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Introduction
Doppler 1! ! In many radar applications there is a relative movement between the radar and the target to be detected. Examples include, Air Trafc Control, Battleeld Surveillance, Weapon Locating, all Airborne Radars, SAR and ISAR as well as many others.! Consider the example of an Air Trafc Control radar. This has to detect incoming and outgoing aircraft in the presence of a clutter background. We have already seen that clutter can be distinguished from receiver noise by virtue of its narrower, low frequency spectrum. How can this be automatically exploited?!
Introduction
Doppler - 2! Targets can be distinguished from background clutter by virtue of their motion. This enables a track history to be built up. ! More useful, however, is exploitation of the Doppler effect which enables moving targets to be ltered such that clutter is rejected based upon the differing velocities of the two received signal components.! A processor that distinguishes moving targets from clutter by virtue of differences in their spectra is called a Moving Target Indicator or MTI. MTI processors can take a number of forms.!
Pulse 1 Pulse 2
1 d 4 r 2 dr = 2 dt dt
2vf 0 c
Doppler Ambiguity
The PRF must sample at twice the highest Doppler frequency i.e to avoid aliasing.
4vf0 c
Vo = Traffic Speed R = Traffic Range to Radar d = Antenna Distance to Traffic Lane (center) LOS = Line-of-Sight
2D - Doppler Radar
fd > 1 / fd can be found quickly fd < 1 / many pulses need to be sent to find fd
+ -
subtractor!
jT = exp 2
so
T 2 j sin 2
H ( ) = 2 sin
T
2
1/T
2/T
3/T
4/T
Doppler
Blind speeds
It can be seen that the frequency response has zeroes at Doppler shifts corresponding to :! ! n fd = = n . PRF (n integer) ! PRI ! ! n . c . PRF or! vblind = 2 f0 ! These can also be thought of in terms of target movement such that the pulse-to-pulse phase changes by 2p, in other words that the target range changes by l/2 in one PRI. !
vblind =
n. 2 n . c . PRF = PRI 2 f0
aircraft track!
E2 E1
/ 2
/ 2 Es (signal voltage)
Ec (clutter voltage)
This shows that blind speeds are also present in amplitude canceller MTI systems!
Amplitude phase
I
Clutter effects
Clutter spectrum! Many types of clutter (sea, wind-blown vegetation) have a nite and variable Doppler spectrum. Thus the basic two-pulse canceller does not achieve perfect clutter suppression. With a knowledge of the clutter spectrum and the canceller frequency response, the actual degree of suppression can be calculated.! Amplitude! Clutter! spectrum! Doppler!
0
Clutter residue!
delay, T
For improved performance, two cascaded cancellers can be used. ! ! The frequency response is the square of the single delay line canceller :! ! 2 T 2 T ! H ( ) = 2 sin = 4sin 2 2 ! ! This gives better suppression close to zero Doppler!
Doppler!
Staggered PRFs
To address the problem of blind speeds, it is possible to use a staggered PRF. The diagram below shows a two-PRF stagger pattern. The two PRFs are related by an integer ratio n : m.!
T1
T2
T1
T2
T1
T2
etc
Staggered PRFs
The composite frequency response is the sum of the responses for the individual PRIs. In this example the two PRIs are related in the ratio 4 : 5.!
Staggered PRFs
which looks like :
The rst blind Doppler has been increased to 4/T1 = 5/T2 .! ! The choice of the ratio m : n is a compromise between atness of frequency response on one hand, and extension of the rst blind speed on the other. !
Airborne MTI
Consider a radar mounted on an airborne platform moving with a linear trajectory.! All stationary objects are now moving with respect to the radar platform. ! For a sideways looking radar these stationary objects will cause different Doppler shifts between successive pulses as the aircraft ies by, because their radial velocities are changing with respect to the platforms linear motion.! Detecting targets that have motion with respect to the ground then becomes much more complex.!
Clutter locking
Clutter locking MTI - 1! The presence of a mean clutter velocity component can dramatically effect MTI performance. ! This mean velocity component can originate either from the average motion of the clutter itself or from the motion of the radar platform (such as an aircraft). ! Clutter locking is a method for removing this average clutter frequency or velocity. !
Clutter locking
Clutter locking MTI - 2! The average inter-pulse phase change is measured and averaged over several range bins. This provides an estimate of the average clutter velocity. ! This average velocity may then be compensated for in the delay line circuit. ! Clearly this process can be contaminated if the clutter exhibits a spread of velocities or if the mean velocity of the target is similar to that of the clutter. ! Sometimes the clutter locking is bypassed of the clutter to noise ratio is small.!
Clutter locking
And the clutter spectrum will be: altitude return mainlobe clutter
look-back
2vf 0 c
0
look-ahead
+
Doppler frequency
Clutter locking
If the radar is looking for ground-based targets, the main-lobe clutter Doppler can be used as a reference.!
2vf 0 c
Doppler
mainlobe clutter
ground range
2vf 0 c
S 0/C0 I= Si/Ci
or
S0 I = CA Si
pulse no. 1 2 3 4 5 6 7 . . . Take slice through echoes from a burst at constant range, then take FFT to give Doppler information.!
Repeat at all ranges.!
Frequency!
Range!
Range / km
7.8
1.9
6.5
1.3
5.7
0.8
4.9
Target 1 0.4
Target 2 4.0
Range/km
7.8
0.2
3.2
landed
2.3