Basic Radar Tracking

Description

Basic Radar Tracking Contents Preface Acknowledgments Chapter 1 Tracking Basics 1.1 Introduction 1.2 Tracker Types 1.3 Book Outline References Chapter 2 Control Theory Review 2.1 Introduction 2.2 Continuous Time Systems 2.2.1 System Type and Steady State Error 2.2.2 Root Locus and Transient Behavior 2.2.2.1 Example 1 2.2.2.2 Example 2 2.2.2.3 Example 3 2.2.2.4 Example 4 2.3 Discrete Time Servos 2.3.1 System Type and Steady State Error 2.3.2 Root Locus and Transient Behavior 2.4 Modeling Closed Loop Servos 2.4.1 Analog Servo Modeling 2.4.1.1 State Variable Method 2.4.1.2 z-Transform Method 2.4.1.3 Simulation Examples 2.4.1.3.1 State Variable Approach 2.4.1.3.2 z-Transform Approach 2.4.1.3.3 Determining the Open Loop Parameters 2.4.1.3.3.1 A Specific Case 2.4.1.3.3.2 Example Plots 2.4.2 Digital Servo Modeling 2.4.2.1 Deriving the z-Transfer Function from a State Variable Representation 2.5 Exercises References Chapter 3 Track Filters 3.1 Introduction 3.2 Kalman, α-(, and α-(-( Track Filters 3.2.1 Background 3.3 The Prediction Equation 3.3.1 Closed Loop Tracker Structure 3.3.2 Filter Stability and Variance Reduction 3.3.2.1 Stability Triangle 3.3.2.2 Variance Ratio 3.3.2.3 Noise Bandwidth and Variance Ratio 3.4 Benedict-Bordner Method for α-( Filter Design 3.5 Polge-Bhagavan Method for α-(-( Filter Design 3.6 CALCULATION OF α FOR THE BENEDICT-BORDNER AND POLGE-BHAGAVAN FILTERS 3.7 Responses of the Optimal α-b and α-b-y Filters 3.8 Control Theory Approach 3.8.1 Type 1 Servo 3.8.2 α-( Tracker 3.8.3 α-(-( Tracker 3.8.3.1 Critically Damped Case 3.8.3.2 Type 3 Servo with Equal Open Loop Zeros 3.9 Linear Kalman Filter 3.10 Example 3.11 Exercises APPENDIX 3A: Stability Triangle and Variance Ratio 3A.1 Stability Triangle 3A.2 Stability Triangle—(-( Tracker 3A.3 Stability Triangle—(-(-( Tracker 3A.4 Variance Ratio APPENDIX 3B: Derivation of (3.60)—Benedict and Bordner α-( Relation Chapter 4 Closed Loop Range Tracking 4.1 Introduction 4.2 Sampling Gate Range Discriminator 4.2.1 LFM Pulse 4.2.2 Other Waveforms 4.3 Summing Gate Range Discriminator 4.3.1 Unmodulated Pulse 4.3.2 LFM Pulse 4.3.3 Barker Coded Pulse 4.3.4 Digital Matched Filter Implications 4.4 Direct Range Measurement 4.5 Range Tracker Modeling 4.5.1 Signal Model 4.5.2 Noise Model 4.5.2.1 Generating Correlated Noise Samples 4.5.3 Scaling the Signal and Noise 4.5.4 Signal and Noise Generation Algorithm 4.6 Signal Processor Considerations 4.7 Examples 4.7.1 Example 1: Sampling Gate Discriminator and - Filter 4.7.2 Example 2: Summing Gate Discriminator and - Filter 4.7.3 Example 3: Direct Range Measurement and -- Filter 4.8 Functional Level Error Model 4.9 Exercises References Appendix 4A: Derivation of ve when q < ½ and q(p < |((| < (1(q)(p Chapter 5 Closed Loop Angle Tracking 5.1 Introduction 5.1.1 Chapter Outline 5.2 Types of Monopulse Sensing 5.3 Phase Comparison Monopulse 5.4 Amplitude Comparison Monopulse 5.5 Monopulse Combiners 5.5.1 Magic Tee 5.5.2 Rat Race 5.5.3 3-dB Coupler 5.6 Monopulse Receivers 5.6.1 Three-Channel Monopulse Receiver 5.6.2 Two-Channel Monopulse Receiver 5.6.2.1 Continuous Multiplexing 5.6.3 Simultaneous Multiple Beams/Digital Beam Forming 5.7 Conical Scan 5.8 Monopulse Processors 5.8.1 Exact Processor 5.8.1.1 Constrained Feed Array 5.8.1.2 Space-Fed Array 5.8.2 Modified Exact Processor 5.8.3 Log-Based Processor 5.9 Example 1: Angle Tracker with Different Monopulse Processors 5.10 Example 2: Combined Angle and Range Tracker 5.11 Functional Level Error Model 5.12 Exercises References Chapter 6 Closed Loop Doppler Tracking 6.1 Introduction 6.2 CW Doppler Discriminator 6.3 Pulsed Doppler Discriminator 6.4 Direct Doppler Measurement 6.5 Doppler Tracking in Low PRF Pulsed Radars 6.6 Example 1: CW Doppler Tracker 6.7 Example 2: Low PRF tracker 6.8 Functional Level Error Model 6.9 Exercises References APPENDIX 6A: Derivation of the Correlation Coefficient of the BPF Outputs Chapter 7 Simulation Examples 7.1 Introduction 7.2 RCS Fluctuation 7.2.1 Example 1 7.3 Dual Target Tracking 7.3.1 Background 7.3.2 Example 2: Ideal Angle Tracker—Demonstration of Dichotomous Tracking 7.3.3 Example 3: A Variation on Example 2 7.3.4 Example 4: Example 3 with a Realistic Antenna 7.4 Crossing Target Examples 7.4.1 Example 5: Equal Doppler Frequencies and Target Sizes 7.4.2 Example 6: Different Doppler Frequencies and Target Sizes 7.4.3 Example 7: A Different Geometry—Collinear Target Trajectories 7.5 Crossing Target Examples—Fluctuating Target RCS 7.5.1 Example 8: Same Set Up as Example 5 with Fluctuating RCSs 7.5.2 Example 9: Same Set Up as Example 7 with Fluctuating RCSs 7.6 Multipath Examples 7.6.1 Specular Multipath Modeling 7.6.2 Target Model for Multipath 7.6.3 Example 10: Tracking in the Presence of Specular Multipath 7.7 Exercises References Chapter 8 Acquisition and Track Initiation 8.1 Introduction 8.2 Background 8.2.1 Acquisition Volume Design 8.2.2 Acquisition and Track Initiation Process 8.2.2.1 Search Acquisition Volume 8.2.2.2 Process Detection Table 8.2.2.3 Verify and Track Initiation References Acronyms and Abbreviations Variables About the Authors Index