US 5,559,516 AGrant
Dual Cancellation Interferometric AMTI Radar
Issue Date:1996-09-24
•4 Claims
•5 Drawing Sheets
Abstract
An AMTI radar employs a dual cancellation format to cancel the clutter in the radar returns received by the apertures of an interferometric radar antenna. The three-aperture antenna presents the radar returns to three receivers which demodulate the returns to a complex in-phase signal I and a quadrature signal Q which are sampled at a pulse repetition interval at all ranges of interest. After conventional motion compensation four data sets are derived from the returns of the three apertures, L(t), C(t-.tau.), C(t) and R(T-.tau.) which represents samples taken over multiple pulse repetition intervals for each range interval or bin of interest. Fast Fourier transforms change the data sets into the frequency domain and phase compensations for the data sets are calculated in a triple interferometric signal calibration unit. Compensation phase is further adjusted in a clutter phase calculator allowing a much reduced phase quantity to be applied to the delayed data sets as the second part of the dual cancellation signal. Following subtraction of doppler filter outputs of the delayed data sets from the undelayed data sets in the cancellation unit, maximum clutter cancellation is achieved. The resulting clutter-cancelled signals are presented to a detection and validation processor to determine range, doppler, amplitude and angle measurements to the moving targets with a high degree accuracy.
Metadata
Assignee
- Northrop Grumman Corporation
Inventors
- John A. Didomizio
- Robert A. Guarino
Application Information
Application Number:US 3255220
Filing Date:1981-11-27
Priority Date:1981-11-27
Art Unit:222
Classifications
IPC:
G01S 1308
Field of Search:
3433425 CM;5 FT;7.7;368118;147;156
Patent Drawings (5 sheets)
Description
Cross Reference to Related Applications
The subject matter of this patent application is related to that disclosed in U.S. patent application Ser. No. 325,523 filed Nov. 27, 1981 by J. DiDomizio for MAXIMIZED/MINIMIZED PHASE CALCULATOR FOR AN INTERFEROMETRIC AMTI RADAR and to U.S. patent application Ser. No. 325,521 filed Nov. 27, 1981 by J. Alimena and R. Briones for CHANNEL SWITCHING INTERFEROFMETRIC AMTI RADAR, and to U.S. patent application Ser. No. 325,524 filed Nov. 27, 1981 by John A. DiDomizio for LOW TARGET VELOCITY INTERFERROMETERIC AMTI RADAR, all of which are assigned to the same assignee as the present case.
Technical Field
This invention relates to an aircraft-mounted synthetic aperture radar system and, more particularly, to an AMTI radar system that utilizes an interferometric processing technique to enhance target identification in the radar returns.
Background Art
An airborne moving target indicator (AMTI) radar is generally known and is the type of radar that has the capability to reject or cancel signals from fixed, or unwanted targets (non-movers), such as buildings, hills, etc. At the same time, such radars typically highlight or enhance the radar return signals from any moving targets (movers) such as aircraft, vehicles, or the like. One technique used in AMTI radar of the coherent type involves utilizing the doppler shift imparted to the reflected radar signals by a moving target as a part of a processing scheme to distinguish a mover from a non-mover. This doppler shift appears as a change in the phase of the received signals between consecutive illuminating radar pulses.
There are a number of problems which must be considered in the processing of radar returns where the AMTI radar is mounted in an aircraft. Because the aircraft is moving with respect to both the fixed and moving targets the radar returns from both target and clutter experience a frequency shift which can be corrected by known motion compensation techniques.
Synthetic-aperture radars are also generally known and such systems generally use a multiaperture antenna together with the movement of the platform on which the antenna is mounted as additional inputs into the processing of return signals in an AMTI radar. While this adds significantly to the complexity of the processing of the radar return signals, clutter cancellation to identify the movers can be significantly enhanced.
One well-known method of compensating for the effects of aircraft motion is known as displaced phase center technique and involves electronically displacing the antenna phase center along the flight path of the aircraft. Briefly, the technique involves the transmission and reception of radar returns by the antenna of the radar system having its phase center at a first known location. A second illuminating pulse is then transmitted and the return stored while the antenna has its phase center at a second known location. The phase centers of the first and second returns are separated by a precisely known distance related to the movement of the aircraft during the interpulse period and, knowing this information, the phase centers can electrically be changed to essentially coincide in time. At that point, the signals received by the multiaperture antenna from clutter, or stationary objects, will have properties suitable to cancellation leaving only the movers to be detected.
One technique for clutter cancellation is described in U.S. Pat. No. 4,093,950 issued Jun. 6, 1978 to T. ap Rhys for MOTION-COMPENSATION ARRANGEMENTS FOR. MTI RADARS. The clutter suppression technique described in this patent is not limited to two pulses at a time but may be applied to a number of pulses. Phase and amplitude adjustments are also made to minimize the effects of antenna construction errors. The antenna subarray have phase centers which are separated by 2 VT. The sum and difference signals from each two adjacent subarray are taken to produce a sum channel and a difference channel for each. group of subarrays. After adjustment of the difference channel signal in phase and amplitude, the latest return is added to a delayed return to produce a correction signal. That correction signal is then added to a delayed signal in the corresponding sum channel to provide a signal that is synchronized in time and phase with the most recent signal in the sum channel.
U.S. Pat. No. 3,735,400 issued May 22, 1973 to C. Sletten and F. S. Holt for AMTI RADAR CLUTTER CANCELING METHOD AND APPARATUS describes a three-aperture simultaneous mode clutter canceller. This clutter cancellation technique is based on the premise that the return signals from stationary targets on the ground arrive at two antenna apertures with a unique and nearly linearly related phase delay as a function of doppler frequency if the antennas are displaced laterally along the aircraft flight path. Ground clutter cancellation can be achieved by a filter that separates the doppler spectrums into narrow channels and applies a given phase shift or delay to the returns in the narrow bandpass filter. Three channels of signal information from a three-aperture antenna are reduced to two clutter cancel channels. Range integrations and phase comparisons are performed on each channel of information to provide target detection and angle measurement. One of the limiting characteristics of this processing technique is that the antennas must be in a line coincident with the velocity vector of the aircraft. Each of the antenna apertures are spaced apart from the adjacent aperture by a fraction of a wavelength, in this particular case one quarter of a wave-length. Another limitation is that the transmit aperture, this being one of the three receive apertures, is the same aperture as one of the receive apertures and so the transmit and receive antenna beamwidths are identical. This is significant because the resultant doppler spectra in each of the channels is not highly influenced by each beamwidth pattern of the individual receive apertures. Still another limitation of this approach is that the aircraft veloctiy must be sufficiently large to provide a clutter spectrum of 50 channels or more. Yet another limitation of this technique is that the bandpass filters are controlled by information from the aircraft navigation sensor which inherently has potential errors which should be considered. Also, this processing technique utilizes only three doppler filtering processes which necessarily provides less information compared to a system which incorporates a larger number of filtering processes. And finally, although this disclosed technique has a means for compensating for antenna calibration errors, it does not include any compensation by the receive signals to correct for velocity and/or boresite errors.
Disclosure of Invention
It is an object of the present invention to provide an airborne moving target indicator (AMTI) which effectively detects and measures angles to slowly moving targets in main beam clutter.
A feature of the dual cancellation interferometric AMTI radar according to the present invention is that the disclosed technique is not limited to a side-looking radar. Stated differently, it is not necessary that the antenna apertures be oriented along a line which is coincident with the velocity vector of the aircraft. This means that the antenna apertures can be mechanically rotated to any desired direction.
According to another feature of the dual cancellation interferometric AMTI radar of the present invention, the receive apertures of the radar antenna are spaced apart from adjacent apertures by a number of wavelengths. This is significant because it allows the apertures to be much larger in size and also allows the phase centers to be further apart for more angle accuracy.
Another feature of the dual cancellation interferometric AMTI radar according to the present invention is that the three receive apertures are used together as a transmit aperture so that the transmit antenna beamwidth is one-third as narrow as each of the receive antenna beamwidths. This is meaningful because the resulting doppler spectra in each of the receive channels is not highly influenced by the beamwidth pattern of the individual receive apertures.
An advantage of the dual cancellation interferometric AMTI radar according to the present invention is that the operation is not constrained by low platform velocity. In other words, it is not necessary to have the aircraft move at a sufficiently high speed to obtain an adequate clutter spectrum for the doppler samples.
Another advantage of the dual cancellation interferometric AMTI radar of the present invention is that it includes a compensation means based on the data itself to correct for errors which might be associated with reference signals from a navigation system.
Still another feature of the dual cancellation interferometric AMTI radar of the present invention is that four doppler filtering processes are performed on the data in the three receive channels to generate precise phase compensation for the radar return signals in the clutter spectrum.
Yet another feature of the dual cancellation interferometric AMTI radar according to the present invention is that it compensates the receive signals for inaccuracies associated with velocity and/or boresite errors.
According to the AMTI radar system of the present invention a dual cancellation format is utilized in the process of clutter returns received by three apertures of an interferometric antenna. The three-aperture antenna provides complex in-phase and quadrature signals which are sampled each pulse repetition interval (PRI) in an A/D converter at all ranges of interest. A particular advantage is that it eliminates the normal restriction that the radar pulse repetition frequency (PRF) required to achieve a high degree of clutter cancellation be related to the aircraft velocity and interarray spacing. This increases the radar capability by allowing variable PRF radar transmission. In turn this provides an increase in unambiguous target velocities and eliminates low velocity blind speeds. An added advantage is the increase in average power that can be transmitted with the use of a higher PRF, hence improving the range at which moving targets can be detected.
Four data sets are generated from the motion compensated signals received from the three apertures. The sets L(t), C(t-.tau.), C(t) and R(t-.tau.) represent samples taken over multiple pulse repetition intervals for each range interval or bin of interest. The time .tau. is roughly equal to d/2v and is used to provide the first phase correction of the dual cancellation scheme.
From the Fast Fourier Transformed data amplitude and phase compensations are calculated in a triple interferometric signal calibration unit. Compensation phase is further adjusted in a clutter phase calculator allowing a much reduced phase quantity to be applied to the delayed data sets as the second part of the dual cancellation signal. Following subtraction of doppler filter outputs of the delayed data sets from the undelayed data sets in the cancellation unit maximum clutter cancellation has been achieved in the clutter region. The two-range doppler maps that result after subtraction of doppler filter outputs are presented to a detection and validation processor to determine range, doppler, amplitude and angle measurements to the moving targets with a high degree of accuracy.
In the clutter-free region, the FFT outputs (one per aperature) are noncoherently integrated for detection and the outer two are used for angle measurements in a known manner.
The foregoing and other objects, features and advantages of the present invention will become more apparent from the following description of preferred embodiments and accompanying drawings.
Brief Description of Drawings
FIG. 1 is a block diagram drawing of one embodiment of a dual cancellation interferometric AMTI radar system according to the present invention;
FIG. 2 is a drawing in block form of the triple interferometric signal calibration unit shown in FIG. 1;
FIG. 3 is a drawing in block diagram form depicting the clutter free phase calculator shown in FIG. 1;
FIG. 4 is a drawing in block diagram form of the cancellation unit shown in FIG. 1; and
FIG. 5 is a drawing in block diagram form depicting the detection and validation processor shown in FIG. 1.
Best Mode for Carrying Out the Invention
Referring initially to FIG. 1, there is seen one embodiment of a dual cancellation interferometric AMTI radar according to the present invention. This technique is particularly well suited to suppressing clutter in a radar system whose performance is limited by the effects of platform motion. The present invention is utilized in processing signals acquired by a radar 10 of the coherent type which is known in the art. The radar system includes a left aperture 12, a center aperture 14 and a right aperture 16 that are provided by an array antenna or the like. Each aperture provides a signal indicative of radar returns to a receiver 18, a receiver 20 and a receiver 22.
A particular feature of the present invention is that the antenna beamwidths of the left center and right apertures are substantially identical and are broader than the illuminating aperture beamwidth, (the illuminating aperture beam is more narrow by a factor of 3). As is known, each of the receivers typically converts the radar signals received at RF frequency range first to an IF frequency and then to a video signal of two different channels that are shifted in phase by 90.degree.. In other words, the receiver 18 for the left aperture has as outputs an in-phase component (I.sub.L) 24 and a quadrature component (Q.sub.L) 25, the receiver 20 for the center aperture 14 has as outputs an in-phase component (I.sub.C) 26 and a quadrature component (Q.sub.C) 27 and the receiver 22 for the right aperture has as outputs an in-phase component (I.sub.R) 28 and a quadrature component (Q.sub.R) 29.
The I and Q video signals from the receivers 18, 20 and 22 are provided to analog-to-digital (A/D) converters 34, 36 and 38, respectively, so that the signals on the lines 44 and 45, the lines 46 and 47 and the lines 48 and 49, are digital representations of the magnitudes of in-phase and quadrature components of each signal received by the radar apertures. The remainder of the disclosure is digital in nature and for simplicity the representations in FIG. 1 are shown with individual signal lines rather than trunk lines to accommodate binary signals.
It also should be understood that all signals described hereinafter are the actual radar return signals or they are signals upon which modifications or changes have been performed in accordance with the described process. All such processes are performed with the requisite degree of fineness so that there is no significant error that arises as a result of quantization noise. The coherent radar 10 includes a pulse repetition frequency (PRF) clock 51 to provide timing signals on the line 52 related to each transmission or illuminating pulse from the radar system. A particular feature of the present invention is that the PRF utilized in this configuration is not restricted to any relationship in which aircraft motion perpendicular to the antenna orientation in a pulse repetition interval (PRI) must be a fixed factor of antenna array spacing. In addition a range clock 56 provides a high frequency timing signal on the line 57 defining each of the range bins associated with the return radar signal and also providing sampling strobes for each of the A/D converters.
The I and Q signals, in digital form, from the left aperture 12, the center aperture 14, and the right aperture 16 are fed to a motion compensation unit 60. An inertial navigation system, (not shown), or other similar system on the radar platform provides digital signals indicating platform motion to the motion compensation unit. The received radar signals are complex multiplied by the signals received from the inertial navigation system. A complex multiplier circuit is generally known in the art and the purpose of the complex multiplier is to rotate the incoming radar data in any given range bin during a given PRI by another signal that represents the platform motion with respect to the range bin of interest. This results in the compensation of the data for platform motion, thus correcting for the doppler frequency at the center of the radar beam. The signals from the motion compensation unit 60 are on the lines 64 through 69 and these signals represent the in-phase component I and quadrature component Q of the motion compensated signals received by the left, center and right apertures, respectively.
Four bulk memory devices are used for array storage; memory 70, memory 72, memory 74 and memory 76. Each memory device is of sufficient size to record N.sub.d PRIs of data for each of N.sub.r range bins. The memories 72 and 74 accept data from the center aperture receiver, the memory 70 accepts data from the left aperture and the memory 76 accepts data from the right aperture. A particular feature of the present invention is that the data in these bulk memories is read in at different times. In other words, there are two separate time periods in which data is recorded, one for the left and a center device together and the other for the right and the other center device together. The data gate 52 that controls the left and the center allows the storage of the first N.sub.d samples taken (i.e., samples 1through N.sub.d) whereas the data gate 59 that controls the center and the right allows the storage of N.sub.d samples delayed in time by N PRIs (i.e., samples 1+N through N.sub.d +N) through the multiple PRI delay unit 58. The data gate delay is controlled by line 54 from the delay calculation read only memory (ROM) 53.
One feature of the present invention is that the multiple PRI delay for the optimum clutter cancellation is calculated in a delay calculation ROM 53. The delay calculation ROM 53 has three inputs, aircraft velocity v, pulse repetition frequency f.sub.r and interarray spacing d. The output of the delay calculation ROM 53 on the line 54 is the number of PRI delays, N, such that .vertline.(d/2v)-(N/f.sub.r).vertline. is minimized. The interarray spacing, d, is a constant for all signal sets, the number of different pulse repetition frequencies, f.sub.r, are limited and the aircraft velocity, v, can be quantized to a low bit level so that the output, N, will generally be a small set of numbers which can be represented by a simple digital code when stored in the ROM.
A particular feature of the present invention is that Fourier transforms of all of the data points are taken so that phase corrections for clutter cancellation can be applied in the frequency domain thus removing constraints inherently imposed by time domain cancellation. Accordingly, a digital FFT processor 84 is connected by the lines 80 and 82 to the memory 70 for the left aperture and transforms the time history contained therein to I.sub.1 and Q.sub.1 signals on the lines 86 and 88 which provide a frequency domain representation of the received data. A difital FFT processor 94 is connected to the array storage device 72 by the lines 90 and 92 and provides a comparable signal transform to the frequency domain for signals I.sub.c, and Q.sub.c, on the lines 96 and 98. A digital FFT processor 104 receives data stored in the array storage 74 in time sequence on the lines 100 and 102 and transforms this information into frequency domain signals I.sub.c and Q.sub.c on the lines 106 and 108. Likewise, in a similar fashion, a digital FFT processor 114 receives data from the right aperture that is stored in the array storage 76 on the lines 110 and 112, respectively, and provides output signals I.sub.r, and Q.sub.r, on the lines 116 and 118 which corresponds to this data in the frequency domain. The primed subscripts used (i.e., I.sub.c') indicate delayed data sets while the unprimed subscripts (i.e., I.sub.1) indicate undelayed data sets. In other words, each FFT processor converts the N.sub.d samples of the time history, of each of the returns in N.sub.r range bins into the corresponding N.sub.d samples of frequency domain information. At the output of each FFT processor we have the frequency characteristics for each range bin, this being referred to as a range doppler map, of a size N.sub.r range bins by N.sub.d doppler filters.
A particular feature of the present invention is that the triple interferometric signal calibration unit 158 utilizes the range gated doppler filtered multiple component signal information and generates phase and amplitude calibration signals. Referring now to FIG. 2, one embodiment of the triple interferometric signal calibration unit will now be described. The triple interferometric signal calibration unit is essentially composed of two halves, one which operates on the left and center apertures and the other which operates on the right and center apertures. First considering the left and center half, a complex multiplication unit 120 is provided and is connected by two lines 86 and 88 to receive the in-phase and quadrature components of the range doppler map from the FFT processor 84. The complex multiplier unit 120 is also connected to the lines 106 and 108 to receive the in-phase and quadrature components of the range doppler map from the digital FFT processor 104. All these input signals are derived from the undelayed data sets described above. The output flora the complex multiplication unit 120 is an in-phase and quadrature range doppler map which represents the phase angle between the two input signal sets and this information is presented via the lines 122 and 124 to an angle processor 125. Angle processor 125 performs a linear regression on the phase data in each range bin and derives a linear frequency versus angle relationship for each range bin. It then averages all the range data to derive a best estimate of angle versus doppler information. The output from the angle processor 125 is provided as a phase calibration signal on the line 126 and this signal .theta..sub.1c.sbsb.i represents the measured angle versus doppler interferometer characteristic for the left-center interferometer. (Double subscripts (e.g., .theta..sub.1c.sbsb.i) indicate the apertures utilized (left-center) and a doppler frequency index (i)). Each half of the calibration unit also includes a magnitude detector, such as magnitude detector 128 and measures the magnitude of the complex vectors in both range-doppler maps of the left and center apertures. The magnitude detector 128 receives the output of FFT processor 84 on lines 86 and 88 and the output of the FFT processor 104 on lines 106 and 108. The output from the magnitude detector 128 is presented on the lines 130 and 132 to the amplitude processor 133. The signals on this line represent the magnitude of the range doppler map from the left aperture and the range doppler map from the center aperture. The amplitude processor 133 provides an amplitude calibration signal A.sub.lc on the line 134 which is the ratio of the average clutter powers on the left and center apertures and is related to the amplitude difference in clutter spectrum between adjacent aperatures.
In a similar fashion, the other half of the triple interferometric signal calibration unit also includes a complex multiplication unit 140 which is connected to the digital FFT processor 94 to receive the range doppler map from the center component and also to the digital FFT processor 114 to receive the right aperture range doppler map. An angle processor 145 produces a phase calibration signal on the line 146 .theta..sub.cr.sbsb.i which is the measured angle versus doppler characteristic of the center right interferometer. A magnitude detector 148 receives a complex range doppler map from the right aperture and the center aperture and provides respective range doppler magnitudes to an amplitude processor 153. As before, the amplitude processor 153 provides an amplitude calibration signal on the line 154 A.sub.cr which is the ratio of the average clutter power in the center and right apertures. The data processed in this half of unit 158 is derived from the delayed data sets described above.
A phase correction calculation is performed in a clutter phase calculator unit 160 in the following manner.
A phase computation unit 169 calculates the phase difference between the delayed and undelayed data sets described hereabove. It accepts as an input the delay, N, on line 54 and generates on a doppler filter basis the phase 2.pi.Nf.sub.i .tau. where f.sub.i is the doppler frequency for each doppler filter and .tau. is the radar PRI. The output from the phase computation unit 169 is a phase difference signal presented on line 170 to phase adders 172 and 174 where it coherently added to the phase calibration signals on the lines 126 and 146. to form a left-center phase correction signal .phi..sub.1c .sbsb.i on a line 176 and a center-right phase correction signal .phi..sub.cr.sbsb.i. The phase correction signals are composite signals representing a time delay phase correction, the positional phase relationship between adjacent interferometers and a phase due to motion of the assumed moving targets. The resultant linear phase correction is significantly reduced by the use of the time delay feature, so that over a doppler filter width the phase deviation is small, allowing for a high degree of clutter cancellation across the whole filter.
The phase correction signals are fed to the cancellation unit 250. It should be understood that the signals from the FFT processors when presented to the cancellation unit must be delayed for a predetermined period. This delay period allows the same signals to be processed by the triple interferometric signal calibration unit and the clutter free phase calculator unit prior to being combined in the cancellation unit. Lines 176 and 178 go to a sine-cosine ROM 180 and a sinecosine ROM 182, respectively. The sine and cosine ROMs calculate the sine and cosine associated with the respective values of phase fed thereto. The output from the ROMs 180 and 182 on the lines 184, 186, 188 and 190 are the cos (.phi..sub.1c.sbsb.i) the sin (.phi..sub.lc.sbsb.i) the cos (.phi..sub.cr.sbsb.i) and the sin (.phi..sub.cr.sbsb.i) respectively and are fed to scaling units 192 and 194 where they are multiplied by the amplitude calibration signals for the respective interferometer. The outputs from the scaling unit 192 are fed via lines 200 (A.sub.1c sin .phi..sub.1c.sbsb.i) and 202 A.sub.1c cos .phi..sub.1c.sbsb.i) to the complex multiplication unit 204 and the output from the scaling unit 194 is fed via lines 220 (A.sub.cr sin .phi..sub.cr.sbsb.i) and 222 (A.sub.cr cos .phi..sub.cr.sbsb.i) to the complex multiplication unit 224. The signals on these lines are correction factors which are applied to the delayed data sets which are the outputs of the digital FFT processors 94 and 114, respectively.
The complex multiplication unit 204 serves to scale the vector represented by signal lines 96 and 98 by a factor A.sub.lc and to rotate the vector by a phase .phi..sub.1c.sbsb.i (the subscript i indicating segmentation in doppler frequency). Likewise, the complex multiplication unit 224 serves to scale the vector represented by signal lines 116 and 118 by a factor A.sub.cr and to rotate the vector by a phase .phi..sub.cr.sbsb.i.
The outputs of complex multiplication unit 204 appear on signal lines 206 and 208 and represent compensated center aperture information. These signal lines go to summing units 210 and 212, respectively. The outputs of complex multiplication unit 224 appear on signal lines 226 and 228 and represent compensated right aperture information. These signal lines are fed to summing units 230 and 232, respectively. The subtraction of compensated center aperture information on lines 206 and 208 from uncompensated left aperture information I.sub.1 and Q.sub.1 on lines 86 and 88 takes place in summing units 210 and 212, respectively. The subtraction of compensated right aperture information on lines 226 and 228 from uncompensated center aperture information I.sub.c and Q.sub.c on lines 106 and 108 takes place in summing units 230 and 232, respectively. The outputs of the summing units 210 and 212 appear on signal lines 214 and 216 and are the clutter cancelled signals I.sub.lc and Q.sub.lc. The outputs of the summing units 230 and 232 appear on signal lines 234 and 236 and are the clutter cancelled signals I.sub.cr and Q.sub.cr. The clutter cancelled signals are presented to a detection and validation processor 350.
The I.sub.lc signal on the line 214 and the Q.sub.lc signal on the line 216 are stored in a bulk memory unit 300 while the I.sub.cr signal 234 and the Q.sub.cr signal 236 are fed into and stored in the bulk memory unit 302. These memory units are sized so that they contain 2N.sub.b bits of information for N.sub.r range bins by N.sub.d doppler filters. Magnitude detectors 310 and 314 are connected to the output of the bulk memory units 300 and 302, respectively, and perform a conventional magnitude detection routine on the information stored in the bulk memory which involves taking the larger of the two quadrature components and adding to it one-half of the smaller component. This is a sufficiently accurate representation of true-magnitude. The outputs of the magnitude detectors are signal lines 312 and 316 which go to a map addition unit 318. This unit adds magnitudes for each of N.sub.r range cells by N.sub.d doppler filters from its two input lines. The resultant range doppler map on signal line 320 goes to a CFAR type thresholding circuit 322. Average signal levels are computed in the range and/or doppler dimension and potential targets are declared if they exceed the local averages by a predetermined threshold factor. The outputs 326 are then stored temporarily while target angle processing is completed.
The outputs of the bulk memory units 300 and 302 which represent the signals I.sub.lc, Q.sub.lc, I.sub.cr and Q.sub.cr are also presented to an angle calculation unit 334. This consists of a complex multiplier unit of conventional design and would typically contain four multipliers and two summing devices in which the inputs are complex multiplied to obtain complex signals from which the angle to the target can be derived. Also included in the angle calculation unit 334 is an arc tangent ROM which takes the inphase and quadrature information and derives an electrical phase angle. The electrical phase angle is then scaled by the interferometer scale factor to give the true angular field position for all signals in the total map of N.sub.r range bins by N.sub.d doppler filters and appears on signal line 336.
An angle discrimination unit 338 is connected to the angle calculation unit 334 and the target validation unit 328 and receives doppler and angle information from the angle calculation unit 334 and evaluates the angular information of all signals against the known angle doppler interferometric relationship. A discrete window is provided about the known linear relationship and signals falling within the discrete window will be identified as fixed targets and rejected. Candidate signals falling outside the discrete window will be identified as potential moving targets and will pass to a target validation unit 328 on signal line 340. The target validation unit correlates potential moving targets which have passed an amplitude threshold on signal line 326 with potential moving targets which have passed an angle discrimination test on signal line 340. The output of the target validation unit is the range, r.sub.t, and doppler, f.sub.t, locations of the true moving targets which have passed both amplitude and angle conditions on signal lines 330 and 332. Available on signal line 324 is amplitude information, a.sub.t, for these moving targets and available on signal line 336 is the angular location, .theta..sub.t, of these moving targets with respect to antenna boresite.
Amplitude, range, doppler and angle information for the clutter-free region is provided in a conventional manner by noncoherently integrating the FFT ouputs (one per aperture) for detection and using the outer two apertures for angle measurement. Clutter/clutter free separation of the FFT outputs or, in other words, of the doppler filter outpus, is provided in a conventional manner based on aircraft velocity (quantized to a low bit level), radar waveform information (radar PRF and number of samples, ND), the antenna beamwidth and radar wavelength.
Although this invention has been shown and described with respect to a preferred embodiment, it will be understood by those skilled in this art that various changes in form and detail thereof may be made without departing from the spirit and scope of the claimed invention.
Claims
We claim:
1. An airborne moving target indicator (AMTI) for effectively detecting and measuring slowly moving targets in main beam clutter from a moving platform, comprising: antenna means having a transmit aperture for transmitting radar pulses at a pulse repetition frequency (PRF), and having three spaced-apart receive apertures; a left aperture (12), a center aperture (14), and a right aperture (16) for receiving radar return signals; receiver means (18, 20, 22) for providing in-phase (I) and quadrature (Q) component signals associated with each receive aperture in response to the radar return signals; clock means (51) for providing a timing signal (52) related to each transmitted radar pulse; delay means (53) for providing a delay signal in response to platform movement, PRF and interaperture spacing; storage means (70, 72, 74, 76) for providing delayed and undelayed sets of data in a time domain format in response to the timing signal, the delay signal and the in-phase and quadrature component signals; FFT means (84, 94, 104,114) for providing delayed and undelayed sets of data in a frequency domain format in response to the delayed and undelayed sets of data in time domain format; interferometer means (158) connected to the FFT means for providing phase calibration signals (126, 146) indicative of the measured angle versus doppler characteristic for a left/center interferometer comprising the left and center apertures and a center/right interferometer comprising the center and right apertures in response to the delayed and undelayed sets of data in frequency domain format, and for providing amplitude calibration signals (134, 154) indicative of the ratio of the average clutter powers for the left/center and center/right interferometers in response to the delayed and undelayed sets of data in frequency domain format; phase computation means (169) for providing a phase difference signal indicative of the phase difference between the delayed and undelayed delta sets of data in response to the delay signal; phase calculation means (160) for providing phase correction signals for the left/center and center/right interferometers indicative of a time delay phase correction, the positional phase relationship between adjacent apertures, and a phase due to motion of the targets in response to the coherent addition of the phase difference signal and the phase calibration signals; cancellation means ( 250 ) for providing clutter-cancelled in-phase and quadrature component signals that have significantly suppressed clutter characteristics in response to the phase correction signals, the amplitude calibration signals and the delayed and undelayed sets of data in frequency domain format; and detect ion means (350) for providing range (r.sub.t), doppler (f.sub.t), amplitude (a.sub.t), and angle (.theta..sub.t) signals indicative of target motion in response to the clutter cancelled in-phase and quadrature component signals.
2. An airborne moving target indicator (AMTI) for effectively detecting and measuring slowly moving targets in main beam clutter from a moving platform, comprising: antenna means having a transmit aperture for transmitting radar pulses at a pulse repetition frequency (PRF), and having three spaced-apart receive apertures; a left aperture (12), a center aperture (14), and a right aperture (16) for receiving radar return signals; receiver means (18, 20, 22) for providing in-phase (I) and quadrature (Q) component signals associated with each receive aperture in response to the radar return signals; clock means (51) for providing a timing signal (52) related to each transmitted radar pulse; delay means (53) for providing a delay signal in response to platform movement, PRF and interaperture spacing; storage means including a first array storage (70) for providing an undelayed set of data (80, 82) in time domain format in response to the timing signal and the in-phase and quadrature component signals associated with the left aperture, a second array storage (72) for providing a delayed set of data (90, 92) in time domain format in response to the timing signals, the delay signal and the in-phase and quadrature component signals associated with the center aperture, a third array storage (74) for providing an undelayed set of data in time domain format in response to the timing signal and the in-phase and quadrature component signals associated with the center aperture, and a fourth array storage (76) for providing a delayed set of data in time domain format in response to the timing signal, delay signal and the in-phase and quadrature component signals associated with the right aperture; FFT means including a first FFT processor (84) for providing an undelayed set of data in frequency domain format associated with the left aperture in response to the undelayed set of data in time domain format associated with the left aperture, a second FFT processor (94) for providing a delayed set of data in frequency domain format associated with the center aperture in response to the delayed set of data set in time domain format associated with the center aperture, a third FFT processor (104) for providing an undelayed set of data in frequency domain format associated with the center aperture in response to the undelayed set of data in time domain format associated with the center aperture, and a fourth FFT processor (114) for providing a delayed set of data in frequency domain format associated with the right aperture in response to the delayed set of data in time domain format associated with the right aperture; interferometer means (158) for providing a left/center phase calibration signal (126) indicative of the measured angle versus doppler characteristic for a left/center interferometer comprising the left and center apertures in response to the undelayed sets of data in frequency domain format associated with the left and center apertures, for providing a left/center amplitude calibration signal (134) indicative of the amplitude difference in clutter spectrum between the left and center apertures in response to the undelayed sets of data in frequency domain format associated with the left and center apertures, for providing a center/right phase calibration signal (146) indicative of the measured angle versus doppler characteristic for a center/right interferometer comprising the center and right apertures in response to the delayed sets of data in frequency domain format associated with the center and right apertures, for providing a center/right amplitude calibration signal indicative of the amplitude difference in clutter spectrum between the center and right apertures in response to the delayed data sets in frequency domain format associated with the center and right apertures; phase computation means (169) for providing a phase difference signal indictive of the phase difference between the delayed and undelayed sets of data in response to the delay signal; phase calculation means (160) for providing a left/center phase correct ion signal (176) for the left/center interferometer indicative of a time delay phase correction, the positional phase relationship between the left and center apertures, and a phase due to motion of the targets in response to the phase addition of the phase difference signal and the left/center phase calibration signal, and for providing a center/right phase correction signal (178) for the center/right interferometer indicative of a time delay phase correction, the positional phase relationship between the center and right apertures, and the phase due to motion of the targets in response to the phase addition of the phase difference signal and the center/right phase calibration signal; cancellation means for providing left/center clutter cancelled in-phase and quadrature component signals (214, 216) that have significantly suppressed clutter characteristics in response to the left/center phase correction signal, the left/center amplitude calibration signal, the undelayed set of data in frequency domain format associated with the left aperture, and the delayed set of data in frequency domain format associated with the center aperture, and for providing center/right clutter cancelled in-phase and quadrature component signals (234, 236) that have significantly suppressed clutter characteristics in response to the center/right phase correction signal, the center/right amplitude calibration signal, the undelayed set of data in frequency domain format associated with the center aperture and the delayed set of data in frequency domain format associated with the right aperture; detection means (350) connected to the cancellation/enhancement means, for providing range (r.sub.t), doppler (f.sub.t), amplitude (a.sub.t), and angle (.theta..sub.t) signals indicative of target motion in response to the clutter cancelled left/center and center/right in-phase and quadrature signals.
3. An AMTI according to claim 2 wherein said interferometer means (158) includes: means for providing the left/center phase calibration signal as a function of a linear regression on the undelayed sets of data in frequency domain format associated with the left and center apertures, and means for providing the center/right phase calibration signal as a function of a linear regression on the delayed sets of data in frequency domain format associated with the center and right apertures.
4. An AMTI according to claim 2 wherein said cancellation means (250) includes: a first ROM (180) for providing signals (184, 186) indicative of the sine and cosine of the left/center phase correction signal; first scaling means (192) for providing first correction factor signals (200, 212) indicative of the product of the left/center amplitude calibration signal and the signals indicative of the sine and cosine of the left/center phase correction signals; first complex multiplication means (204) for providing compensated center signals (206, 208) indictive of the delayed set of data associated with the center aperture scaled by the left/center amplitude calibration signal and rotated by the left/center phase correction signal; first coherent adder means (210, 212) for providing the left/center clutter cancelled in-phase and quadrature component signals in response to the subtraction of the compensated center signals from the undelayed set of data in frequency domain format associated with the left apertures; a second ROM (182) for providing signals (188, 190) indicative of the sine and cosine of the center/right phase correct ion signal; second scaling means (194) for providing second correction factor signals (220, 222) indicative of the product of the center/right amplitude calibration signal and the signals indicative of the sine and cosine of the left/center phase correction signals; second complex multiplication means (224) for providing compensated right signals (226, 228) indicative of the delayed set of data associated with the right aperture scaled by the center/right amplitude calibration signal and rotated by the center/right phase correction signal; and second coherent adder means (230, 232) for providing the center/right clutter cancelled in-phase and quadrature component signals in response to the subtraction of the compensated right signal from the undelayed set of data in frequency domain format associated with the center aperture.