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08 Clutter Rejection - MTI and Pulse Doppler Processing PDF
08 Clutter Rejection - MTI and Pulse Doppler Processing PDF
08 Clutter Rejection - MTI and Pulse Doppler Processing PDF
Clutter Rejection
MTI and Pulse Doppler Processing
Radar Course_1.ppt
MIT Lincoln Laboratory
ODonnell 10-26-01
Disclaimer of Endorsement and Liability
• MIT Lincoln
The views and opinions expressed herein do not necessarily
Radar Course_2.ppt
Laboratory
state or
ODonnell (2) 6-19-02
reflect those of the United States Government or any agency thereof or
any of their contractors or subcontractors
MTI and Doppler Processing
Propagation Waveform
Transmitter
Medium Generator
Signal Processor
Target
Cross
Section Pulse Doppler
Antenna Receiver A/D
Compression Processing
Main Computer
Console /
Tracking & Display
Detection Parameter
Estimation
Recording
Radar Course_3.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
How to Handle Noise and Clutter
Radar Course_4.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
How to Handle Noise and Clutter
If he doesn’t
take his arm off
my shoulder
I’m going to hide
his stash of
Hershey Bars !! Why does Steve
always talk me into doing
ridiculous
stunts like this ?
Radar Course_5.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Naval Air Defense Scenario
• Moving Target Indicator (MTI) and Pulse-Doppler (PD)
processing use Doppler to reject clutter and enhance
detection of moving targets
• Smaller targets require more clutter suppression
Chaff
Rain Clutter
Birds
Ground Clutter
Sea Clutter
Radar Course_6.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
MTI_RadSys2001-6
MIT Lincoln Laboratory
JW 7/31/2008
Outline
• Introduction
• Moving Target Indicator (MTI) Techniques
• Pulse Doppler Processing Techniques
• Summary
Radar Course_7.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Terminology
Radar Course_8.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Doppler Frequency
10000
Doppler Frequency (Hz)
Hz
M
0
45 Hz
Doppler
100 M Frequency
0
15
2V
fd =
λ
10
1 10 100 1000
Radial Velocity (m/s)
Radar Course_9.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Example Clutter Spectra
-20
0 50 100 150 200
Radial Velocity (m/s)
Radar Course_10.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
MTI and Pulse Doppler Waveforms
Tc = MTr
Tr
Time
TT == Pulse
Pulse length
length
BB == 1/T
1/T Bandwidth
Bandwidth
TTrr == Pulse
Pulse repetition
repetition interval
interval (PRI)
(PRI)
ffrr == 1/T
1/Trr Pulse
Pulse repetition
repetition frequency
frequency (PRF)
(PRF)
δδ == TT /T
/Trr Duty
Duty Factor
Factor
TTcc == MT
MTrr Coherent
Coherent processing
processing interval
interval (CPI)
(CPI)
MM == Number
Number ofof pulses
pulses in
in the
the CPI
CPI
M
M == 2,
2, 3,
3, or
or sometimes
sometimes 44 for
for MTI
MTI
M
M usually
usually much
much greater
greater for
for Pulse
Pulse Doppler
Doppler
Radar Course_11.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Data Collection for Doppler Processing
Time
Range
Samples at same ‘range gate’
Pulse 1 Pulse 2 Pulse 3
Sample 12 Sample 12 Sample 12
e.g. 8.3 km e.g. 8.3 km e.g. 8.3 km
M
Pulse Number
Complex
(Slow time)
In-phase and I / Q samples
A/D Quadrature
Sampling (the complex
envelope of
received
waveform)
1
1 L
Sample No.
Range - >
Radar Course_12.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Outline
• Introduction
• Moving Target Indicator (MTI) Techniques
• Pulse Doppler Processing Techniques
• Summary
Radar Course_13.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Moving Target Indicator (MTI) Processing
MTI Filter
Clutter
Spectrum
0 fr = 1/T 2fr
Radar Course_14.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Two Pulse MTI Canceller
• Fixed Clutter echoes
– If one pulse is subtracted from the previous pulse, fixed clutter
echoes will cancel and will not be detected
• Moving targets
– Moving targets change in amplitude from one pulse to the next
because of their Doppler frequency shift.
– If one pulse is subtracted from the other, the result will be an
uncancelled residue
Block Diagram
Delay
Subtract
Tr=1/PRF
Input
Output
Voutput = Vi+1 - Vi
Figure by MIT OCW.
Radar Course_15.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
MTI Improvement Factor
• Sin and Cin - Input target and clutter power per pulse
• Sout(fd) and Cout(fd) – Output target and clutter power from
processor at Doppler frequency, fd
(Signal / Clutter)out
• MTI Improvement Factor = I(fd) =
(Signal / Clutter)in f
d
60
Land Clutter MTI Improvement Factor
Relative Power (dB)
40 Rain Clutter
Cin Sout
20 I(fd) = x
Cout Sin
fd
0
Aircraft
-20
Clutter Signal
0 50 100 150 200 Attenuation Gain
Radial Velocity (m/s)
Radar Course_16.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
MTI Improvement Factor Examples
3-Pulse MTI 30
Radar Course_17.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Staggered PRFs to Increase Blind Speed
-20
• Although the staggered
PRF’s remove the blind
0 100 200 300 400 500 600 700 800
speeds that would have been
Radial Velocity (m/s)
obtained with a constant
Staggered 2 kHz, 1.754 kHz PRI
PRF, there will be a new
0 much higher blind speed
-10
-20
• Introduction
• Moving Target Indicator (MTI) Techniques
• Pulse Doppler Processing Techniques
– Pulse Doppler Filtering Concept
• Basic Concepts
• Example - Moving Target Detector (MTD)
– Range Doppler Ambiguities
– Airborne Radar
• Summary
Radar Course_19.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Data Collection for Doppler Processing
Time
Range
Samples at same ‘range gate’
Pulse 1 Pulse 2 Pulse 3
Sample 12 Sample 12 Sample 12
e.g. 8.3 km e.g. 8.3 km e.g. 8.3 km
M
Pulse Number
Complex
(Slow time)
In-phase and I / Q samples
A/D Quadrature
Sampling (the complex
envelope of
received
waveform)
1
1 L
Sample No.
Range - >
Radar Course_20.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Pulse Doppler Processing
Doppler Filter Bank
Filter 1
(f1, v1)
Filter 2
(f2, v2)
M pulses in
Filter 3
(f3,v3)
M Doppler velocity
‘bins’ out
Filter M
(fM,vM)
8 or Greater
Pulse Doppler
Digitized Radar Filter Bank Adaptive Post
Echoes From Thresholding Processing
Each Range Cell Thresholding
Zero
Clutter Map
Velocity Output
Filter
Filter Detections
Radar Course_22.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
ASR-9 8-Pulse Filter Bank
Magnitude (dB)
-10 -10
-20 -20 Rain
-30 -30 Echo
-40 -40
-50 -50 Aircraft
-60 -60
-70 -70
0 20 40 60 80 100 0 20 40 60 80 100
Radial Velocity (kts) Radial Velocity (kts)
Radar Course_23.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
MTD Performance in Rain
Unprocessed Radar Returns Time History of Radar Tracker Output
August 1975, FAA Test Center
80
60
40
20
0
– 60 Kt 0 + 60 Kt
Doppler Velocity
Radar Course_24.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Doppler Ambiguities
Sample Times
λ fr
Vu =
2
0 1 2 3
Time / PRI
Radar Course_25.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Range Ambiguities
Target 1
Target 2
True
R1 R 2 = R1 + R u Range
Radar
Range
Unambiguous range
Radar Course_26.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Unambiguous Range and Doppler Velocity
1000
λ fr
Hz Vu =
Unambiguous Velocity (m/s)
M
15
0
Hz
2
M
0
45
z
GH
100
3 Hz
G
10 Hz cTr c
35
G Ru = =
2 2 fr
10
Radar Course_28.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
321-00418
HGT 03/04/98
Classes of MTI and Pulse Doppler Radars
Radar Course_29.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Velocity Ambiguity Resolution
Unfold detections out to some maximum velocity Blind
CPI #1 Zones
PRF = f1
AWACS
E-3A
APY-1
F-18
APG-65
F-15
APG-63 , 70
Radar Course_31.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Radar Course_32.ppt
MIT LincolnFigure
Laboratory
by MIT OCW.
ODonnell (2) 6-19-02
MIT Lincoln Laboratory
Airborne Radar Clutter Spectrum
Illustrative example without Pulse Doppler ambiguities
Radar Course_33.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Airborne Radar Clutter Spectrum
Illustrative example without Pulse Doppler ambiguities
Radar Course_34.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Displaced Phase Center Antenna (DPCA)
Concept
T1
T2
Radar Course_35.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02
Summary
Radar Course_37.ppt
MIT Lincoln Laboratory
ODonnell (2) 6-19-02