and passive clutter as claimed in claim 1 wherein said forming a list step comprises the step of calculating said threshold value in response to said amplitudes for a portion of said cells in said map, said portion being distributed throughout said entire map.

10. A method for distinguishing targets from active and passive clutter as claimed in claim 1 wherein said forming a list step comprises the step of calculating said threshold value in response to an average of said amplitudes in said map and in response to the variance in amplitude from said average exhibited among said amplitude values in said map.

11. A method for distinguishing targets from active and passive clutter as claimed in claim 1 wherein said forming a list step comprises the step of selecting a map cell wherein said selected map cell has an amplitude greater than the amplitudes of adjacent map cells in the same range gate and an amplitude greater than amplitudes of adjacent map cells in the same Doppler bin.

12. A method for distinguishing targets from active and passive clutter as claimed in claim 1 wherein:

said evaluating step comprises, for each of said subject cells, the step of comparing said subject cell'"'"'s amplitude against amplitudes for map cells residing in the same Doppler bin as said subject cell but at range gates spaced a predetermined distance away from said subject cell in said map to determine whether said subject cell fails to exhibit a substantial amplitude peak for its Doppler bin; and

said method additionally comprises the step of

adjusting said list to remove from said list a subject cell that fails to exhibit said substantial amplitude peak for its Doppler bin.

13. A method for distinguishing targets from active and passive clutter as claimed in claim 12 wherein said comparing step comprises the step of determining that said subject cell fails to exhibit said substantial amplitude peak when its amplitude is approximately less than the sum of the amplitudes for at least two map cells residing in the same Doppler bin as said subject cell and spaced at least two range gates away from said subject cell.

14. A method for distinguishing targets from active clutter and from passive clutter in a radar system, said method comprising the steps of:

forming a range-Doppler map from a return signal generated by a radar receiver, said map having a multiplicity of map cells wherein each map cell characterizes an amplitude component of said return signal at one of a plurality of range gates and one of a plurality of Doppler bins;

forming a list of potential targets from said map, said list identifying subject cells whose amplitudes exceed a threshold value;

comparing, for each subject cell, amplitude of said subject cell with a peak amplitude for the Doppler bin within which said subject cell resides;

determining, for each subject cell, whether the sum of the amplitude of said subject cell and the amplitude of a cell adjacent in said map to said subject cell at the same range gate as said subject cell does not exceed said threshold value by a predetermined amount;

adjusting said list to remove subject cells in response to said comparing and determining steps; and

indicating that targets reside at the cells identified by said list after said adjusting step.

15. A method for distinguishing targets from active and passive clutter as claimed in claim 14 wherein said comparing step comprises the step of identifying subject cells having amplitudes less than approximately 1/3 of said peak amplitude for the Doppler bins within which said subject cells resides.

16. A method for distinguishing targets from active and passive clutter as claimed in claim 14 wherein said predetermined amount is at least twice said threshold value.

17. A method for distinguishing targets from active and passive clutter as claimed in claim 14 wherein said determining step determines whether the sum of the amplitude of said subject cell and the amplitudes of two cells adjacent to said subject cell in said map at the same range gate as said subject cell do not exceed said threshold value by said predetermined amount.

18. A method for distinguishing targets from active and passive clutter as claimed in claim 14 wherein said forming a list step comprises the step of selecting a map cell wherein said selected map cell has an amplitude greater than the amplitudes of adjacent map cells in the same range gate and an amplitude greater than amplitudes of adjacent map cells in the same Doppler bin.

19. A method for distinguishing targets from active clutter and from passive clutter in a radar system, said method comprising the steps of:

forming a range-Doppler map from a return signal generated by a radar receiver, said map having a multiplicity of map cells wherein each map cell characterizes an amplitude component of said return signal at one of a plurality of range gates and one of a plurality of Doppler bins;

forming a list of potential targets from said map, said list identifying subject cells whose amplitudes exceed a threshold value;

comparing, for each subject cell, amplitude of said subject cell with a peak amplitude for the Doppler bin within which said subject cell resides;

determining, for each subject cell, whether the amplitude of said subject cell is less than the amplitude of a map cell that resides substantially in the same range gate for said subject cell but in a Doppler bin where a target image for said subject cell could appear;

adjusting said list to remove subject cells in response to said comparing and determining steps; and

indicating that targets reside at the cells identified by said list after said adjusting step.

20. A method for distinguishing targets from active and passive clutter as claimed in claim 19 wherein said comparing step comprises the step of identifying subject cells having amplitudes less than approximately 1/3 of said peak amplitude for the Doppler bin within which said subject cell resides.

21. A method for distinguishing targets from active and passive clutter as claimed in claim 19 wherein:

said forming a range-Doppler map step is configured to define a maximum Doppler; and

said determining step comprises the step of identifying a cell from said map which resides at the same range as said subject cell but is offset in Doppler from said subject cell by the difference between said maximum Doppler and the Doppler bin for said subject cell to be said map cell where said target image could appear.

22. A method for distinguishing targets from active and passive clutter as claimed in claim 19 wherein said forming a list step comprises the step of selecting a map cell wherein said selected mad cell has an amplitude greater than the amplitudes of adjacent map cells in the same range gate and an amplitude greater than amplitudes of adjacent map cells in the same Doppler bin.

23. A method for distinguishing targets from active clutter and from passive clutter in a radar system, said method comprising the steps of:

forming a range-Doppler map from a return signal generated by a radar receiver, said map having a multiplicity of map cells wherein each map cell characterizes an amplitude component of said return signal at one of a plurality of range gates and one of a plurality of Doppler bins;

forming a list of potential targets from said map, said list identifying subject cells whose amplitudes exceed a threshold value;

determining, for each subject cell, whether the sum of the amplitude of said subject cell and the amplitude of a cell adjacent in said map to said subject cell at the same range gate as said subject cell does not exceed said threshold value by a predetermined amount;

evaluating, for each subject cell, whether the amplitude of said subject cell is less than the amplitude of a map cell that resides substantially in the same range gate for said subject cell but in a Doppler bin where a target image for said subject cell could appear;

adjusting said list to remove subject cells in response to said determining and evaluating steps; and

indicating that targets reside at the cells identified by said list after said adjusting step.

24. A method for distinguishing targets from active and passive clutter as claimed in claim 23 wherein said predetermined amount is at least twice said threshold value.

25. A method for distinguishing targets from active and passive clutter as claimed in claim 23 wherein said determining step determines whether the sum of the amplitude of said subject cell and the amplitudes of two adjacent cells in said map at the same range gate as said subject cell does not exceed said threshold value by said predetermined amount.

26. A method for distinguishing targets from active and passive clutter as claimed in claim 23 wherein:

said forming a range-Doppler map step is configured to define a maximum Doppler; and

said evaluating step comprises the step of identifying a cell from said map which resides at the same range as said subject cell but is offset in Doppler from said subject cell by the difference between said maximum Doppler and the Doppler bin for said subject cell to be said map cell where said target image could appear.

27. A method for distinguishing targets from active and passive clutter as claimed in claim 23 wherein said forming a list step comprises the step of selecting a map cell wherein said selected map cell has an amplitude greater than the amplitudes of adjacent map cells in the same range gate and an amplitude greater than amplitudes of adjacent map cells in the same Doppler bin.

28. A method for distinguishing targets from active clutter and from passive clutter in a radar system, said method comprising the steps of:

forming a range-Doppler map from a return signal generated by a radar receiver, said map having a multiplicity of map cells wherein each map cell characterizes an amplitude component of said return signal at one of a plurality of range cells and one of a plurality of Doppler bins;

forming a list of potential targets from said map, said list identifying subject cells whose amplitudes exceed a threshold value;

comparing, for each subject cell, amplitude of said subject cell with a peak amplitude for the range cell within which said subject cell resides;

determining, for each subject cell, whether the sum of the amplitude of said subject cell and the amplitude of a cell adjacent in said map to said subject cell at the same Doppler bin as said subject cell does not exceed said threshold value by a predetermined amount;

adjusting said list to remove subject cells in response to said comparing and determining steps; and

indicating that targets reside at the cells identified by said list after said adjusting step.