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RL: Doppler (exs+formulari)

Radiolocalització (Universitat Politècnica de Catalunya)

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Radiolocalització: Exercices and formulae Doppler

Jordi Ventura

16th, May, 2017

Exercises

1. A satellite orbiting the Earth in a circular orbit at an altitude of 5000 nmi has a
speed of 2.7 nmi/s.

(a) What is the Doppler frequency shift if the satellite is observed by a ground
based UHF radar (450 MHz) lying in the plane of orbit, just as the satellite
appears over the horizon? (the radius of the earth is 3440 nmi. You may
ignore the effects of refraction by the earth’s atmosphere and reflection from
the earth’s surface.)
The Doppler frequency shift is defined as:
2 f0 vr
fd = −
c
But the velocity that is given does not correspond to the radial velocity. In the following
figure we can see it:

8440 NM
✁
90º-✁ v

3440 NM d
90º

Figure 1: General scheme of the problem

The first thing that will be done will be to find the value of α:
!
3440
α = arcsin = 24o
8440
Now the radial velocity, in m/s (with the corresponding conversion factor):
vr = 2.7 · 1852 cos (90o − 24o ) = 2033.85 m/s
The velocity will be considered negative, as according to our drawing the satellite is ap-
proaching the radar. And so, the frequency shift is:
2 · 450 · 106 · (−2033.85)
fd = − = 6.1 kHz
3 · 108

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(b) What is the Doppler frequency shift when the satellite is observed at the zenith?
When the satellite is at the zenith, its radial velocity is 0 (it moves perpendicularly with
respect to the radar. As its radial velocity is 0, the Doppler is also 0.

2. A VHF radar at 200 MHz has a maximum unambiguous range of 180 nmi.
(a) What is its first blind speed (in knots)?
The pulse repetition time (PRT) is defined as:
2 · Rblind 2 · 180 · 1852
P RT = = = 2.222 ms
c 3 · 108
The Doppler frequency that corresponds to the first blind speed is ±P RT −1 , that is to say,
fD = ±450 Hz. To convert from shift frequency to speed, we use the expression:
2 f0 vr
fD = −
c
for which we now isolate vB :
c · fD 3 · 108 · 450
vB = = = 337.5 m/s = 656 kt
2 · f0 2 · 200 · 106

(b) Repeat, but for and L-band radar at 1250 MHz

The Doppler frequency is the same as before. The only thing that changes is the carrier
frequency. Now we have:
3 · 108 · 450
vB = = 54 m/s = 105.0 kt
2 · 1250 · 106

(c) Repeat, but for an X-band radar at 9375 MHz

Again:
3 · 108 · 450
vB = = 7.2 m/s = 14 kt
2 · 9375 · 106

(d) What would be the unambiguous range (nmi) of the X-band radar of part c)
in order to give the same blind speed you found in part a) for the VHF radar?
Having as data the frequency of c) and the blind speed of a), the only thing that can be
modified is the Doppler frequency, and thus the PRT. The Doppler frequency will now be:
2 · f0 · vB 2 · 9375 · 106 · 337.5
fD = =− = 21.1 kHz
c 3 · 108
With PRT the inverse of the value obtained, we can now find the unambiguous range is:
c · P RT c 3 · 108
Rblind = = = = 7109 m
2 2 · fD 2 · 21.1 · 103

3. An L-band Radar (1250 MHz) has a PRF of 340 Hz. It detects a rainstorm moving
at a radial velocity of 12 kt. Assume that the width of the thunderstorm’s Doppler
spectrum is very small (a narrow spectral line; which is not, of course, reality but
it makes the problem easier). The radar employs a single delay-line canceller.
(a) How much does the single delay-line canceller attenuate (in dB) the storm echo
compared to the response if the storm were moving with a radial velocity cor-
responding to the velocity which gives the maximum filter response?

The frequency for which the filter response is maximum corresponds to fd−max = 1/(2T ),
and the filter transfer function (in module) is:

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!
πf
|H(f )| = 2 · | sin |
P RF
for which we can see that its maximum value is 2. The shift frequency of the rain can be
computed as:
− 2 · f0 · vr − 2 · 1250 · 106 · 12 · 0.51444
fd = = = −51.444 Hz
c 3 · 108
In this case, as the filter response is symmetric, we can get rid of the negative symbol. The
filter response to this frequency will be:
!
π 51.44
|H(fd )| = 2 · | sin | = 0.9153
340
If we want to compare the power (in dB) for this frequency to the maximum, we have to
use the expression:
L(dB) = 20 · log L
as the filter response is referred to volts. Here, L is the ratio between the maximum filter
response and the one obtained in this case. The result is:
!
2
L(dB) = 20 · log = 6.79 dB
0.9153

(b) What would be the attenuation of the storm compared to the maximum re-
sponse, if a double delay-line canceller were used?

Intuitively, if the signal passes two times by the same filter, its response (and therefore, its
losses) is applied two times to the original signal. That makes the total loss of the signal
be two times the one obtained in the previous section, 13.58 dB.

4. (a) Show that the product of the maximum unambiguous range Run and the first
blind speed v1 is equal to c · λ/4, where c is the velocity of propagation and λ
the radar wavelength.

From the initial expression:

c · T fD · c c · T 1/T · c c · λ
Run · v1 = · = · =
2 2 · f0 4 c/λ 4

(b) What guidance, if any, does this relation give for avoiding ambiguities?

As the speed of light can not be changed, increasing λ can only be attained by reducing
the carrier frequency f0 .

5. What is the highest frequency that a radar can operate if it is required to have a
maximum unambiguous range of 200 nmi and no blind speed less than 600 kt.

Using the expression obtained in the previous exercise, we can change a little bit to have:

2
c2 3 · 108
fmax = = = 196.8 M Hz
4 · Run−min · vB−min 4 · 200 · 1852 · 600 · 0.51444

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6. Show that a triple delay-line canceller is equivalent to a four-pulse delay-line can-

celler with weights equal to the coefficients of the binomial expansion with alter-
nating sign.

The binomial expansion with alternating sign for any degree n is:

(1 − x)n = αx0 − βx1 + γx2 . . .

for n = 4, we have:

(1 − x)4 = 1 − 3 x + 3 x2 − x3

for which the coefficients are: 1, -3, 3 and -1. The scheme of the triple canceller is the following:

✁(t) x1(t) x2(t) x3(t)

T T T
Figure 2: General scheme of the problem

Now we will compute x1 (t), x1 (t) and x1 (t) when the input is a Dirac delta:

x1 (t) = δ(t) − δ(t − T )

x2 (t) = δ(t) − δ(t − T ) − δ(t − T ) + δ(t − 2T ) = δ(t) − 2 δ(t − T ) + δ(t − 2T )

x3 (t) = δ(t) − δ(t − T ) − 2 δ(t − T ) + 2 δ(t − 2T ) + δ(t − 2T ) − δ(t − 3T ) =

δ(t) − 3 δ(t − T ) + 3 δ(t − 2T ) − δ(t − 3T )

fulfilling the coefficients that were computed.

7. An S-Band (3,1GHz) air-surveillance radar utilizes a staggered waveform with four

different PRF’s, which are 1222, 1031, 1138, and 1000Hz

(a) What is the first blind speed (knots) if a constant PRF is used which has a
pulse repetition period equal to the average of the four periods of the stag-
gered waveform?

We find the mean of the PRI as:

!
T1 + T2 + T3 + T4 1 1 1 1 1
T̄ = = + + + = 916.7 µs
4 4 P RF1 P RF2 P RF3 P RF4
The Doppler frequency (fD ) is the opposite of the PRI obtained. To find the first blind
speed, we use the following expression:
c · fD c 3 · 108
vB = = = = 52.78 m/s = 102.6 kt
2 · f0 2 · P RI · f0 2 · 916.7 · 10−6 · 3.1 · 109

(b) What is the first blind speed (knots) of the staggered PRF waveform? Note
that the µi for these four frequencies are 27, 32, 29, 33, respectively.

The blind speed when there is staggering can be obtained as:

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!
µ1 + µ2 + µ3 + µ4
vstg = vB
4
where vB is the first blind speed when the PRI is the average of the four periods (the one
obtained in (a)) and µi known parameters. The result is the following:
!
27 + 32 + 29 + 33
vstg = 52.78 · = 1596.6 m/s = 3104 kt
4
(c) What is the maximum unambiguous range of the staggered PRF waveform?

The new maximum unambiguous range is exactly the sum of all the Run :
c · i Ti 3 · 108 · 3.66 · 10−3
P
Rmax = = = 550 km = 297 N M
2 2

8. (a) What is the first blind speed (kt) of an L-band Radar operating at 1250 MHz,
when the PRF has a maximum unambiguous range of 240 nmi?

The pulse repetition interval (T ) is:

2 · Run 2 · 240 · 1852
T = = = 2.963 ms
c 3 · 108
The Doppler frequency is the inverse of this value, and isolating the blind velocity in:
− 2 f0 v r
fD =
c
we have:
c · fD c 3 · 108
vB = = = = 40.5 m/s = 78.72 N M
2 · f0 2 · T · f0 2 · 2.963 · 10−3 · 1250 · 106

(b) Determine the periods of a pulse-to-pulse staggered MTI waveform with three
different periods, for the purpose of increasing the radar’s first blind speed
found in a) to a value no less than 1200 kt. The maximum unambiguous range
of the three periods is to be no less than 240 nmi. Note: there is no a unique
answer.

The first condition can be expressed as:

!
µ1 + µ2 + µ3
78.72 ≥ 1200
3
where:
µ1 · P RF1 = µ2 · P RF2 = µ3 · P RF3
The second condition says:
c
· (P RI1 + P RI2 + P RI3 ) ≥ 240 · 1852
2
As there are degrees of freedom, infinite solutions fulfil both requirements. A possible
solution is:
P RIi = 2.963 ms, 3.148 ms, 3.333 ms

9. In a digital filter bank with 16 filters,

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(a) What phase increment (degrees) is required for the phase shifts at each of the
16 taps of the delay line so as to generate the filter that is adjacent to the zero
Doppler filter?

The 360o that go from f = 0 to f = P RF are divided into the 16 filters. That makes the
phase increment to be:
360o
∆φ = = 22.5o
16
(b) What is the null-width (the distance between the two nulls that define the main
response) of the filters if the pulse repetition frequency of the radar is 2560 Hz?

Two consecutive peaks are separated (PRF/16) and the peak of the transfer function of a
filter coincides with the zero of the neighbours. That implies that the distance from the
peak to the zero of any filter is PRF/16, and thus the distance between two zeros is PRF/8:
P RF 2560
∆fnull = = = 320 Hz
8 8

10. Es vol utilitzar el radar homodı́ de la figura per mesurar la velocitat de vehicles en un
marge de velocitats comprés entre 50 km/h i 200 km/h, utilitzant la freqüència nor-
malitzada de 10,525 GHz. L’acoblador direccional presenta unes pèrdues d’inserció
de 0.6 dB i un acoblament de 20 dB. El circulador presenta unes pèrdues d’inserció
de 0,8 dB i un aı̈llament de 35 dB. L’antena presenta un guany de 15 dBi i la
potència a l’entrada de l’acoblador direccional és de 0 dBW.

(a) Sabent que l’angle que forma l’antena amb l’eix de la calçada és de 35o , tal com
s’indica a la figura, calcular el marge de freqüències Doppler que es detectaran
per aquestes velocitats.

Les velocitats radials rebudes seran:

vr = v · cos α = 50 · /3.6 cos 35 = 11.38 m/s
vr2 = 200 · /3.6 cos 35 = 45.51 m/s
Com que les aeronaus s’apropen, les velocitats radials són negatives. Per aquestes velocitats,
les freqüències són:

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2 · f0 · vr 2 · 10.525 · 109 · 11.38

fD1 = − = = 798.5 Hz
c 3 · 108
2 · 10.525 · 109 · 45.51
fD1 = = 3.194 kHz
3 · 108

(b) Quina serà la potència que s’obtindrà a l’entrada del mesclador per un blanc
de 5 m2 de secció recta, quan es troba a una distància de 100 m de l’antena
transmissora.

La potència emesa (PT ) de l’antena és:

PT = 1 W · 10−0.06 · 10−0.08 = 0.724 W
La potència rebuda és:
!2

2 3 · 108
0.724 · 101.5 ·5·
PT · G 2 · λ 2 · σ 10.525 · 109
PR = = = 1.482 · 10−11 W = −108.3 dB
(4 π)3 · R4 (4 π)3 · 1004
Al resultat se li han de restar 0.8 dB perquè torna a passar pel circulador:
PR′ = PR − 0.8 dB = −109.1 dBW

11. Un radar FM-CW utilitza una modulació triangular de perı́ode 10 ms que provoca
una variació de freqüència de 50 kHz sobre una portadora de 4 GHz. Per un blanc
fix, s’obté el gràfic de la figura, obtenint a la sortida del mesclador una freqüència
fb=100 Hz. Calcular:

Figure 3: Esquema general del problema

(a) La distància a què es troba el blanc.

La següent expressió ens dóna la distància del blanc en funció de paràmetres coneguts:
fb · Tm · c 100 · 20 · 10−3 · 3 · 108
R= = = 1500 m
4 · ∆f 4 · 2 · 50 · 103
(b) Si el blanc es trobés en moviment allunyant-se del radar, dibuixar la nova
ubicació del senyal rebut Rx.
En cas que el mòbil s’estigui allunyant, la velocitat serà positiva i per tant la freqüència
Doppler negativa. Això farà que el senyal rebut es situı̈ sota la senyal del blanc quiet, però
el pic es situarà en el mateix instant de temps ja que, en estar a la mateixa distància, patirà
el mateix retard.

12. Un radar MTI opera la freqüència de 4,0 GHz. Si l’eco procedent d’una aeronau
que està alineada amb l’eix de l’antena li arriba amb una freqüència de 3.999,996
MHz.

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(a) Determinar la velocitat de l’aeronau, i el sentit en que es mou

La freqüència rebuda és la suma de l’emesa més la de Doppler:

fR = fc + fD
I, com que fR = 3999.996 M Hz i fc = 4.0 GHz, es pot concloure que fD = −4 kHz. La
freqüència Doppler equival a:
2 · f0 · vr
fD = −
c
I, per tant:
c · fD 3 · 108 · (−4 · 103 )
vr = − =− = 150 m/s = 540 km/h
2 · f0 2 · 4 · 109
Com que la velocitat radial és positiva, l’aeronau s’està allunyant.
(b) Calcular la PRF necessària per tal de que la primera velocitat cega sigui de 700
km/h.

La freqüència Doppler associada a aquesta velocitat és:

2 · f0 · vb 2 · 4 · 109 · 700/3.6
fD = = = 5185 Hz
c 3 · 108
L’invers d’aquest valor és el PRI, i per tant, la fD correspon directament a la PRF.
(c) Explicar quin sistema utilitzaria per augmentar el valor de la primera velocitat
cega, però mantenint un valor suficientment gran de la distància màxima no
ambigua.

Utilitzant una freqüència de portadora més baixa, o mitjançant staggering.

13. Un radar meteorològic polsat i d’efecte Doppler, embarcat que opera en Banda X
a la freqüència de 9,5 GHz, es desplaça a una altura constant sobre el terreny amb
una velocitat uniforme de 450 km/h es dirigeix cap a una tempesta (pluja) que
avança cap a l’aeronau amb una velocitat de 60 km/h. Es demana:

(a) Calcular el valor de la freqüència Doppler obtinguda en el radar.

La velocitat radial (en m/s) és la combinació de tots dos moviments:

103
vr = (450 + 60) ·= 141.66 m/s
3600
Com que la pluja s’apropa a l’aeronau, la velocitat es considera que és negativa. La
freqüència Doppler és, per tant:
2 f0 vr 2 · 9.5 · 109 · (−141.66)
fD = − =− = 8972 Hz
c 3 · 108

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Formulae Sheet

• Doppler frequency: • Subclutter visibility:

2 · fc · vr SCV (dB) = If (dB) − (S/c)out (dB)

fR = fc + fD = fc −
c
vr = v · cos θ • Double delay line canceller:

• MTI with single delay canceller: !

π·f
H(f ) = 4 · sin
P RF
!
πf
H(f ) = 2 · sin
P RF P RF 4
CA =
48 π 4 σc4
• Blind speeds:
If = 4 · CA
c · fD λ0 · P RF λ0
vn = n · =n· =n·
2 · f0 2 2 · P RI • n-stage cancellers:

• Staggering: " #2n

2n 1
If = ·
µ1 · P RF1 = µ2 · P RF2 = · · · = µi · P RFi n! 2 π(σc /P RF )
!−1
λ0 T1 + T2 + · · · + Tn
!
π · f
vB = · H(f ) = 2n · sinn
2 n P RF
µ1 + µ2 + · · · + µn
v1 = vB • CW-FM
n
• Clutter spectral density: fb = |fr − fe |
2 λ2
fD
! ∆f
w(fD ) = w0 · exp − 0 m=
8 · σv2 Tm /2
2·R
tr =
• Clutter attenuation: c

P RF 2 P RF 2 λ20 cin 2∆f 2 · R 4 · ∆f · R

CA = = · fb max = m · tr = =
4 π 2 σc2 16 π 2 σv2 cout Tm c Tm · c
f b · Tm · c
• Improvement factor: R=
4 · ∆f
sout c
If = CA · ∆R =
sin 2·B

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