CN110673105B

CN110673105B - Method for resolving velocity ambiguity of pulse Doppler radar

Info

Publication number: CN110673105B
Application number: CN201910907887.5A
Authority: CN
Inventors: 桂雨洋; 徐敏超; 陈钟; 厉芸
Original assignee: Wuhan Binhu Electronic Co ltd
Current assignee: WUHAN BINHU ELECTRONIC Co.,Ltd.
Priority date: 2019-09-25
Filing date: 2019-09-25
Publication date: 2021-12-10
Anticipated expiration: 2039-09-25
Also published as: CN110673105A

Abstract

The invention relates to the field of radar signal processing, in particular to a method for resolving velocity ambiguity of a pulse Doppler radar. The invention comprises three main steps, namely, step A: carrying out interval division on a speed estimation interval according to the radar parameter, the target apparent speed and a first threshold, and screening out a possible speed matrix; and B: screening the possible speed matrix according to a second threshold to obtain a speed matrix to be judged true or false; and C: and (4) carrying out speed mutual-difference screening on the speed matrix to be judged to be true or false, and eliminating false speed to obtain a target real speed matrix which is arranged from high to low according to the confidence level. The invention can solve the Doppler velocity ambiguity under the condition that the echo information of the moving target is not ideal and the range ambiguity is not introduced, thereby obtaining the real velocity of the moving target.

Description

Method for resolving velocity ambiguity of pulse Doppler radar

Technical Field

The invention relates to the field of radar signal processing, in particular to a method for resolving velocity ambiguity of a pulse Doppler radar.

Background

The velocity ambiguity problem is an inherent problem of a pulse Doppler radar, and when the repetition frequency of pulses transmitted by the radar is less than the maximum Doppler frequency of a moving target, velocity ambiguity can be generated; therefore, the radar cannot acquire the real speed of the moving target, and subsequent functions of target speed measurement, target tracking and the like of the radar cannot be realized.

To eliminate the speed ambiguity, two solutions are currently common: one is to increase the repetition frequency of radar transmitted pulses, but too high pulse repetition frequency can cause range ambiguity of moving objects; the other method is to use a plurality of different repetition frequencies to simultaneously detect the moving target and calculate the real speed of the target by a Doppler frequency shift formula, but because the signal-to-noise-ratio of real target echo information is influenced by the external environment, errors and distortions exist, so that the method cannot obtain an analytic solution through a theoretical formula and cannot solve the real speed of the moving target in the practical engineering application.

Therefore, a method suitable for the actual use scene of the pulse doppler radar is needed, which can solve the doppler velocity ambiguity under the condition that the signal-to-noise ratio of the echo information of the moving target is not ideal.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a method for resolving the velocity ambiguity of the pulse Doppler radar, which can resolve the Doppler velocity ambiguity under the condition that the echo information of a moving target is not ideal, so as to obtain the real velocity of the moving target.

In order to solve the technical problems, the invention adopts a technical scheme that: a method for resolving velocity ambiguity of a pulse Doppler radar comprises the following steps:

step A: and carrying out interval division on the speed estimation interval according to the radar parameters, the target apparent speed and the first threshold, and screening out a possible speed matrix V _ maybe.

Step 1, obtaining a target apparent speed V _ martix:

and (4) sorting the apparent speed of the over-detection threshold obtained by each pulse repetition period PRI of the radar to form a speed matrix which is marked as V _ martix.

The beneficial effects of the multi-frequency and multi-carrier frequency combination are as follows: the inherent design parameters of the radar are fully utilized, and the speed concentration of the moving target is obtained through multiple detections of the same target by multiple frequencies and multiple carrier frequencies; and the number and the numerical value of the multiple repetition frequencies and the multiple carrier frequencies can be set and adjusted according to the carrier frequency parameters of the actual radar, so that the method has universality and flexibility.

Step 2, calculating various parameters required for solving the Doppler velocity ambiguity:

the blur speed V _ blind, the blur multiple blu _ mul, and the speed segment number segment _ num are calculated.

The first threshold is an interval value V _ seg for dividing a speed interval, the interval value V _ seg cannot be too small, and the value of the V _ seg generally needs to be larger than the speed measurement precision of a radar; and the value cannot be too large, so that too much true and false speeds fall in the same speed interval, and the risk of missing true speeds exists in subsequent screening, thereby losing the meaning of the first threshold.

The beneficial effects of the first threshold are as follows: under the condition of not omitting the true speed, preliminarily screening and dividing the true speed and the false speed; through the division of the speed intervals, the true and false speeds fall in different speed intervals as far as possible, the subsequent further screening of the second threshold is facilitated, and the calculation amount during the judgment of the second threshold is reduced.

Step 3, calculating a possible speed matrix V _ maybe:

the possible velocity matrix V _ maybe is calculated as a 3-dimensional matrix.

And B: and screening the possible speed matrix V _ maybe according to a second threshold to obtain a speed matrix V _ check to be judged to be true or false.

And 4, rearranging and mapping the possible speed matrix V _ maybe:

the V _ maybe is rearranged into a 2-dimensional matrix V _ reshape.

Mapping the speed value meeting the speed estimation interval [ -V _ max, V _ max ] requirement in the V _ reshape to a speed estimation interval; and recording the mapped speed matrix as V _ map.

And stores the position of each element in the V _ map in the speed segment interval with the V _ segment.

Step 5, fusing a multi-PRI speed mapping table:

summing all lines in the V _ segment to obtain a V _ segment _ all; the element positions of ≧ 3 in the found V _ segment _ all are stored as pos _ maybe matrix.

The following steps are a recursive operation, and for convenience of description, the parameter n is defined herein: the initial value is 1, the value is a natural number from 1 to N, and the value is added by 1 after the step 7 is executed once.

Step 6, screening a speed matrix meeting the speed estimation interval:

the number of rows with element value >0 in the pos _ maybe [ n ] th column of V _ segment is looked up, denoted as pri _ pos.

Mapping possible speed values satisfying a speed estimation interval in the first pri _ pos column of V _ reshape to the speed estimation interval; the mapped velocity matrix is denoted as V _ yinshe.

Finding out the column number position closest to the pos _ maybe [ n ] numerical value in the V _ yinhe, and storing the speed value of the position in a V _ lose _ check matrix; and storing the position of the speed in the original speed matrix V _ martix into a V _ lose _ check _ pos matrix.

And 7, screening a speed matrix meeting a second threshold in the V _ lock _ check:

forming a V _ match matrix by the speed meeting the speed estimation interval in the V _ lose _ check; and counting the number of the elements in the V _ match and recording as V _ zhi.

The maximum value and the minimum value in all elements of the V _ match matrix are differentiated, and the value of a second threshold deta is 2; if the difference is larger than the second threshold deta, skipping to execute the step 6; if the difference is smaller than the second threshold deta, the jump is performed in step 8.

The beneficial effects of the second threshold are as follows: the second threshold screens possible real speeds by analyzing the concentration of the speed screened by the first threshold, and further rejects false speeds.

Step 8, calculating a speed matrix V _ check to be judged whether the true or false is true:

the possible velocity V _ match average and its confidence V _ zhi are stored in the kth row of the V _ check matrix (k is initialized to 1 and added by 1 after each execution of step 8).

The recursive loop is ended until all columns in pos _ maybe are traversed (i.e. N equals to N), otherwise, the jump is executed in step 6.

The number of rows and the number of columns of V _ check obtained after the recursive loop is completed are recorded as M rows and 7 columns.

And C: and (3) carrying out speed mutual-difference screening on the speed matrix V _ check to be judged to be true or false, eliminating pseudo speeds and obtaining a target real speed matrix V _ real arranged from high to low according to the confidence level.

The following steps are a recursive operation, and for convenience of description, the parameter m is defined here: the initial value is 1, the value is a natural number from 1 to M, the natural number is added with 1 after the step 15 is executed each time, and the natural number is initialized to 1 after the step 16 is executed each time.

Step 9, taking out the speed row with the highest confidence coefficient:

and taking out the row with the highest confidence level in the V _ check matrix, recording as V _ max _ zhi, and storing in the kth row of the V _ real matrix (k is initialized to 1, and 1 is added after step 9 is executed once).

Step 10, calculating a velocity reciprocity discrimination matrix Judge matrix:

and performing difference on the V _ max _ zhi matrix and the V _ check matrix from the 3 rd column of the matrix to obtain a Judge matrix.

And creating a speed authenticity flag bit matrix.

Step 11, inquiring the Judge matrix and the V _ flag speed authenticity flag bit matrix:

and when the value 0 exists in the mth row element of the Judge matrix and the mth row element of the V _ flag matrix is 0, continuing to execute the step 12, otherwise, skipping to execute the step 15.

Step 12, blind speed PRI judgment:

if there is a 0 value in columns 3 to 7 of V _ max _ zhi, there is 0, go to step 13.2; otherwise step 13.1 is performed.

And executing the following operation steps corresponding to the processing branches according to the judgment result of whether the blind speed PRI exists or not.

Step 13, speed mutual-anisotropy screening:

step 13.1, blind speed does not exist, and speed mutual-anisotropy screening is not carried out:

the jump executes step 15.

Step 13.2, carrying out speed mutual-difference screening when blind speed exists:

comparing the set a of positions of columns with elements 0 in the mth row of the Judge matrix with the set B of positions of columns with elements 0 in the 3 rd to 7 th columns of V _ max _ zhi:

if there are elements in A that do not belong to B, continue to step 14; otherwise the jump is performed to step 15.

The beneficial effects of speed mutual-specificity screening are as follows: and further eliminating false speed by using the principle that one real target speed can be detected only by one PRI.

Step 14, changing the confidence coefficient of the speed matrix and the speed authenticity flag bit matrix:

and changing the value of the m-th line in V _ check and V _ flag.

And 15, repeating the steps 11 to 14 until all the M speed rows are traversed.

And step 16, after traversing M lines, inquiring whether 0 exists in the speed authenticity flag bit V _ flag. If so, repeating steps 9 to 16; if not, the loop recursion operation of the part is ended.

And step 17, after the cyclic recursion operation is finished, obtaining a V _ real matrix which is the target real velocity matrix after the Doppler velocity ambiguity is resolved.

The invention has the beneficial effects that: the invention carries out speed screening in the steps A, B and C for three times on the possible speed matrix, and has higher confidence coefficient and anti-signal-to-noise ratio fluctuation; compared with the traditional method for solving the Doppler velocity ambiguity by increasing the repetition frequency, the method avoids the risk of distance ambiguity possibly caused by increasing the repetition frequency; compared with a method for carrying out theoretical calculation by using a Doppler frequency shift formula, the method greatly eliminates the influence on the accuracy of a speed ambiguity resolution result when the signal-to-noise ratio of a target echo signal is not ideal; by analyzing and distinguishing the velocity aggregation, the velocity ambiguity resolution of the pulse Doppler radar is realized. In the invention, the number and the value of the repetition frequency and the carrier frequency can be set and adjusted according to the carrier frequency parameters of the actual radar, so that the method can be suitable for pulse Doppler radar systems of various systems.

Drawings

FIG. 1 is a flow chart of step A and step B in an embodiment of a method for resolving velocity ambiguity in a pulse Doppler radar;

FIG. 2 is a flow chart of step C in an embodiment of a method for velocity ambiguity resolution for pulsed Doppler radar;

the parts in the drawings are numbered as follows:

1. basic parameters of the radar and apparent speed of a moving target;

2. fuzzy speed, fuzzy multiple, speed interval segmentation number and other parameters;

3. calculating a possible speed matrix V _ maybe;

4. calculating a speed mapping matrix V _ map meeting the speed estimation interval;

5. calculating a speed mapping table V _ segment _ all after the fusion of multiple PRIs;

6. searching effective speed values which meet the speed estimation interval in the speed matrix V _ maybe;

7. further searching possible speed values meeting a second threshold deta in the speed matrix V _ maybe;

8. calculating a speed matrix V _ check to be judged whether the true or false is true;

9. taking out the speed row with the highest confidence coefficient;

10. and (5) calculating a velocity reciprocity judgment Judge matrix.

11. Establishing an authenticity flag bit matrix;

12. judging blind speed;

13. judging whether to perform branch processing of speed mutual difference screening or not after blind speed judgment;

14. updating the V _ flag matrix and the V _ check matrix;

15. a recursive loop traverses all speed rows in the V _ check;

16. judging an authenticity flag bit matrix V _ flag;

17. and solving the Doppler velocity ambiguity to obtain a real velocity matrix V _ real.

Detailed Description

The following detailed description of the preferred embodiments of the present invention, taken in conjunction with the accompanying drawings, will make the advantages and features of the invention easier to understand by those skilled in the art, and thus will clearly and clearly define the scope of the invention.

The embodiment of the invention provides a method for resolving velocity ambiguity of a pulse Doppler radar, which can be applied to the field of radar signal processing algorithms.

Referring to fig. 1 and 2, a method for resolving velocity ambiguity of a pulse doppler radar includes the following steps:

the number of radar pulse repetition cycles PRI used in this embodiment is 5, which are denoted as PRI1, PRI2, PRI3, PRI4 and PRI5, and is 461us, 481us, 500us, 528us and 549us respectively; the corresponding carrier frequencies are marked as Fc1, Fc2, Fc3, Fc4 and Fc5 which are respectively 5550MHz, 5550MHz and 5550 MHz; and assuming that there are 3 moving objects needing to solve the Doppler velocity ambiguity, the real velocities of the moving objects are marked as V _ real1, V _ real2 and V _ real3, which are 550m/s, -100m/s and 212m/s respectively.

Solving the speed estimation interval of the Doppler speed as [ -V _ max, V _ max ] [ -1000,1000], and the speed interval value as V _ seg ═ 2; namely, the range of the solved target real speed is [ -1000,1000], and the precision is 2.

The implementation steps of the method are divided into 3 main steps, and the implementation flow of the method is described in detail as follows:

Step 1, obtaining a target apparent speed V _ martix:

the apparent speed of the over-detection threshold obtained by each pulse repetition period PRI of the radar is arranged to form a speed matrix of 3 rows by 5 columns, and the speed matrix is marked as V _ martix; when the number of target apparent speeds obtained by a certain PRI is less than 3, the position is filled with-1 in the matrix to be represented, so that the subsequent processing operation is convenient.

The V _ martix matrix used in this embodiment is as follows:

step 2.1, calculating the fuzzy speed V _ blind:

according to the Doppler frequency formula V _ blind ═ f_rλ/2, wherein the pulse repetition frequency f_r1/PRI, wavelength λ C/Fc, calculating the blurThe velocity V _ blind.

Step 2.2, calculating a fuzzy multiple blu _ mul:

calculating a fuzzy multiple blu _ mul in the speed estimation interval according to a formula blu _ mul ═ ceil (V _ max/V _ blind); where ceil denotes rounding up.

Step 2.3, calculating the speed segment number segment _ num:

dividing a speed estimation section, and calculating a speed section segment number segment _ num according to a formula segment _ num-2 ceil (V _ max/V _ seg); where ceil denotes rounding up.

Step 3, calculating a possible speed matrix V _ maybe:

according to the formula V _ maybe ═ V _ martix + V _ blind × blu _ mul, a possible velocity matrix is calculated, the velocity filled in V _ martix by-1 does not participate in the calculation, and for the convenience of subsequent velocity screening, the position corresponding to the velocity in V _ maybe is temporarily filled with an arbitrary large value, such as 1000.

V _ maybe is a three-dimensional matrix, and the first dimension is the speed under the same PRI; the second dimension is the possible speed after the ambiguity resolution corresponding to each target real speed; the third dimension is the PRI. In this embodiment, the first dimension of V _ maybe is 3, which is recorded as

The length of the second dimension is determined by the blur multiple blu _ mul, which is recorded as

A third dimension of length 5, is recorded as

And 4, rearranging and mapping the possible speed matrix V _ maybe:

4.1 rearrangement of V _ maybe:

for the convenience of subsequent calculation, V _ maybe is rearranged into the number of rows

The number of rows is

The 2-dimensional matrix is marked as V _ reshape; columns represent speed and rows represent PRI.

4.2 mapping of V _ reshape:

finding out the speed meeting the speed estimation interval [ -V _ max, V _ max ] in the V _ reshape, and mapping the speed value meeting the requirement of the estimation interval to the speed estimation interval according to the speed interval segment number segment _ num and the speed interval value V _ seg; and recording the mapped speed matrix as V _ map.

Establishing a speed interval mapping table of the speed interval segment number segment _ num of the number of rows PRI and the number of columns, and marking as V _ segment; the position of each element in V _ map in the velocity segment interval is marked by the position '1' in the table, which represents that the PRI may detect the real moving object in the velocity segment.

Step 5, fusing a multi-PRI speed mapping table:

summing all the rows in the V _ segment to obtain a matrix with the row number of 1 × the column number of segment _ num, and marking as V _ segment _ all; the matrix represents the number of possible target speeds measured for each speed interval by all PRI's.

Using 3/5 criterion to find the element position of V _ segment _ all which is greater than or equal to 3, the position value is stored in a matrix pos _ maybe with 1 row by N column; representing that the target speed is detected by at least any 3 of the 5 PRIs, and then subsequent processing is performed on that speed, assuming that it is likely to be the true target speed.

The following steps are a recursive operation, and for convenience of description, the parameter n is defined herein: the initial value is 1, the value is a natural number from 1 to N, and the value is added by 1 after the step 7 is executed each time.

Step 6, screening a speed matrix meeting the speed estimation interval:

and (3) taking the speed position stored in the nth row in pos _ maybe as the row number, searching the row number of the V _ segment in which the element value is greater than 0 to obtain the PRI serial number value of the detected speed, and marking as PRI _ pos.

Returning to the V _ reshape matrix, finding out a possible speed value which satisfies a speed estimation interval [ -V _ max, V _ max ] in the row of the PRI _ pos represented by the V _ reshape sequence number value, and mapping the speed value to the speed estimation interval; the mapped velocity matrix is denoted as V _ yinshe.

Comparing the speed position stored in the nth row of pos _ maybe with each element in V _ yinhe, finding out the row number position closest to the value of the speed position, and storing the speed value of the position into a V _ lose _ check matrix; finding the position of the speed position in the original speed matrix V _ martix, namely the speed corresponds to the several speeds of the several PRIs of the original speed matrix, and storing the result in the V _ lose _ check _ pos matrix, wherein the row number indicates that the speed is detected by the several PRIs; the speed value in V _ lock _ check corresponds to the position value in V _ lock _ check _ pos one to one.

forming a V _ match matrix by the speeds meeting the speed estimation intervals [ -V _ max, V _ max ] in all elements of the V _ lock _ check matrix; and counting the number of elements in the V _ match, wherein the number is the confidence level that the speed is the possible real speed and is marked as V _ zhi.

Simultaneously, the difference is made between the maximum value and the minimum value of all elements of the V _ match matrix, and the value of a second threshold deta is 2; if the difference is greater than the second threshold deta, it indicates that the group of speeds has no aggregative property, and step 6 is skipped (the V _ segment _ all matrix generated in step 5 and the V _ resume matrix generated in step 4.1 are searched for, and the V _ lost _ check matrix of the effective speed value is obtained); if the difference is less than the second threshold deta, it is said that the set of speeds has aggregative properties, so the jump is performed in step 8.

The second threshold is used for analyzing the concentration of the possible speed of the moving target screened by the first threshold, screening the possible real speed and better eliminating the false speed.

creating a V _ check matrix with the column number of 7, and storing the result of averaging all elements in the V _ check into the 1 st column of the kth row of the V _ check (k is initialized to 1, and 1 is added after each step 8 is executed); storing the V _ zhi into the kth row and the 2 nd column of the V _ check; and respectively storing the 5 numbers of the first column of the V _ lose _ check _ pos into the 3 rd to 7 th columns of the k-th row of the V _ check.

The number of rows of the V _ check obtained after the recursive cycle is completed is recorded as M rows, and the number of columns is 7 columns; the V _ check matrix is screened for velocity reciprocity and the pseudo velocities therein are eliminated.

Step 9, taking out the speed row with the highest confidence coefficient:

the speed row with the highest confidence coefficient in the V _ check matrix is taken out, and when the speed rows with the same confidence coefficient exist, the speed rows can be sorted according to the signal detection amplitude, and the confidence coefficient of the maximum combination of the signal amplitudes is adopted; is recorded as V _ max _ zhi and is stored in the kth row of the V _ real matrix (k is initialized to 1 and is added by 1 after each execution of step 9).

Step 10, calculating a velocity reciprocity discrimination matrix Judge matrix:

and respectively subtracting the elements of each row of the V _ max _ zhi matrix and the V _ check matrix from the 3 rd column of the matrix to obtain a Judge matrix with M rows by 5 columns.

And simultaneously creating a V _ flag matrix initialized to be all 0 and with M rows and 1 columns as a speed authenticity flag bit matrix.

Step 12, blind speed PRI judgment:

querying a speed row V _ max _ zhi with the highest confidence level, and if 0 values exist in elements from the 3 rd column to the 7 th column of the row, indicating that a blind speed PRI exists in the 5 PRIs; otherwise, the blind rate PRI is not present.

Step 13, speed mutual-anisotropy screening:

the speed reciprocity means that a real target speed cannot be detected twice by the same PRI, and if the real target speed is detected twice by the same PRI, at least one of the two detected target speeds is a pseudo speed.

if the blind speed PRI does not exist, the condition that one speed is detected twice by the same PRI does not exist, and speed mutual-specificity screening is not needed; at which point the jump is executed in step 15.

if there is an element not belonging to B in A, it means that the speed of the m-th line does not satisfy the condition of speed reciprocity, the speed corresponding to the line is a pseudo speed, and needs to be removed, so step 14 is continuously executed;

if all the elements in A belong to B, the m-th line speed meets the speed reciprocity condition, and the speed is analyzed and judged in the subsequent cyclic recursion operation, so that the step 15 is executed by jumping.

the confidence of the mth row in V check is changed to 0 and the value of the mth row in V flag is changed to-1. The velocity corresponding to the velocity row is represented as a pseudo velocity.

And 15, repeating the steps 11 to 14 until all the M speed rows are traversed.

And step 16, after traversing all M speed lines, inquiring a speed authenticity flag bit matrix V _ flag to see whether a value of 0 exists in the matrix. If 0 is present, repeating steps 9 to 16; if no 0 exists, the loop recursion operation of this part is ended.

Step 17, after the cyclic recursion operation is finished, obtaining a V _ real matrix which is a target real speed matrix after the Doppler speed ambiguity is solved, wherein each row corresponds to a solved target real speed; the 1 st column is a speed value, the 2 nd column is a confidence level, and the 3 rd to 7 th columns are speed value serial numbers detected by the PRIs.

In this embodiment, the V _ real matrix obtained by multi-frequency multi-carrier frequency joint velocity ambiguity resolution is as follows:

first row, [550, 5, 1, 1, 1, 1, 1 ]; second row, [212, 4,3, 3, 0, 3, 3 ]; third row, [ -100, 3, 2, 2, 2, 0, 0 ]. It can be seen that the true velocities 550, 212, -100 of the 3 moving targets have been resolved; the three confidence degrees of the real speed are respectively 5,4 and 3, and the result shows the correctness and the feasibility of the method.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.

Claims

1. A method for resolving velocity ambiguity of a pulse Doppler radar is characterized by comprising the following steps: the method comprises the following steps:

step A: carrying out interval division on a speed estimation interval according to the radar parameter, the target apparent speed and a first threshold, and screening out a possible speed matrix V _ maybe; v _ maybe ═ V _ martix + V _ blind × blu _ mul, where V _ martix is the target apparent velocity obtained by the radar, V _ blind is the blur velocity, and blu _ mul is the blur multiple; the specific process is as follows:

step 1, obtaining a target apparent speed V _ martix:

step 2, calculating parameters V _ blind and blu _ mul required for solving the Doppler velocity ambiguity:

step 3, calculating a possible speed matrix V _ maybe:

and B: screening the possible speed matrix V _ maybe according to a second threshold to obtain a speed matrix V _ check to be judged to be true or false; the specific process is as follows:

and 4, rearranging and mapping the possible speed matrix V _ maybe:

rearranging the V _ maybe into a 2-dimensional matrix V _ reshape;

mapping the speed value meeting the speed estimation interval [ -V _ max, V _ max ] requirement in the V _ reshape to a speed estimation interval; recording the mapped speed matrix as V _ map;

storing the position of each element in the V _ map in the speed segment interval by using the V _ segment;

step 5, fusing a multi-PRI speed mapping table:

summing all lines in the V _ segment to obtain a V _ segment _ all; finding out that the element position which is greater than or equal to 3 in the V _ segment _ all is stored as a pos _ maybe matrix;

the following steps are a cyclic recursive operation, defining a parameter n: the initial value is 1, the value is a natural number from 1 to N, and the value is added by 1 after the step 7 is executed each time;

step 6, screening a speed matrix meeting the speed estimation interval:

searching the row number of the pos _ maybe [ n ] column element value >0 of the V _ segment, and recording as pri _ pos;

mapping the possible speed value meeting the speed estimation interval in the first pri _ pos of the V _ reshape to the speed estimation interval, and recording the mapped speed matrix as V _ yinshe;

finding out the position of V _ yinshe which is closest to pos _ maybe [ n ] value; storing the speed value of the position into a V _ lose _ check matrix; and storing the position of the speed in the original speed matrix V _ martix into V _ lose _ check _ pos;

forming a V _ match matrix by the speed meeting the speed estimation interval in the V _ lose _ check; counting the number of elements in the V _ match and recording as V _ zhi;

the maximum value and the minimum value in all elements of the V _ match matrix are differentiated, and the value of a second threshold deta is 2; if the difference is larger than the second threshold deta, skipping to execute the step 6; if the difference is smaller than the second threshold deta, skipping to execute the step 8;

storing the possible speed V _ match average value and the confidence coefficient V _ zhi into the kth row of V _ check, wherein k is initialized to 1, and adding 1 to 8 every time step is executed; ending the recursive loop of the segment until all columns in the pos _ maybe are traversed, otherwise, skipping to execute the step 6;

recording the number of rows of the V _ check obtained after the recursive cycle is completed as M rows, and recording the number of columns as 7 columns;

and C: carrying out speed mutual-difference screening on a speed matrix V _ check to be judged to be true or false, eliminating pseudo speeds and obtaining a target real speed matrix V _ real arranged from high to low according to the confidence level; the specific process is as follows:

the following steps are a cyclic recursive operation, defining a parameter m: the initial value is 1, the natural number from 1 to M is taken as the value, 1 is added after step 15 is executed each time, and the natural number is initialized to 1 after step 16 is executed each time;

step 9, taking out the speed row with the highest confidence coefficient:

taking out the speed row with the highest confidence level in the V _ check matrix, recording as V _ max _ zhi, and storing the row into the kth row of the V _ real matrix; k is initialized to 1, and 1 is added after step 9 is executed once;

step 10, calculating a velocity reciprocity discrimination matrix Judge matrix:

respectively subtracting each element of each row from the 3 rd row of the matrix of the V _ max _ zhi and V _ check matrixes to obtain a Judge matrix; creating a V _ flag matrix initialized to be all 0 rows and columns, wherein M rows and 1 columns are used as a speed authenticity flag bit matrix;

step 11, inquiring a Judge matrix and a V _ flag speed authenticity flag bit matrix;

when the m row element of the Judge matrix has a value of 0 and the m row element of the V _ flag matrix is 0, continuing to execute the step 12, otherwise, skipping to execute the step 15;

step 12, carrying out blind speed PRI judgment;

executing the following operation steps corresponding to the processing branches according to the judgment result of whether the blind speed PRI exists or not;

step 13, speed mutual-anisotropy screening:

step 13.1, blind speed does not exist, and speed mutual-anisotropy screening is not carried out: then, skipping to execute the step 15;

if there are elements in A that do not belong to B, continue to step 14; otherwise, skipping to execute the step 15;

step 14, changing the confidence coefficient of the speed matrix and the speed authenticity flag bit matrix;

step 15, repeating the steps 11 to 14 until all the M speed rows are traversed;

step 16, after traversing all M speed lines, inquiring whether a speed authenticity flag bit matrix V _ flag exists as 0; if 0 is present, repeating steps 9 to 16; if no 0 exists, the cyclic recursion operation of the part is ended;

2. A method of resolving velocity ambiguities for a pulse doppler radar according to claim 1, wherein: in the step A, according to V _ blind ═ f_rλ/2, wherein the pulse repetition frequency f_rCalculating the fuzzy speed V _ blind at the wavelength of 1/PRI and the wavelength of C/Fc;

calculating a fuzzy multiple blu _ mul according to a formula blu _ mul ═ ceil (V _ max/V _ blind); wherein ceil represents rounding up;

dividing the speed estimation interval according to a formula segment _ num-2 ceil (V _ max/V _ seg), and calculating a segment number segment _ num of the speed interval; wherein ceil represents rounding up, wherein V _ seg is an interval value for dividing a speed interval; v _ max is the absolute value of the maximum value of the speed estimation interval.