sensors

Article
A Novel Reconstruction Method of K-Distributed Sea
Clutter with Spatial–Temporal Correlation
Mingyue Ding 1 , Yachao Li 1, * , Yinghui Quan 1 , Liang Guo 2 and Mengdao Xing 1
1 National Laboratory of Radar Signal Processing, Xidian University, Xi’an 710071, China;
myding@stu.xidian.edu.cn (M.D.); yhquan@mail.xidian.edu.cn (Y.Q.); xmd@xidian.edu.cn (M.X.)
2 The School of Physics and Optoelectronic Engineering, Xidian University, Xi’an 710071, China;
lguo@mail.xidian.edu.cn
* Correspondence: ycli@mail.xidian.edu.cn




Received: 8 February 2020; Accepted: 19 April 2020; Published: 22 April 2020


Abstract: The reconstruction of sea clutter plays an important role in target detection and recognition in
a maritime environment. Reproducing the temporal and spatial correlations of real data simultaneously
is always a problem in the reconstruction of sea clutter due to the complex coupling between them.
In this paper, the spatial–temporal correlated proportional method (STCPM), based on a compound
model, is proposed to reconstruct K-distributed sea clutter with correlation characteristics obtained
from the real data. The texture component with spatial–temporal correlation is generated by the
proportional method and the speckle component with temporal correlation is generated by matrix
transformation. Compared with previous methods, the biggest innovation of the STCPM is that it
can more accurately generate K-distributed sea clutter with both temporal and spatial correlations.
The comparison of the reconstructed and real data demonstrates that the method can reproduce the
characteristics of real sea clutter well.

Keywords: spatial–temporal correlated sea clutter; proportional method; compound model;

K-distribution

1. Introduction
Sea clutter is one of the most important restricting factors for target detection and recognition in
a maritime environment. The design and selection of radars and radar signal processing algorithms
for use in a sea clutter environment is directly influenced by knowledge of sea clutter characteristics.
The accurate reconstruction of sea clutter can provide a firm foundation for the research of targets
detection and recognition algorithms in a maritime environment.
There are abundant factors that determine the characteristics of the sea clutter, including the sea
state, the wind speed, duration and direction, the wave speed, the fetch, and the swell direction [1],
which can account for the extremely complex physical mechanism of sea clutter. In addition,
the continuous and complex changes of the above natural factors lead to the instability of the sea
clutter, which makes the modeling and reconstruction of sea clutter a challenge.
It is necessary to study and analyze the characteristics of the sea clutter deeply before the accurate
reconstruction of sea clutter. For past few decades, many efforts have been devoted to the research of
sea clutter characteristics, including the amplitude distribution [2–6], correlation characteristics [7–11],
Doppler spectrum [12–16], spikes [17–20], non-stationarity [21,22], and so on. Among them, amplitude
distribution and correlation characteristics get the most attention, and they play an important role in
the design of target detection algorithms in a maritime environment.
Referring to amplitude distribution models, the K-distribution [23–25] is one of the most widely
used distribution models. The K-distribution is a compound model, which not only fits with the

Sensors 2020, 20, 2377; doi:10.3390/s20082377 www.mdpi.com/journal/sensors

Sensors 2020, 20, 2377 2 of 18

probability distribution of sea clutter intensities in many cases, but corresponds well to the scattering
mechanism of sea clutter. For a modern radar system with a fine resolution and a high pulse repetition
frequency (PRF), the received sea clutter returns are spatial–temporal correlated. The spatial correlation
of sea clutter is defined as the cross-correlation between the signals returned from two separate patches
of the sea in the radial dimension, and it has great significance to the target detection, which provides
a basis for selecting the reference bins. The temporal correlation of the sea clutter is defined as the
correlation of returns from different pulses in a single range bin. The temporal correlation and Doppler
spectra, relevant to the former via the Fourier transform, are usually used to design radar optimal
waveform. The accurate modeling of the amplitude and correlation characteristics of real sea clutter is
the basic requirement of sea clutter reconstruction and subsequent signal processing in radar system.
Many studies were conducted on the reconstruction of spatially or temporally correlated sea
clutter, but there were few methods for the reconstruction of spatial–temporal correlated sea clutter.
The authors of [26,27] gave the theoretical derivation of spatial correlation models and achieved the
reconstruction of spatially correlated sea clutter barely. In [28], spatial–temporal correlated sea clutter
real sequences of three amplitude distributions were generated, but there is no phase information of
real data. A relatively complete method of reconstructing spatial–temporal correlated K-distributed sea
clutter was proposed in [1], where the spatial and temporal correlations were individually controlled,
respectively. In [29], two methods of simulating temporally correlated sea clutter in short term and
long term were discussed separately. The spatial and temporal correlations of clutter were considered
to be independent there; however, the texture component of clutter is spatial–temporal correlated in
the long-term and there is complex coupling between the spatial and temporal correlations. Because
the simultaneously control of spatial and temporal correlations of texture is difficult, the correlation
characteristics of real sea clutter cannot be reproduced well in many reconstruction algorithms.
The spherically invariant random process (SIRP) method [30–32] and the zero-memory nonlinearity
(ZMNL) method [32–34] are commonly used methods in sea clutter reconstruction. The ZMNL method
is suitable for the reconstruction of clutter with integral shape parameter, but it often produces errors
for non-integers or semi-integers. In addition, the sea clutter sequences generated by ZMNL method
have no phase information. In the SIRP method, the sea clutter is considered as an SIRP, indeed,
the method is applicable only if sea clutter is observed and processed on time intervals much shorter
than the average decorrelation time of the modulating component.
In this paper, a novel spatial–temporal correlated proportional method (STCPM) based on
a compound model for the reconstruction of K-distributed sea clutter with spatial–temporal correlation
is proposed. The method extends the idea introduced in [1], where only the temporal correlation of
speckle and spatial correlation of texture are presented based on the compound K-distribution model
for clutter amplitude statistics. Compared with the existing algorithms, the biggest innovation of
STCPM is that it can generate the texture component with both temporal and spatial correlations.
In addition, the cross-correlation between the real and imaginary parts of the speckle and the
coherence time estimation of texture are also taken into account in the STCPM, which reproduces
the correlation characteristics of real sea clutter. The comparison of the reconstructed and real data
shows that the proposed method can describe the sea clutter more accurately in amplitude and
correlation characteristics.
The remainder of this paper is organized as follows. Section 2 makes a brief description of
the characteristics and traditional reconstruction method of sea clutter. Section 3 completes the
analysis of real data. Section 4 focuses on the reconstruction of spatial–temporal correlated sea clutter
returns. Section 5 presents the reconstruction results with detailed analysis. The last section concludes
this paper.
Sensors 2020, 20, 2377 3 of 18

2. Characteristics and Reconstruction Method of Sea Clutter

2.1. Amplitude and Correlation Characteristics

2.1.1. K-Distribution
The K-distribution is a compound Gaussian model with two main components to model the
fluctuations of sea clutter. The first component is the local mean level y obeying a generalized
Chi-distribution, thus there is a gamma-distributed local clutter power (texture). The second component
termed the “speckle”, a complex Gaussian process with a Rayleigh-distributed envelope, which is
modulated by the first component. The probability density function (PDF) of overall amplitude of the
sea clutter is given by [35]
Z ∞
f (x) = f ( x|y) f ( y)dy, 0≤x≤∞ (1)
0

where
πx πx2
!
f ( x|y) = 2 exp − 2 (2)
2y 4y
2b2v y2v−1  
f ( y) = exp −b2 y2 , 0≤y≤∞ (3)
Γ (v)
where Γ(v) is the gamma function; v and b are the shape and scale parameters of gamma distribution,
respectively.

2.1.2. Correlation
The temporal correlation of sea clutter is often influenced by the correlation characteristics of
the speckle and the texture components. The speckle component from any individual range bin has
a short temporal decorrelation period (typically a few milliseconds). In contrast, the texture component
is not affected by frequency agility, and it has a long temporal decorrelation period on the order of
seconds. As a result, the speckle component is called a fast fluctuating component, whereas the texture
component is called a slowly fluctuating component.
Usually, the small-scale features at two spatially separated patches are uncorrelated [1],
and the spatial correlation of sea clutter shows a similar trend with that of the large-scale features.
Thus, the speckle is usually assumed to be uncorrelated between different range bins and the overall
spatial correlation of sea clutter is mainly dependent on the modulating component (texture).
The correlation coefficient can be calculated as follows,

N/2  
( x [ n ] − x ) x∗ [ n + k ] − x∗
P
n=1
ρx ( k ) = s s (4)
N/2
P  2 N/2P  ∗ 2
(x[n] − x)  x [n + k] − x∗ 
n=1 n=1

where x[n] is the complex received signal, x∗ and x denote the complex conjugate and the average
of x, respectively.

2.1.3. Coherence
According to the K-distribution model, the discrete-time expression of received complex clutter
samples z[n] can be written as follows [36],
q
z[n] = τ[n] g[n] (5)
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Sensors 2020, 20, 2377

z [ n] = τ [ n]g [ n] (5)
4 of 18

where τ [ n ] and g [ n ] represent the texture and speckle components, respectively.

whereAs τ[nthe
] and g[n] represent
correlation time the textureisand
of texture muchspecklelongercomponents,
than that of respectively.
the speckle, the received clutter
As the correlation time of texture is much longer
sequence can be regarded as the product of a compound Gaussian process than that of the speckle,
timesthe receivedconstant
a random clutter
sequence
in a shortcan be regarded
period as the product
(the coherence time of of thea texture)
compound Gaussian
[36], which can process times a random
be expressed as constant in
a short period (the coherence time of the texture) [36], which can be expressed as
z [ n ]  τ [ k ] g [ n ] , n = k − Lc + 1,..., k + Lc (6)
q
The texture represents thez[nlocal
] ' mean τ[k] g[clutter
n], n = powerk − Lc + . . .clutter,
of1,sea , k + Lc thus the work in [37] gives(6)
the
estimate of the texture sequence:
The texture represents the local mean clutter power of sea clutter, thus the work in [37] gives the
estimate of the texture sequence: 1 n + Lc 2 −1
τ [ n ] = n+L  z [k ]
2

c /2−1
(7)
L
1 c k = n − Lc 2 
X  2
τ̂[n] = z [ k ]  (7)

Lc
where Lc is the coherence length of the texture k=component
n−Lc/2 and τ [ n ] is the estimate of the texture
where Lc is the
component. Ascoherence length
can be seen, the ofdetermination
the texture component
of coherence τ̂[n] ishas
andlength theaestimate of the texture
big significance to the
component.
separation ofAs can be
texture seen,
from thethe determination
received of and
clutter data coherence lengthofhas
the analysis a big significance
correlation to the
characteristics.
separation of texture from the received clutter data and the analysis of correlation characteristics.
2.2. Traditional Method
2.2. Traditional Method
In a K distribution, the clutter can be modeled as a zero-mean complex correlated Gaussian
In
sequence,a K distribution,
modulated by theaclutter
real, can be modeled
non-negative as a zero-mean
non-Gaussian complex
variable. correlated
The Gaussianof
block diagram
sequence, modulated by a real, non-negative non-Gaussian variable. The block diagram
traditional method for generation of coherent and temporally correlated K-distributed clutter is of traditional
method
shown for generation
in Figure 1. of coherent and temporally correlated K-distributed clutter is shown in Figure 1.

j
Correlated
w1
N(0,1)
Gaussian sequence
⊗ Speckle component
H1
Correlated 
Gaussian sequence
w2
N(0,1)
⊗ Correlated coherent
clutter data

Coherent Coherent
Memoryless
Gaussian sequence Gamma variable
w3 N(0,1)
H2 nonlinear
Texture component
transform

Figure Block diagram

Figure 1.1. Block diagram of
of traditional
traditional method
method for
for generation
generation of
of coherent
coherent and
and correlated
correlated
K-distributed clutter.
K-distributed clutter.

The block diagram contains two branches, where the upper branch is used to generate the speckle
The block diagram contains two branches, where the upper branch is used to generate the
component, a complex correlated Gaussian sequence, and the lower branch is used to generate the
speckle component, a complex correlated Gaussian sequence, and the lower branch is used to
texture component, a Gamma variable. The three input sequences are all white zero-mean Gaussian
generate the texture component, a Gamma variable. The three input sequences are all white
sequences with identity variance and independent of each other. The filters H1 and H2 are, respectively,
zero-mean Gaussian sequences with identity variance and independent of each other. The filters H1
used to generate the temporal correlation of the speckle and coherence of the texture.
and H2 are, respectively, used to generate the temporal correlation of the speckle and coherence of
In the model, the real and imaginary parts of the speckle component are considered to be mutually
the texture.
independent and the texture component is assumed to be a constant. In practice, there is cross-correlation
In the model, the real and imaginary parts of the speckle component are considered to be
between the real and imaginary parts of the speckle component, and the texture is not a constant
mutually independent and the texture component is assumed to be a constant. In practice, there is
when the reconstruction time exceeds the coherence length, but a correlated Gamma-distributed
cross-correlation between the real and imaginary parts of the speckle component, and the texture is
sequence. In addition, the spatial correlation of clutter is not considered in the method. As a result,
not a constant when the reconstruction time exceeds the coherence length, but a correlated
the above traditional reconstruction method cannot reproduce the correlation characteristics of sea
Gamma-distributed sequence. In addition, the spatial correlation of clutter is not considered in the
clutter completely.
Sensors 2020, 20, x FOR PEER REVIEW 5 of 18

method. As a result, the above traditional reconstruction method cannot reproduce the correlation
characteristics of sea clutter completely.
Sensors 2020, 20, 2377 5 of 18

3. Data Analysis
3. DataTheAnalysis
ideas presented in this paper are based on the analysis of real data collected on 12
September 2013
The ideas at Huludao
presented of paper
in this Liaoning province,
are based on theChina, using
analysis a coherent
of real millimeter-wave
data collected radar
on 12 September
system.
2013 For this trial,
at Huludao the radar
of Liaoning was setChina,
province, up onusing
a cliff-top approximately
a coherent 230 m radar
millimeter-wave abovesystem.
the sea For
surface
this
and was operated in the spotlight mode. The main characteristic parameters of radar are
trial, the radar was set up on a cliff-top approximately 230 m above the sea surface and was operated listed in
Table 1.
in the spotlight mode. The main characteristic parameters of radar are listed in Table 1.

Table 1.
Table 1. Characteristic
Characteristic parameters
parameters of
of radar.
radar.

Characteristic parameterParameter
Characteristic Value
Value
bandwidthbandwidth 100 MHz
100 MHz
PRF PRF 500500
HzHz
sample frequency
sample frequency 200200
MHzMHz
polarizationpolarization Vertical
Vertical
antenna beam antenna
widthbeam width 3 deg
3 deg
grazing angle 8 deg
grazing angle 8 deg

The
The collected
collected data
data contains
contains 4000
4000 range
range bins,
bins, many
many ofof which
which contain
contain few
few clutter
clutter signals
signals due
due to
to
the
the limitation
limitation of
of the
the antenna
antenna beam
beam width. Thus, only
width. Thus, only the
the middle
middle 1400
1400 range
range bins
bins are
are considered
considered inin
this paper. Each range bin record comprises complex time-series data recorded over intervals
this paper. Each range bin record comprises complex time-series data recorded over intervals of 80s, of 80 s,
sampled at the PRF. The recording of each range bin contains 40,000 pulse samples (80
sampled at the PRF. The recording of each range bin contains 40,000 pulse samples (80 s) in thiss) in this paper.
The amplitude-range-time
paper. of clutter
The amplitude-range-time of is shown
clutter is as Figure
shown as 2a.
Figure 2a.

(a) (b)

Figure 2. The
Figure 2. The amplitude-range-time
amplitude-range-time of
of real
real data:
data: (a)
(a) Original
Original clutter;
clutter; (b)
(b) Original
Original texture
texture separated
separated
from clutter.
from clutter.

According
According to to the
the K K distribution,
distribution, thethe analysis
analysis ofof the
the real
real data
data characteristics
characteristics is
is based
based on on the
the
correct separation of speckle and texture components, which can be achieved by the
correct separation of speckle and texture components, which can be achieved by the method in [36]. method in [36].
The
The coherence
coherencelength of experimental
length of experimentaltexturetexture
is ~200 samples,
is ~200 corresponding to 400ms. Consequently,
samples, corresponding to 400ms.
the texture and speckle components can be separated from
Consequently, the texture and speckle components can be separated from the clutter. The amplitude-range-time
the clutter. The
of texture is shown in Figure
amplitude-range-time 2b. isItshown
of texture can be in
seen that 2b.
Figure theItoblique
can be strips are the
seen that veryoblique
similarstrips
to theare
clutter
very
amplitude and there is a square relationship between their amplitude, which can
similar to the clutter amplitude and there is a square relationship between their amplitude, which be explained by
Equation (7). To further verify the correctness of the separation and accurately generate
can be explained by Equation (7). To further verify the correctness of the separation and accurately texture
component according
generate texture to the according
component characteristics ofcharacteristics
to the the real data, the shape
of the realparameters of real
data, the shape clutter and
parameters of
texture are estimated by the method of Moments (MoM) [38–40], which is presented in Figure 3.
 Sensors 2020, 20, x FOR PEER REVIEW 6 of 18
Sensors 2020, 20, x FOR PEER REVIEW 6 of 18

real clutter and texture are estimated by the method of Moments (MoM) [38–40], which is presented
real clutter and texture are estimated by the method of Moments (MoM) [38–40], which is presented
in Figure 3.
in Figure 3.
Sensors 2020, 20, 2377 6 of 18

Figure 3. Shape parameters of real clutter and texture in different range bins.
Figure3.3. Shape
Figure Shape parameters
parameters of
of real
realclutter
clutterand
andtexture
texturein
indifferent
differentrange
rangebins.
bins.
Theoretically, the
Theoretically, shape parameter of distribution
K distribution denoting the clutter amplitude is same
the same
Theoretically,the theshape
shapeparameter
parameter ofof
K K distribution denoting
denotingthethe
clutter amplitude
clutter amplitudeis the
is the as
same
as
that that
of theof the gamma distribution denoting the texture component. Thus, the great similarity
as that ofgamma
the gammadistribution denoting
distribution the texture
denoting component.
the texture Thus, the
component. greatthe
Thus, similarity between
great similarity
between
the clutter the
and clutter
texture and
in texture
Figure 3 in Figure
can also show3 can also
that the show
above that the above
separation of separation
the two of the two
components is
between the clutter and texture in Figure 3 can also show that the above separation of the two
components
comparatively is comparatively accurate.
components isaccurate.
comparatively accurate.
As
As shownininFigureFigure 2, theclutter
clutter amplitudeininmiddlemiddle rangebins bins is muchstronger
stronger thanthe the
As shown
shown in Figure 2,2, the the clutter amplitude
amplitude in middle range range bins isis much
much stronger than than the
marginal
marginal
range bins. Therefore, the middle 400 range bins, corresponding to the range bins from 401
marginalrange
rangebins.
bins.Therefore,
Therefore,the
themiddle
middle400 400range
rangebins, corresponding
bins, corresponding to to
thethe
range bins
range from
bins from401401
to
to
800
800 in
in the
the figure,
figure,
are
are are
chosen
chosen to be
to be analyzed in the paper.
to 800 in the figure, chosen toanalyzed
be analyzed in the paper.
in the paper.
3.1. Amplitude
3.1.
3.1. Amplitude
Amplitude
InIn order to justify the applicability of compound-Gaussian amplitude models, statistical
first-order
Inorder
order to to
justify the applicability
justify of compound-Gaussian
the applicability amplitude
of compound-Gaussian models, first-order
amplitude models, first-order
statistical
analysis analysis
of the of
real data the real
is performeddata is performed here. The models under consideration are the
statistical analysis of the real data here. The models
is performed under
here. Theconsideration
models under are consideration
the Rayleigh, Weibull,
are the
Rayleigh,
log-normal, Weibull, log-normal,
and K distributions, and K distributions, where the log-normal distribution is only used
Rayleigh, Weibull, log-normal,whereand Kthe log-normal distribution
distributions, is only useddistribution
where the log-normal to provide a is
comparison
only used
to provide
although it isaanot
comparison although it is not a The
a compound-Gaussian compound-Gaussian model. The estimated
amplitude fitting
to provide comparison although it ismodel. amplitude fittingmodel.
not a compound-Gaussian results The
and amplitudemodelfitting
results
parameters and estimated model parameters are given in Figure 4 and Table 2, respectively.
results andare given inmodel
estimated Figureparameters
4 and Tableare2, given
respectively.
in Figure 4 and Table 2, respectively.

Figure 4. 4.The
Figure Thefitting results
fitting ofof
results original clutter
original amplitude
clutter (range
amplitude bin
(range = =300,
bin CNR= =18.97dB).
300,CNR 18.97dB).
Figure 4. The fitting results of original clutter amplitude (range bin = 300, CNR = 18.97dB).
Sensors 2020, 20, 2377 7 of 18

Table 2. Estimated parameters of amplitude distributions.

Distribution Parameter Value

Rayleigh v_Rayl 0.1782
v_K 5.3078
K
c_K 0.0540
v_Wbl 1.8159
Weibull
c_Wbl 0.2461
v_Logn −1.7120
Lognormal
c_Logn 0.6766

The parameters in the table, v− and c− , represent the shape and scale parameters, respectively.
The fitting results show that the empirical PDF is most consistent with the K distribution.

3.2. Correlation

3.2.1. The Texture Component

The temporal correlation of the slowly varying component usually requires the participation
of a much larger number of samples than that of the fast fluctuating component. As the texture
component is approximately constant in the coherence length, that is, the correlation is approximately
1, the temporal correlation of the texture can be estimated as follows.
Assume τ[m, n](m = 1, 2, . . . , M; n = 1, 2, . . . , N ) is the texture data block, M and N
stand for the numbers of the range bins and pulses, respectively. A new data block
τ1 [m, l](m = 1, 2, . . . , M; l = 1, 2, . . . , N/Lc ) is constructed by [N/Lc ] elements from original data in
each range bin, such as τ[m, 1], τ[m, 1 + Lc ], . . . , τ[m, 1 + ([N/Lc ] − 1) ∗ Lc ](m = 1, 2, . . . , M). Therefore,
the temporal correlation coefficient is expressed as

[N/L
Pc ]/2   
τ1 [m, l] − τ1 (m) τ1 [m, l + k] − τ1 (m)
l=1
ρtτ (k) = s s (8)
[N/L
Pc ]/2 2 [N/L
Pc ]/2  2
 1τ [ m, l ] − τ1 ( m )   τ1 [m, l + k] − τ1 (m) 
l=1 l=1

[N/L
P c]
where τ1 (m) = 1
[N/Lc ]
τ1 [m, l], [·] denotes the complex conjugate.
l=1
The spatial correlation of the texture can be directly calculated from the original sequence, which is
expressed as
M/2
P   
τ1 [m, l] − τ1 (l) τ1 [m + k, l] − τ1 (l)
m=1
ρsτ (k) = s s (9)
M/2 
P  2 M/2  2
 τ1 [m, l] − τ1 (l)   τ1 [m + k, l] − τ1 (l) 
P
m=1 m=1

M
where τ1 (l) = 1
τ1 [m, l]. The results are shown in Figure 5; it is obvious that the temporal
P
M
m=1
correlation starts from one and slowly decays in a periodic manner. Similar to the temporal correlation,
the spatial correlation of the texture component also performs a periodic attenuation, which corresponds
to the fluctuation characteristics of the sea surface.
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Sensors 2020, 20, x FOR PEER REVIEW 8 of 18

Sensors 2020, 20, 2377 8 of 18

(a) (b)

Figure 5. Average(a)
correlation coefficients of real texture: (a) Temporal (b)
correlation; (b) Spatial
correlation.
Figure5.5.Average
Figure Averagecorrelation coefficients
correlation of realoftexture:
coefficients (a) Temporal
real texture: correlation;
(a) Temporal (b) Spatial correlation.
correlation; (b) Spatial
3.2.2. The Speckle Component
correlation.
3.2.2. The Speckle Component
The speckle component is a complex Gaussian process; thus, the temporal correlation of speckle
3.2.2. Thespeckle
The
includes Speckle Component
three component
parts: is a complex
respective Gaussian process;
autocorrelation thus,
of the the and
real temporal correlation
imaginary part,of speckle
and the
includes three parts:
cross-correlation respective
between the autocorrelation of the real and imaginary part, and the cross-correlation
The speckle component is two parts. The
a complex three correlation
Gaussian process; thus,coefficients of speckle
the temporal components
correlation of specklecan
between the two
be estimated parts. The three correlation coefficients of speckle components can of be estimated
includes threeaccording to Equation
parts: respective (4). As shown
autocorrelation inofthethe
Figure
real6, the
andautocorrelation
imaginary part,theand real the
part
according
is same astothat
Equation
of (4). As shown
the imaginary in the Figure 6, theone
autocorrelation ofrapid
the real part is same
cross-correlation between the two part,
parts.which starts
The three from
correlation with an initial
coefficients of speckle decrease
components and then
can
asgoes
thatto
ofzero,
the imaginary
whereas to part, which
theEquation starts
cross-correlation from one
startsinfromwith an initial
zero and rapid
shows decrease and
a negative peak. then goes
be estimated according (4). As shown the Figure 6, the autocorrelation of the As
realcan be
part
toseen,
zero,the
whereas the cross-correlation
autocorrelation time and starts
the from zero and time
cross-correlation shows area all
negative
within peak.
10ms, As can be
which is seen,
much
is same as that of the imaginary part, which starts from one with an initial rapid decrease and then
the autocorrelation
shorter than whereastime and the time
the decorrelation cross-correlation
of the texture. time are all within 10ms, which is much shorter than
goes to zero, the cross-correlation starts from zero and shows a negative peak. As can be
the decorrelation time of the texture.
seen, the autocorrelation time and the cross-correlation time are all within 10ms, which is much
shorter than the decorrelation time of the texture.

Figure Autocorrelationand
Figure6.6. Autocorrelation andcross-correlation
cross-correlation coefficients
coefficients of real
of real andand imaginary
imaginary partsparts
of theof the
speckle
speckle component.
component.

3.2.3. Figure 6. Autocorrelation

The Clutter Amplitudeand cross-correlation coefficients of real and imaginary parts of the speckle
3.2.3. The Clutter Amplitude
component.
The temporal and spatial correlation coefficients of the clutter amplitude are also estimated by
The temporal and spatial correlation coefficients of the clutter amplitude are also estimated by
Equation
3.2.3. The (4). As shown in Figure 7, the temporal correlation coefficient rapidly decreases at first,
Clutter
Equation (4). AsAmplitude
shown in Figure 7, the temporal correlation coefficient rapidly decreases at first,
corresponding to the temporal correlation of the speckle, and then it slowly decays in a periodic
corresponding
Thewhich
temporal to and
the temporal
spatial to correlation
correlation of the speckle,
coefficients of the and then
clutter it slowlyare
amplitude decays
alsothein a periodic
estimated by
manner, is quite similar the temporal correlation of the texture. It shows that short-time
manner, (4).
Equation which
As isshown
quite similar
in to the
Figure 7, temporal
the correlation
temporal of the
correlation texture. Itrapidly
coefficient shows decreases
that the short-time
at first,
correlation characteristics of clutter amplitude are dominated by the speckle component as the texture
correlation characteristics
corresponding to thethe of clutter
temporal amplitude
correlation the are dominated by itthe speckle component as the
varies little, whereas long-time correlationofwith speckle,
periodic and then
characteristic slowly decays
is mainly in a periodic
influenced by the
manner,component.
texture which is quite similar to the
As expected, the periodic
temporalmanner
correlation of the
is also showntexture.
in the It shows
spatial that the short-time
correlation due to
correlation characteristics of clutter amplitude are dominated by the speckle component as the
 Sensors 2020, 20, x FOR PEER REVIEW 9 of 18
Sensors 2020, 20, 2377 9 of 18
Sensors 2020, 20, x FOR PEER REVIEW 9 of 18
texture varies little, whereas the long-time correlation with periodic characteristic is mainly
influenced
texture by the
varies texture
little, component.
whereas As expected,
the long-time the periodic
correlation with manner
periodicis characteristic
also shown in is themainly
spatial
the texture. However,
correlation due to although
the the
texture. speckle
However, samples
althougharethe
assumed
speckle tosamples
be independent
are in the
assumed todifferent
be
influenced by the texture component. As expected, the periodic manner is also shown in the spatial
rangeindependent
bins, the spatial
in the correlation
different still
range performs
bins, the a rapid
spatial decrease
correlation similar
still performsto the
a temporal
rapid correlation
decrease similar of
correlation due to the texture. However, although the speckle samples are assumed to be
clutter toamplitude,
independent in which
the temporal the indicates
correlation
different of
range there
clutter is slight
amplitude,
bins, the spatial
spatialwhich correlation
indicates
correlation stillthereinis speckle,
performs slight adecrease
possible
spatial
a rapid reason
correlation in for
similar
speckle,
this istothat thea possible
sampling reason for
interval this
is is
less that the
than sampling
the range interval is
resolution less than
bin. the range resolution
the temporal correlation of clutter amplitude, which indicates there is slight spatial correlation in bin.
speckle, a possible reason for this is that the sampling interval is less than the range resolution bin.

(a) (b)
(a) (b)
Figure 7. 7.Average
Figure correlation
Average correlation coefficients
coefficients of clutter
of clutter amplitude:
amplitude: (a) Temporal(a) Temporal
correlation; (b) correlation;
Spatial
correlation.
(b) Spatial correlation.
Figure 7. Average correlation coefficients of clutter amplitude: (a) Temporal correlation; (b) Spatial
correlation.
4. Reconstruction of Spatial–Temporal
4. Reconstruction of Spatial–TemporalCorrelated
Correlated Sea Clutter
Sea Clutter
4.
TheReconstruction
The section
section of Spatial–Temporal
describes
describes thethe proposed
proposed Correlated
method for
method Sea modeling
Clutter 2D
modeling 2Dsea
seaclutter
clutterdata, based
data, on the
based on the
observations
observations of real data.
of realdescribes
The section data. The The value
the value of any
of any
proposed method model
model must
for must be assessed
be assessed
modeling by its
by its
2D sea clutter ability to
ability
data, reproduce
basedtoon
reproduce
the
characteristics
characteristics
observations ofreal
of of
the the real
realdata. data.
data. InIn
The thepaper,
the
value paper,
of any aanew
new method,
modelmethod,
must beSTCPM,
STCPM, based
assessed by on
based aability
itson compound
a compound model of of
model
to reproduce
reconstructing
characteristics K-distributed
of the real data. sea clutter,
In the paper, is proposed,
a new method,which reproduces both the temporal and
reconstructing K-distributed sea clutter, is proposed, whichSTCPM, basedboth
reproduces on athe
compound
temporal model
and ofspatial
spatial correlations of the realsea
seaclutter,
clutter, is
including the which
autocorrelation andboth
cross-correlation of the
correlations of the real sea clutter, including the autocorrelation and cross-correlation of theand
reconstructing K-distributed proposed, reproduces the temporal speckle
specklecorrelations
spatial component,ofand the coherence
real sea and spatial–temporal
clutter, correlation of and
includingcorrelation
the autocorrelation the texture component.
cross-correlation of The
theblock
component, and coherence and spatial–temporal of thespatial–temporal
texture component. The
speckle component, and coherence and spatial–temporal correlation of the texture component. Theis
block diagram of STCPM for generation of K-distributed clutter with correlation
diagram of STCPM
shown in Figure for generation of K-distributed clutter with spatial–temporal correlation is shown
block diagram of 8.
STCPM for generation of K-distributed clutter with spatial–temporal correlation is
in Figure 8.
shown in Figure 8.Correlated
Temporally correlated
Gaussian sequence Gamma sequence
w1 H1 Correlated
N(0,1) MemorylessTemporally correlated Texture component
Gaussian sequence Proportional
w1 H1 Correlated nonlinear Gamma sequence
Spatially correlated method
N(0,1) Memoryless
transform Texture component
Gaussian sequence Gamma sequence Proportional
w2 H2 Correlated nonlinear
Spatially correlated method
N(0,1)
Gaussian sequence transform Gamma sequence
w2 H2

⊗
N(0,1) j
2-D spatial-temporal
Correlated
correlated clutter data
⊗ ⊗
Gaussian sequence j
2-D spatial-temporal
Correlated
correlated clutter data
⊗
Matrix
w3 transformation
Gaussian sequence 
N(0,1) Speckle component
Matrix Correlated Gaussian sequence
w3 transformation

N(0,1) Speckle component
Correlated Gaussian sequence

Figure 8. Block diagram of spatial–temporal correlated proportional method (STCPM) for generation
of8.
K-distributed
Block clutter
diagram ofwith spatial–temporal correlation.
spatial–temporal
Figure
Figure 8. Block diagram of spatial–temporal correlated proportional
correlated proportional method
method (STCPM)
(STCPM) for generation
for generation
of K-distributed clutter
of K-distributed with
clutter withspatial–temporal
spatial–temporal correlation.
correlation.
Similar to the traditional method, the input of STCPM is also white zero-mean Gaussian
sequences, whereas the H1 and H2 arethe
used
Similar to the
Similar totraditional method,
the traditional the input
method, oftoSTCPM
input generate
is the
of STCPM alsotemporal
iswhite and spatial
also zero-mean
white correlations
Gaussian
zero-mean of
sequences,
Gaussian
sequences,
whereas the H1whereas
and H2 H1used
theare H2generate
and to are usedthe
to generate
temporal theand
temporal and
spatial spatial correlations
correlations of
of the texture.
The H1 and H2 can be achieved by matrix transformation in the lower branch, which is described in
Section 4.2. The detailed reconstruction process is described below.
Sensors 20, 2377
2020,2020,
Sensors 20, x FOR PEER REVIEW 10 of 18 10 of 18

the texture. The H1 and H2 can be achieved by matrix transformation in the lower branch, which
4.1. isReconstruction of the Texture
described in Section 4.2. TheComponent
detailed reconstruction process is described below.
The 2D spatial–temporal correlated texture can be considered as a block obtained by the fluctuation
4.1. Reconstruction of the Texture Component
of a temporally correlated sequence over range. In general, the larger the variation of the sequence in the
differentThe 2Dbins
range spatial–temporal
is, the smallercorrelated textureis,can
the correlation andbevice
considered as a block
versa, which indicatesobtained
a closebyconnection
the
fluctuation of a temporally correlated sequence over range. In general, the larger the variation of the
between the fluctuations in different range bins and the spatial correlation of the texture. Consequently,
sequence in the different range bins is, the smaller the correlation is, and vice versa, which indicates
the texture component can be considered as a process where a temporally correlated sequence is
a close connection between the fluctuations in different range bins and the spatial correlation of the
modulated by a spatiallythe
texture. Consequently, correlated sequence.canBased
texture component on the modulation
be considered as a process theory, where athe proportional
temporally
method is proposed, where the 2D correlated texture block can be obtained
correlated sequence is modulated by a spatially correlated sequence. Based on the modulation by extending an initial
temporally correlated sequence and another initial spatially correlated sequence.
theory, the proportional method is proposed, where the 2D correlated texture block can be obtained This method is based
on the assumption
by extending an that thetemporally
initial temporalcorrelated
correlation in the processing
sequence and anotherinterval and spatial
initial spatially correlation
correlated
sequence.
within Thisbins
the range method is based on the assumption that the temporal correlation in the processing
are unchanged.
interval
As shownand spatial
in Figure correlation within the range
9, the correlation bins areinunchanged.
coefficients different range bins and pulses of the chosen
As shown in Figure 9, the correlation coefficients
area change a little, thus the above assumption is reasonable. in different In range
the paper,bins and the pulses
average of temporal
the
chosen area change a little, thus the above assumption is reasonable. In the paper, the average
correlation and the average spatial correlation are used to generate the initial temporally correlated
temporal correlation and the average spatial correlation are used to generate the initial temporally
and spatially correlated sequences in the reconstruction of sea clutter. At the same time, the variation
correlated and spatially correlated sequences in the reconstruction of sea clutter. At the same time,
of shape parameter
the variation is not parameter
of shape consideredis in theconsidered
not paper forin thethesake of balancing
paper for the sake theoftemporal
balancing and
thespatial
correlations.
temporal and spatial correlations. Similar to the correlation, the average shape parameters in range pulse
Similar to the correlation, the average shape parameters in range dimension and
dimension
dimension areand
usedpulsein dimension
the reconstruction
are used inofthe sea clutter. Theofscale
reconstruction parameter
sea clutter. The scaleis mainly
parameterinfluenced
is
by the amplitude
mainly influencedof by
thethe
signal, and of
amplitude sequences
the signal,with different with
and sequences scaledifferent
parameters can be obtained
scale parameters can by
be obtained by re-scaling [41], i.e., if a variable Γ ( ) , then θ Γ (
re-scaling [41], i.e., if a variable Z ∼ Γ(v; 1), then θZ ∼ Γ(v, θ), so the normalized scale parameter is
Z  v;1 Z ~ v , θ ) , so the normalized
usedscale
in the paper. is used in the paper.
parameter

(a) (b)

Figure 9. Correlation
Figure 9. Correlationcoefficients
coefficients in a single
singlerange
rangebin
bin and
and pulse
pulse of texture:
of texture: (a) Temporal
(a) Temporal correlation;
correlation;
(b) Spatial correlation.
(b) Spatial correlation.

Attemptingtotomaintain
Attempting maintain the
the invariability
invariability ofofthe
thecorrelations is aissignificant
correlations a significant feature of theof the
feature
proportional method. Indeed, the correlations of the two proportional sequences
proportional method. Indeed, the correlations of the two proportional sequences are identical. are identical. As
mentioned earlier, the correlation coefficient of a correlated sequence
As mentioned earlier, the correlation coefficient of a correlated sequence x = { x } , n = 1, 2,  , N
n x = {x }, n = 1,be can 2, . . . , N
n
estimated by Equation (4). Similarly, the correlation coefficient of the new sequence
y = { yn } = {α xn } , n = 1, 2, N can be expressed as follows,
Sensors 2020, 20, 2377 11 of 18

can be estimated by Equation (4). Similarly, the correlation coefficient of the new sequence
y = yn = {αxn }, n = 1, 2, . . . N can be expressed as follows,


N/2
( y[n]−y)( y∗ [n+k]−y∗)
P

ρ y (k ) = s n=1
s
N/2 2 N/2
P  ∗ 2
| | ( y [n+k]−y∗ )
P
( y [ n ] −y )
n=1 n=1
N/2
(αx[n]−αx)(αx∗ [n+k]−αx∗ )
P
n=1
= s s
N/2 2 N/2
P  2
|(αx[n]−αx)| (αx∗ [n+k]−αx∗ )
P
n=1 n=1
N/2
α2(x[n]−x)(x∗ [n+k]−x∗ )
P (10)
n=1
= s s
N/2 2 N/2
P  ∗ 2
α |(x[n]−x)| α (x [n+k]−x∗ )
P
n=1 n=1
N/2
(x[n]−x)( x∗ [n+k]−x∗ )
P
n=1
= s s
N/2 N/2 2
|(x[n]−x)|2
P
(x [n+k]−x∗ )
 ∗
P
n=1 n=1
= ρx ( k )

where α is proportional parameter and it is a constant.

From the above analysis, it can be seen that there is not any change in correlation and shape
parameter of a sequence when its elements change in proportion. As a result, the characteristics
of the gamma sequence are used to generate 2D texture data in the proposed proportional
reconstruction method.
Suppose the texture block to be generated is T and its size is M × N, where M and N are the
numbers of range bins and pulses, respectively. The specific steps of generating T are summarized
as follows.
1. Generate an initial temporally correlated gamma sequence [τ11 , τ12 , . . . , τ1N ] as the first row of
the T;
h i τ0 τ021
2. Generate an initial spatially correlated gamma sequence τ011 , τ021 , . . . , τ0M1 , let τ11
11
= τ21 = . . . =
τ0M1 τ11 0 τ11 0 τ11 0
τM1 , then τ21 = τ011 τ21 , τ31 = τ011 τ31 , . . . , τM1 = τ011 τM1 , so the first column of the T can be
generated, that is [τ11 , τ21 , . . . , τM1 ];
τ τ τ τ
3. Let τ21
11
= ττ22
12
= . . . = ττ1N
2N
, then τ22 = τ21 11
τ12 , τ23 = τ21 11
τ13 , . . . , τ2N = τ21 11
τ1N , so the second row
of the T is generated: [τ21 , τ22 , . . . , τ2N ];
τ τ τ τ
4. Similarly, let τm111
= ττm2
12
= . . . = ττmN
1N
, then τm2 = τm1 11
τ12 , τm3 = τm1 11
τ13 , ..., τmN = τm1 11
τ1N , the other
rows of T can be obtained in turn.
Therefore, the responding 2D texture data can be generated through the above steps as long as
an initial temporally correlated gamma sequence and an initial spatially correlated gamma sequence
are generated.
In the method, the gamma sequence with specified correlation can be generated by the matrix
transformation method in Section 4.2 and memoryless nonlinear transform (MNLT). The MNLT
is a fairly straightforward way to transform a set of random Gaussian distributed variables to
non-Gaussian distributed variables [6]. Suppose the input Gaussian process has a known PDF f1 (u),
and the output process has a desired PDF f2 (v), the mapping between the input and out processes is
expressed as follows [41],
R +∞ R +∞
v
f2 (v0 )dv0 = u R 1
f (u0 )du0
+∞  02 
= √ 1
u
exp − u2 du0 (11)
2π  
= 1
er f c √u
2 2
Sensors 2020, 20, 2377 12 of 18

where er f c(·) is the complementary error function. The complementary quantile function Qdist (ς) of
the required distribution is now defined by
Z ∞
f2 (v)dv = ς. (12)
Qdist (ς)

Thus, the MNLT that takes the input Gaussian random variables into the corresponding values of
the required non-Gaussian random variables can be written as follows [23],
  √  
v = Qdist er f c u/ 2 /2 (13)

4.2. Reconstruction of the Speckle Component

Compared with the texture component, the generation of the speckle component is simpler.
In some papers [28,42], two independent correlated Gaussian processes are usually taken as the real
and imaginary parts of the speckle. However, from the analysis of the real sea clutter data, we know
that there is a correlation between the real and imaginary parts of the speckle. In order to simulate the
speckle more accurately, the matrix transformation method in [1] is used in the paper, which takes the
cross-correlation of the speckle into consideration. The steps are summarized as follows.

1. Generate a 2N-dimensional white zero-mean Gaussian random vector W =

h i
wi1 , . . . , wiN , wq1 , . . . , wqN with the identity covariance matrix;
" #
Mii Miq
2. Determine the covariance matrix M = , where Mii and Mqq are the covariance
Mqi Mqq
matrices of the real and imaginary components, respectively, Miq and Mqi are their
cross-covariance matrices;
3. Calculate the transformation matrix G = ED1/2 , where D is the diagonal matrix of eigenvalues of
M and E is the matrix of normalized eigenvectors; h i
4. Get the correlated Gaussian sequence V = GW = Vi Vq , where Vi and Vq are the real and
imaginary parts of the speckle, respectively.

The complex sea clutter sequence can be obtained according to the block diagram in Figure 8.
In the end, the noise is introduced into the clutter data by the method described in [1].

5. Simulation Results
The methods presented in Section 4 can be used to generate 2D K-distributed sea clutter data
with correlation characteristics obtained from the real data, which include the temporal correlation,
spatial correlation and coherence. The simulated data set consists of 5000 consecutive pulses sampled
at 400 range bins, totaling 2,000,000 sample points. In order to offset the randomness of the Gaussian
sequences generation in the simulation, the average results presented there is obtained from 1000
trials. At the same time, the classic methods in [1,25] are provided in this paper for comparison,
which are used to generate the spatially correlated and temporally correlated texture, respectively.
In the following analysis, the contrastive methods are called the spatially correlated method (SCM)
and the temporally correlated method (TCM).
Figure 10 presents the comparison of the average autocorrelation and cross-correlation between
the original speckle and synthetic speckle. It is clear that the correlation characteristic of the synthetic
speckle is very similar to that of the original data.
Sensors 2020, 20, x FOR PEER REVIEW 13 of 18
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(a) (b)
(a) (b)
Figure 10. Average correlation coefficients of speckle: (a) Autocorrelation; (b) Cross-correlation.
Figure 10.
Figure Average correlation
10. Average correlation coefficients
coefficients of
of speckle:
speckle: (a)
(a) Autocorrelation;
Autocorrelation; (b)
(b) Cross-correlation.
Cross-correlation.
Figure 11 provides the comparison of the average temporal and spatial correlation coefficients
Figure 11 provides the comparison of the average temporal and spatial correlation coefficients
Figure
between the11original
provides thesynthetic
and comparison of theInaverage
textures. addition temporal and spatial
to the above correlation
methods, a filtercoefficients
method of
between the original and synthetic textures. In addition to the above methods, a filter method of
between
generating thea original and synthetic
2D correlated texture textures.
block in In [6] addition to the above
is also presented methods, a filtercomparison.
for comprehensive method of
generating a 2D correlated texture block in [6] is also presented for comprehensive comparison.
generating
Figure 11a ashows
2D correlated
a similarity texture
of theblock in [6]correlation
temporal is also presented for comprehensive
characteristics of original and comparison.
synthetic
Figure 11a shows a similarity of the temporal correlation characteristics of original and synthetic
Figure 11a shows a similarity of the temporal correlation characteristics
textures generated by STCPM and TCM, whose correlations are in a closest agreement to that of the of original and synthetic
textures generated by STCPM and TCM, whose correlations are in a closest agreement to that of the
textures generated
original texture, theby STCPM
filter methodandisTCM, whose
the next, correlations
while are inno
there is almost a closest
temporalagreement to that
correlation of the
in texture
original texture, the filter method is the next, while there is almost no temporal correlation in texture
original texture,by
data generated theSCM.
filter In
method
Figureis11b,the next, while correlation
the spatial there is almost
of thenotexture
temporal correlation
generated in texture
by STCPM is
data generated by SCM. In Figure 11b, the spatial correlation of the texture generated by STCPM is
data generated by SCM. In Figure 11b, the spatial correlation of the texture
also in closest agreement to that of the original texture, which is similar to the SCM, but the TCMgenerated by STCPM is
also in closest agreement to that of the original texture, which is similar to the SCM, but the TCM
also in closest
the worst. agreement
Although betterto that
thanof thetheTCM,
original
the texture, which performs
filter method is similar atobigger
the SCM, but thethan
deviation TCMthe is
is the worst. Although better than the TCM, the filter method performs a bigger deviation than the
the
STCPMworst. Although
and SCM. As better
can than the TCM,
be seen the filter
from Figure 11,method performs
the texture a bigger
generated bydeviation
STCPM has thanboth
the
STCPM and SCM. As can be seen from Figure 11, the texture generated by STCPM has both temporal
STCPM
temporaland andSCM.
spatialAs correlations,
can be seen while from theFigure 11, the
texture texture by
generated generated
TCM orbySCM STCPM has both
has only one
and spatial correlations, while the texture generated by TCM or SCM has only one correlation in the
temporal
correlationand spatial
in the pulsecorrelations,
dimension orwhile rangethe texture generated
dimension. Besides, thebySTCPM
TCM or hasSCM hasagreement
a closer only one
pulse dimension or range dimension. Besides, the STCPM has a closer agreement in both temporal
correlation in the pulse
in both temporal dimension
and spatial or rangethan
correlations dimension.
the filterBesides,
method. theThe
STCPM has a between
difference closer agreement
the data
and spatial correlations than the filter method. The difference between the data generated by STCPM
in both temporal
generated by STCPMand spatial
and correlations
original data thancanthebefilter method.by
explained Thethe difference
usage ofbetween the data
the nonlinear
and original data can be explained by the usage of the nonlinear transformation procedure for the
generated
transformationby STCPM
procedureand original
for the data canofbe
reconstruction explained by the usage of the nonlinear
texture.
reconstruction of texture.
transformation procedure for the reconstruction of texture.

(a) (b)
(a) (b)
Figure 11.Average
Figure 11. Averagecorrelation coefficients
correlation of texture:
coefficients (a) Temporal
of texture: correlation;
(a) Temporal (b) Spatial correlation.
correlation; (b) Spatial
Figure 11. Average correlation coefficients of texture: (a) Temporal correlation; (b) Spatial
correlation.
Figure 12 presents the comparison of the normalized amplitude returns between the original and
correlation.
reconstructed sea clutter. The data generated by STCPM presents multiple oblique stripes similar to the
 Sensors 2020, 20, x FOR PEER REVIEW 14 of 18

Sensors 2020, 20, 2377 14 of 18

Figure 12 presents the comparison of the normalized amplitude returns between the original
and reconstructed sea clutter. The data generated by STCPM presents multiple oblique stripes
original
similar data,
to theperhaps
originalas a result
data, of wind
perhaps as a gusting,
result of whereas the influence
wind gusting, whereasofthe
wind is not considered
influence in
of wind is not
TCM and SCM. The vertical stripes appear in Figure 12b because the texture is assumed
considered in TCM and SCM. The vertical stripes appear in Figure 12b because the texture is to be a constant
inassumed
the coherence
to be a time. Theinfine
constant the stripes
coherenceshown
time.inThe
12cfine
occur mainly
stripes because
shown in 12c there
occuris mainly
no correlation
because
between
there is the
no returns from between
correlation different range bins. Similarly,
the returns the trivial
from different databins.
range blocks in 12d arethe
Similarly, caused by data
trivial the
temporally correlated speckle and the spatially correlated texture. As can be seen, the clutter
blocks in 12d are caused by the temporally correlated speckle and the spatially correlated texture. As generated
by STCPM
can be seen,fitsthe
theclutter
original data best
generated byinSTCPM
amplitude characteristic.
fits the original data best in amplitude characteristic.

(a) (b)

(c) (d)

Figure 12.The
Figure12. Theamplitude-range-time
amplitude-range-timeofofreal
realand
andgenerated
generatedclutter:
clutter:(a)
(a)Original;
Original;(b)
(b)STCPM;
STCPM;(c)
(c)TCM;
TCM;
(d)
(d)SCM.
SCM.

The
Thecomparison
comparisonof ofthe
thePDF
PDFand andCDF
CDFbetween
betweenthetheoriginal
originalclutter
clutterandandreconstructed
reconstructedclutter
clutterisis
shown in Figure 13. It can be seen that the clutter generated by STCPM is the most
shown in Figure 13. It can be seen that the clutter generated by STCPM is the most consistent with consistent with the
original data. In order to quantify the performance of three methods, two test statistics—the
the original data. In order to quantify the performance of three methods, two test statistics—the root root mean
squared error (RMSE)
mean squared and Kolmogorov–Smirnov
error (RMSE) and Kolmogorov–Smirnov (KS)—are calculated
(KS)—are in this
calculated in paper. As shown
this paper. in
As shown
Table 3, the two statistics for STCPM are the smallest of the three methods, which fits
in Table 3, the two statistics for STCPM are the smallest of the three methods, which fits the original the original data
best.
dataThe
best.number of independent
The number samples samples
of independent is much less because
is much lessofbecause
the temporal
of thecorrelation, which can
temporal correlation,
explain the deviation in the tail of K distribution.
which can explain the deviation in the tail of K distribution.
Sensors 2020, 20, x FOR PEER REVIEW 15 of 18
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x FOR PEER REVIEW 15 of
15 of 18

(a) (b)
(a) (b)
Figure 13.
Figure K-distributionfitting
13. K-distribution fittingof
of real
real and
and generated
generated clutter:
clutter: (a)
(a)PDF;
PDF;(b)
(b)CDF.
CDF.
Figure 13. K-distribution fitting of real and generated clutter: (a) PDF; (b) CDF.
Table 3. Statistics of methods.
Table 3. Statistics of methods.
Table 3. Statistics of methods.
Method RMSE KS
Method RMSE KS
Method
STCPM RMSE KS
× 10−6 0.0081
0.0081
STCPM 3.9908
3.9908e-06
STCPM 3.9908e-06
TCM 0.0013 0.0081
0.1746
TCM 0.0013 −4 0.1746
TCM 1.7702
SCM 0.0013
× 10 0.1746
0.0678
SCM 1.7702e-04 0.0678
SCM 1.7702e-04 0.0678
Figure 14 presents the comparison of the correlation characteristics between the original sea
Figure 14presents
Figure 14 presentsthe
the comparison
comparison of the
of the correlation
correlation characteristics
characteristics between
between the original
the original sea
sea clutter
clutter amplitude and reconstructed sea clutter amplitude. Similar to the performance in the
clutter amplitude and reconstructed sea clutter amplitude. Similar to the performance
amplitude and reconstructed sea clutter amplitude. Similar to the performance in the reconstructed in the
reconstructed texture, STCPM takes the lead, which generates the clutter with desired temporal and
reconstructed
texture, STCPMtexture, STCPM
takes the takesgenerates
lead, which the lead, the
which generates
clutter the clutter
with desired withand
temporal desired temporal
spatial and
correlations,
spatial correlations, while TCM and SCM do not. There is also small difference between the original
spatialTCM
while correlations,
and SCM while TCM
do not. and SCM
There is alsodo not. difference
small There is also small difference
between between
the original the original
and reconstructed
and reconstructed clutter, perhaps as the result of the nonlinear transformation in the texture
and reconstructed
clutter, perhaps as theclutter,
resultperhaps as the result
of the nonlinear of the nonlinear
transformation transformation
in the texture in the
generation and verytexture
small
generation and very small spatial correlation in the speckle component, which is assumed to be zero.
generation and very
spatial correlation in small spatialcomponent,
the speckle correlation which
in the speckle component,
is assumed which is assumed to be zero.
to be zero.

(a) (b)
(a) (b)
Figure
Figure 14.
14.Average correlation
Average coefficients
correlation of clutter
coefficients amplitude:
of clutter (a) Temporal
amplitude: (a) correlation; (b) Spatial
Temporal correlation;
Figure 14. Average correlation coefficients of clutter amplitude: (a) Temporal correlation; (b) Spatial
correlation.
(b) Spatial correlation.
correlation.

Figure
Figure 1515 gives
givesthe
theresults
results of the
of the normalized
normalized evolving
evolving Doppler
Doppler spectrum
spectrum alongoftime
along time of the
the original
Figure 15 gives the results of the normalized evolving Doppler spectrum along time of the
original clutter
clutter and and reconstructed
reconstructed clutter generated
clutter generated by STCPM. by STCPM. Each spectrum
Each spectrum was from
was derived derived from 64
64 samples,
original clutter and reconstructed clutter generated by STCPM. Each spectrum was derived from 64
samples,
equivalentequivalent
to a timeto a timeofperiod
period 128ms.ofIt128ms.
is clearIt that
is clear
the that the spectrum
spectrum of the original
of the original clutter
clutter appears
samples, equivalent to a time period of 128ms. It is clear that the spectrum of the original clutter
appears asymmetric in shape, with a nonzero mean Doppler shift. Although the radar is fixed and
appears asymmetric in shape, with a nonzero mean Doppler shift. Although the radar is fixed and
Sensors 2020, 20, 2377 16 of 18
Sensors 2020, 20, x FOR PEER REVIEW 16 of 18

there is no moving
asymmetric in shape, target
withon the sea, mean
a nonzero the seaDoppler
surface shift.
fluctuates with athe
Although low velocity
radar dueand
is fixed to some
there
natural factors such as the wind, which accounts for the Doppler shift.
is no moving target on the sea, the sea surface fluctuates with a low velocity due to some natural According to signal
processing
factors suchtheory,
as thethe Doppler
wind, whichcharacteristics
accounts for are the relevant
Doppler to the short-term
shift. Accordingcorrelation of clutter.
to signal processing
Consequently, the Doppler characteristics of the clutter are mainly dependent
theory, the Doppler characteristics are relevant to the short-term correlation of clutter. Consequently, on the speckle
component. Actually, the Doppler spectrum changes over both time and
the Doppler characteristics of the clutter are mainly dependent on the speckle component. Actually, range due to the
nonstationary properties
the Doppler spectrum and the
changes continuous
over both time fluctuations
and range due of to
thethe
surface. In this paper,
nonstationary the method
properties and the
concentrates on only the temporal correlation of the speckle, without any spatial
continuous fluctuations of the surface. In this paper, the method concentrates on only the temporal correlation of it.
Thus, the variation
correlation of Doppler
of the speckle, withoutspectrum
any spatial over range isofnot
correlation it. our
Thus, focus here. There
the variation is no significant
of Doppler spectrum
difference in the three generation methods of speckle, and as a result, only
over range is not our focus here. There is no significant difference in the three generationthe result of themethods
STCPM of is
presented here. As can be seen, there is an approximately equivalent mean Doppler
speckle, and as a result, only the result of the STCPM is presented here. As can be seen, there is an shift in synthetic
clutter, and although
approximately theremean
equivalent is derivation
Dopplerin thein
shift variation
syntheticofclutter,
Doppler andover time, the
although therepossible reason in
is derivation is
the variation of short-term correlation of the speckle due to the non-stationarity of
the variation of Doppler over time, the possible reason is the variation of short-term correlation of theclutter, which is
not considered
speckle in the
due to the paper.
non-stationarity of clutter, which is not considered in the paper.

(a) (b)

Figure
Figure 15. Doppler spectra
15. Doppler spectra of
of real
real and
and generated
generated clutter
clutter (range bin =
(range bin 300): (a)
= 300): (a) Original;
Original; (b)
(b) STCPM.
STCPM.

As can be seen from the above results, the proposed method can not only reproduce similar
As can be seen from the above results, the proposed method can not only reproduce similar
amplitude characteristics with that of the original clutter, but generate clutter with both temporal–spatial
amplitude characteristics with that of the original clutter, but generate clutter with both
correlation, which cannot be achieved by the SCM and TCM. Compared with the filter method,
temporal–spatial correlation, which cannot be achieved by the SCM and TCM. Compared with the
the texture generated by STCPM is in a closer agreement to that of the original clutter in both temporal
filter method, the texture generated by STCPM is in a closer agreement to that of the original clutter
and spatial correlations, which demonstrates that the proposed method can reproduce the correlation
in both temporal and spatial correlations, which demonstrates that the proposed method can
characteristics of clutter more accurately.
reproduce the correlation characteristics of clutter more accurately.
6. Conclusions
6. Conclusions
A novel method has been proposed for simulating K-distributed sea clutter based on the correlation
A novel method has been proposed for simulating K-distributed sea clutter based on the
characteristics obtained from the real data. In the paper, the spatial–temporal correlated texture
correlation characteristics obtained from the real data. In the paper, the spatial–temporal correlated
component is generated by the proportional reconstruction method and the temporally correlated
texture component is generated by the proportional reconstruction method and the temporally
speckle component is generated by the matrix transformation. An important result is that the method
correlated speckle component is generated by the matrix transformation. An important result is that
not only generates clutter data with both temporal and spatial correlations, but provides a more
the method not only generates clutter data with both temporal and spatial correlations, but provides
accurate reproduction of correlation characteristics compared with previous methods. In addition,
a more accurate reproduction of correlation characteristics compared with previous methods. In
the cross-correlation of speckle and coherence of texture are also considered in the reconstruction.
addition, the cross-correlation of speckle and coherence of texture are also considered in the
Simulation results demonstrate that the proposed method is able to generate 2D K-distributed sea
reconstruction. Simulation results demonstrate that the proposed method is able to generate 2D
clutter returns with the specified correlation characteristics, and the evolving Doppler spectra along
K-distributed sea clutter returns with the specified correlation characteristics, and the evolving
time is also similar to that of the original data. Further work may extend the method to the returns
Doppler spectra along time is also similar to that of the original data. Further work may extend the
from a longer processing interval and more range bins, where the segmented reconstruction can
method to the returns from a longer processing interval and more range bins, where the segmented
be considered.
reconstruction can be considered.
Sensors 2020, 20, 2377 17 of 18

Author Contributions: Conceptualization, M.D. and Y.L.; methodology, M.D.; validation, M.D., Y.L., and Y.Q.;
writing—original draft preparation, M.D.; writing—review and editing, M.D., Y.L., and L.G.; supervision, M.X.
All authors have read and agreed to the published version of the manuscript.
Funding: This research was funded in part by the National Key R&D program of China under Grant
2018YFB2202500; the National Natural Science Foundation of China under Grant 61471283, Grant 61303035,
and Grant 61772379; and the key R&D program of Shaanxi Province under Grant 2017KW-ZD-12.
Acknowledgments: The authors would like to thank the anonymous reviewers and editors for their valuable
comments and suggestions, which led to great improvements of the authors’ work and the original manuscript.
Conflicts of Interest: The authors declare no conflicts of interest.

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