Methods and apparatus for weighting radar return data

• US 6,738,563 B1
• Filed: 06/11/2003
• Issued: 05/18/2004
• Est. Priority Date: 06/11/2003
• Status: Active Grant

• Current Assignee: Honeywell International Inc.
• Original Assignee: Honeywell International Inc.
• Inventors: Heidemann, Thomas W., Hager, James R., Jordan, Lavell
• Primary Examiner(s): Sotomayor, John B.
• Application Number:
  US10/459,201
• Time in Patent Office: 342 Days
• Field of Search: 342/65, 342/147, 342/156, 342/159, 342/162, 342/173, 342/174, 342/195
• US Class Current: 342/147
• CPC Class Codes: G01S 13/18 wherein range gates are used
• CPC Class Codes: G01S 13/524 based upon the phase or frequency shift resulting from movement of objects, with reference to the transmitted signals, e.g. coherent MTi
• CPC Class Codes: G01S 13/70 for range tracking only
• CPC Class Codes: G01S 13/882 for altimeters measuring height using barometric means G01C5/06
• CPC Class Codes: G01S 13/935 for terrain-avoidance
• CPC Class Codes: G01S 3/48 the waves arriving at the antennas being continuous or intermittent and the phase difference of signals derived therefrom being measured
• CPC Class Codes: G01S 7/292 Extracting wanted echo-signals
• CPC Class Codes: G01S 7/4004 of parts of a radar system

Abstract

A method for reducing effects of terrain return fading due to summation of out of phase radar returns in determining locations of radar targets is described. The method comprises determining an interferometric angle, Φ, to a radar target based on at least one radar return and filtering the interferometric angle, Φ, by adjusting an effect of terrain features contributing to the interferometric angle, Φ, proportionally to a degree of radar return fading resulting from the terrain features of the radar targets. A corrected interferometric angle, Φ_out., is then provided, based at least in part on the filtering.

Claims

1. A method for determining location of a radar target, said method comprising:

determining an interferometric angle, Φ

, to the radar target based on at least one radar return;

filtering the interferometric angle, Φ

, said filtering adjusting an effect of terrain features contributing to the interferometric angle, Φ

, proportionally to a degree of radar return fading resulting from the terrain features of the radar target; and

providing a corrected interferometric angle, Φ

_out., based at least in part on said filtering.

2. A method according to claim 1 wherein said filtering comprises controlling a weighting of the filter utilizing a fade detection sensor.

3. A method according to claim 2 wherein said controlling a weighting comprises calculating a ratio of a signal envelope for the radar returns to an average signal for the radar returns, the ratio, Q_fade, being a measure of depth of radar return fade.

4. A method according to claim 3 wherein said filtering comprises determining a weighting to be applied to an interferometric angle, Φ

_in(n), according to;

${\mathrm{\Phi <br><br>}}_{\mathrm{out}}<br><br>\left(0\right)=\underset{n=-i}{\overset{+i}{\sum <br><br>}}<br><br>{\mathrm{\Phi <br><br>}}_{\mathrm{in}}<br><br>\left(n\right)\times <br><br>Q_{\mathrm{fade}}<br><br>\left(n\right)÷<br><br>\underset{n=-i}{\overset{+i}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>Q_{\mathrm{fade}}<br><br>\left(n\right),$

where i indicates a number of returns to be weighted in the filter.

5. A method according to claim 3 wherein said filtering comprises determining a weighting to be applied to an interferometric angle, Φ

_in(n), utilizing a 25 return weighted averaging type filter according to;

${\mathrm{\Phi <br><br>}}_{\mathrm{out}}<br><br>\left(0\right)=\underset{n=-25}{\overset{+25}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{\Phi <br><br>}}_{\mathrm{in}}<br><br>\left(n\right)\times <br><br>Q_{\mathrm{fade}}<br><br>\left(n\right)÷<br><br>\underset{n=-25}{\overset{+25}{\sum <br><br>}}<br><br>Q_{\mathrm{fade}}<br><br>\left(n\right)$

6. A method according to claim 4 wherein the radar return includes a radar return for a right radar channel, a radar return for a left radar channel, and a radar return for an ambiguous radar channel which has an antenna located between antennas for the left and right radar channels, wherein Q_fade(n)=Q_left(n)+Q_right(n)+Q_ambiguous(n).

7. A method according to claim 3 wherein calculating a signal envelope comprises low pass filtering the radar return to provide an amplitude value of present returns and calculating an average signal comprises low pass filtering the radar return to provide a historic value for average return amplitude.

8. A method according to claim 3 wherein calculating a signal envelope comprises low pass filtering the radar return at a cutoff frequency of 300 Hz and calculating an average signal comprises low pass filtering the radar return at a cutoff frequency of 2 Hz.

9. A method according to claim 2 further comprising controlling navigation of a vehicle based upon a weighting applied by the filter.

10. An apparatus for filtering an interferometric angle to a radar target, said apparatus countering effects of terrain return fading due to summation of out of phase returns in the calculation of the interferometric angle to the radar target, said apparatus comprising:

at least one signal fade detector, each said detector receiving a signal representative of a radar return for one of a plurality of radar channels and outputting a quality factor signal, Q_fade, that represents a measure of a depth of the signal fade for that radar channel; and

a filter which receives the interferometric angle, Φ

_in(n), and the quality factor signals, said filter outputting a weighted interferometric angle, Φ

_out(n), which is weighted according to the received quality factor signals.

11. An apparatus according to claim 10 wherein said signal fade detectors calculate a ratio of signal envelope for the radar returns to an average signal for the radar returns, the ratio, Q_fade, being a measure of depth of radar return fade.

12. An apparatus according to claim 11 wherein said apparatus comprises three said signal fade detectors, a first receiving radar return signals for a right radar channel, a second receiving radar returns for a left radar channel, and a third receiving radar returns for an ambiguous radar channel which has an antenna located between antennas for the left and right radar channels, wherein the ratio is calculated as Q_fade(n)=Q_left(n)+Q_right(n)+Q_ambiguous(n).

13. An apparatus according to claim 12 wherein said filter comprises a 25 return weighted averaging type filter configured to determine a weighting for a received interferometric angle, Φ

_in(n), according to;

${\mathrm{\Phi <br><br>}}_{\mathrm{out}}<br><br>\left(0\right)=\underset{n=-25}{\overset{+25}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>{\mathrm{\Phi <br><br>}}_{\mathrm{in}}<br><br>\left(n\right)\times <br><br>Q_{\mathrm{fade}}<br><br>\left(n\right)÷<br><br>\underset{n=-25}{\overset{+25}{\sum <br><br>}}<br><br>Q_{\mathrm{fade}}<br><br>\left(n\right).$

14. An apparatus according to claim 12 wherein said filter determines a weighting for a received interferometric angle, Φ

_in(n), according to;

${\mathrm{\Phi <br><br>}}_{\mathrm{out}}<br><br>\left(0\right)=\underset{n=-i}{\overset{+i}{\sum <br><br>}}<br><br>{\mathrm{\Phi <br><br>}}_{\mathrm{in}}<br><br>\left(n\right)\times <br><br>Q_{\mathrm{fade}}<br><br>\left(n\right)÷<br><br>\underset{n=-i}{\overset{+i}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>Q_{\mathrm{fade}}<br><br>\left(n\right)$

where i indicates a number of returns to be weighted in the filter.

15. An apparatus according to claim 10 wherein each said signal fade detector comprises:

a first low pass filter filtering the radar return to provide a historic value for average return amplitude; and

a second low pass filter filtering the radar return to provide an amplitude value of present returns, said second filter providing a signal envelope for the radar returns.

16. An apparatus according to claim 10 wherein each said signal fade detector comprises:

a first low pass filter with a cutoff frequency of 2 Hz, said first filter providing an average signal for the radar returns; and

a second low pass filter with a cutoff frequency of 300 Hz, said second filter providing a signal envelope for the radar returns.

17. A unit for determining an interferometric angle to a radar target, said unit receiving radar return data from a right radar channel, a left radar channel, and an ambiguous radar channel, the ambiguous radar channel having an antenna located between antennas for the left and right radar channels, said unit comprising:

a phase processor receiving the radar return data from the right, left, and ambiguous radar channels, said phase processor determining the phase between the left radar channel and ambiguous radar channel return data, the phase between the ambiguous radar channel and right radar channel return data, and the phase between the right radar channel and left radar channel return data;

a phase ambiguity processor receiving the determined phases from said phase processor, and calculating a preliminary interferometric angle, Φ

_in(n), to the radar target;

a plurality of signal fade detectors, one said detector receiving right radar channel return data, a second said detector receiving left radar channel return data, and a third said detector receiving ambiguous radar channel return data, each said detector outputting a quality factor signal that represents a measure of a depth of the signal fade for that radar channel; and

a filter which receives the preliminary interferometric angle, Φ

_in(n), from said phase ambiguity processor and the quality factor signals from said signal fade detectors, said filter outputting a weighted interferometric angle, Φ

_out(n), which is weighted according to the received quality factor signals.

18. A unit according to claim 17 wherein said signal fade detectors calculate a ratio of signal envelope for the received radar return to an average signal for the received radar return, the ratio, Q, being a measure of depth of radar return fade.

19. A unit according to claim 18 wherein said filter calculates a ratio of signal envelope for the received radar returns to an average signal for the received radar returns for the right, left, and ambiguous radar return channels according to Q_fade(n)=Q_left(n)+Q_right(n)+Q_ambiguous(n).

20. A unit according to claim 19 wherein said filter determines a weighting for a received preliminary interferometric angle, Φ

_in(n), according to;

${\mathrm{\Phi <br><br>}}_{\mathrm{out}}<br><br>\left(0\right)=\underset{n=-i}{\overset{+i}{\sum <br><br>}}<br><br>{\mathrm{\Phi <br><br>}}_{\mathrm{in}}<br><br>\left(n\right)\times <br><br>Q_{\mathrm{fade}}<br><br>\left(n\right)÷<br><br>\underset{n=-i}{\overset{+i}{\sum <br><br>}}<br><br>\text{\hspace{1em}<br><br>}<br><br>Q_{\mathrm{fade}}<br><br>\left(n\right)$

where i indicates a number of returns to be weighted in said filter.

21. A unit according to claim 17 wherein each said signal fade detector comprises:

a first low pass filter filtering the radar return to provide a historic value for average return amplitude; and

a second low pass filter filtering the radar return to provide an amplitude value of present returns, said second filter providing a signal envelope for the radar returns.

22. A unit according to claim 17 further comprising a body coordinate processor, said body coordinate processor determining a position to a radar target in aircraft body coordinates at least in part from the weighted interferometric angle, Φ

_out(n).