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Modern Radar System

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M
O
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R
A
Pulse Radar
D
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MTI Radar
S
Y Lecture # 15-17
S
T
E Dr Sanjeev Kumar Mishra
M

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M
O Introduction
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PRT Carrier Freq.

A
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PW PRT=1/PRF

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M
O
Pulse Effects on System Performance
D
E Pulse Shape
R Pulse Width
N
• Determines the range resolution.
R
A
• Determines the minimum detection range.
D
• Can also determine the maximum range of radar.
A
R • The narrower the pulse, the better the range resolution.
S
Pulse Compression
Y • Increases frequency of the wave within the pulse.
S
T • Allows for good range resolution while packing enough power to
E
M provide a large maximum range.

D Pulse Power
E
S • High peak power is desirable to achieve maximum ranges.
I
G
• Low power means smaller and more compact radar units and less
N power required to operate.
M
O Pulsed Radar Parameters
D
E
R
N

R
A
D
A
R

S
Y • Pulsed radar waveforms can be completely defined by the following:
S
T • (1) carrier frequency which may vary depending on the design
E
M requirements and radar mission.

D • (2) pulse width, which is closely related to the bandwidth and

E
S defines the range resolution;
I
G
• (3) modulation; and
N • (4) the pulse repetition frequency
M
O Pulsed Radar Parameters
D
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O Pulsed Radar Parameters
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M
O Types of Pulse Radar in terms of PRF
D
E • The PRF must be chosen to avoid Doppler and range ambiguities as
R
N well as maximize the average transmitted power.
R • Radar systems employ
A
D • Low PRF,
A
R • Medium PRF, and

S • high PRF schemes.

Y
S
• Low PRF waveforms can provide
T • accurate, long, and unambiguous range measurements,
E
M • but exert severe Doppler ambiguities.
D
E
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I
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N
M
O
D
E
• Medium PRF waveforms must resolve
R
• both range and Doppler ambiguities;
N
• however, they provide adequate average transmitted power
R
A as compared to low PRFs.
D
A • High PRF waveforms can provide
R
• superior average transmitted power and
S
Y • excellent clutter rejection capabilities.
S
T • Alternatively, high PRF waveforms are extremely ambiguous
E
M
in range.
• Radar systems utilizing high PRFs are often called Pulsed
D
E Doppler Radars (PDR).
S
I
G Note: Distinction of a certain PRF as low, medium, or high PRF is almost
N
arbitrary and depends on the radar mode of operations.
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O PRF Ambiguities
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M
O Introduction
D
E
• The purpose of moving-target indication (MTI) radar is to reject
R
signals from fixed or slow-moving unwanted targets, such as
N
buildings, hills, trees, sea, and rain, and retain for detection or display
R
A signals from moving targets such as aircraft.
D
A
R

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N
Simplified Block diagram of a MTI system
M
O
D
E
• Moving target indication (MTI) is a mode of operation of a radar to
R
discriminate a target against clutter.
N
• The MTI radar uses Low Pulse Repetition Frequency (PRF) to avoid
R
A range ambiguities.
D
A • Radar MTI may be specialized in terms of the type of clutter and
R
environment:
S
Y • Airborne MTI (AMTI),
S
T • Ground MTI (GMTI), etc., or
E
M
• may be combined mode: stationary and moving target
indication (SMTI).
D
E NOTE: The phase of each transmit pulse is different from the previous and
S
I future transmit pulses. This phenomenon is called phase jitter. Ex: High
G
N power microwave devices, like crossed-field amplifier, are not phase-stable.
M
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Vt
D
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I
G Vr Vdiff
N
M
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N

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A
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Vt
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Y
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E
S
Vr Vdiff
I
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N
M
O
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E
 4f t R0 
R Vdiff  Ad sin 2f d t 
N  c 
R
A • For the stationary targets the doppler frequency shift will be zero,
D
A hence Vdiff will not vary with time and may take on any constant value
R
from +Ad to –Ad including zero.
S
Y
• However, when the target is in motion relative to the radar fd has a
S value other than zero and the voltage corresponding to the difference
T
E frequency from the mixer will be a function of time.
M

D
E • To separate Doppler shifted echo signals of moving targets from the
S
I unwanted echoes of stationary clutter, sweep to sweep subtraction
G
N and delay line canceller is used.
M
O
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Y (a) echo pulse train;
S
T
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M

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G
N (b) video pulse train for doppler frequency fd > l/;
M
O
D
E
 4f t R0 
R Vdiff  Ad sin 2f d t 
N  c 
R
A
D
A
R
Vt
S
Y
S
T
E
M

D
E
S
Vr Vdiff
I
G
N
 • Moving targets distinguished from stationary targets by
M
O observing the video output on an A-scope (amplitude vs. time).
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I (a-e) Successive sweeps of an MTI radar A-scope display (echo
G
N
amplitude as a function of time); (f) superposition of many sweeps;
arrows indicate position of moving targets
M
O
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N

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Y
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Bipolar video: several sweep
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O
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R Vt
A
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A
R Vr
S
Y
S
T
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M

D
E
S • The simple MTI delay-line canceler
I  4f t R0  V
Ad sin 2f d t    diff is used to reject stationary clutter at
G  c 
N
zero frequency.
M
O
D
E
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N

R
A
D
A
Superposition of many sweeps; arrows indicate position of moving targets
R

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Y
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Effect of delay line canceller on the signal
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M
O Delay Line Canceler
D
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N

R
A
D
A MTI Receiver delay line canceler
R
• The simple MTI delay-line canceler is an example of a time-domain filter.
S
Y • DLC acts as a HPF to separate Doppler shifted echo signals of moving
S
T targets from the unwanted echoes of stationary clutter.
E • The capability of this device depends on the quality of the medium used as
M
the delay line.
D
E • The Pulse modulator delay line must introduce a time delay equal to the
S pulse repetition interval.
I
G • For typical ground-based air-surveillance radars this might be several
N
milliseconds.
M
O
D
E • Delay times of this magnitude can not be achieved with practical
R
N electromagnetic transmission lines.
• The use of digital delay lines requires that the output of the MTI receiver
R
A phase-detector be quantized into a sequence of digital words.
D
A • The compactness and convenience of digital processing allows the
R implementation of more complex delay-line cancelers with filter
S characteristics not practical with analog methods.
Y
S • One of the advantages of a time-domain delay-line canceler as compared to
T
the more conventional frequency-domain filter is that a single network
E
M operates at all ranges and does not require a separate filter for each range

D resolution cell.
E
• Frequency-domain doppler filter banks are of interest in some forms of MTI
S
I and pulse-doppler radar.
G
N
M
O
D
E
• The delay-line canceler acts as a filter which rejects the d-c
R
component of clutter. Because of its periodic nature, the filter also
N
rejects energy in the vicinity of the pulse repetition frequency and its
R
A harmonics.
D
A • The video signal received from a particular target at a range R0 is
R
V1  k sin 2f d t  0 
S
Y Where 0 = phase shift and k = amplitude of video signal.
S
T
• The signal from the previous transmission, which is delayed by a time
E T = pulse repetition interval, is V  k sin2f t  T    
M 2 d 0

D • The output of the subtractor is

E   T 
S V1  V2  2k sin f d T cos 2f d  t    0 
I   2 
G
N
M
O
D
E
• The output from the DLC consists of a cosine wave with the doppler
R
frequency fd as the input but with an amplitude 2k sin (fdT).
N
• Thus, the amplitude of the cancelled video output is a function of the
R
A doppler frequency shift and the pulse-repetition interval, or prf.
D
A • The magnitude of the relative frequency-response of the delay-line
R
2k sin f d T 
S
canceler H f   2 sin f d T 
k
Y
S
T
E
M

D
E
S
I
G
N
Frequency response of the single delay-line canceler; T = delay time
M
O
D
E • Properties of DLC
R
N • The frequency response function has zero response when
R moving targets have doppler frequencies at the prf and its
A
D harmonics.
A
R • The clutter spectrum at zero frequency is not a delta function of

S zero width but has a finite width so that clutter will appear in the
Y
S
pass band of the DLC.
T
E
M

D
E
S
I
G
N
M
O Blind Speed
D
E • The response of the single-delay-line canceler will be zero whenever
R
N the argument fdT in the amplitude factor is 0, which occurs when

R when fdT = 0,  , 2 ...

A
D H  f   2 sin f d T   0  sin f d T   0
A
 sin f d T   sin  n  n  0,1,2,3....  f d  n
R
 f d  nf r
S T
Y
S • The delay-line canceler a not only eliminates the d-c component
T
E caused by clutter (n = 0), but unfortunately it also rejects any moving
M
target whose Doppler frequency happens to be the same as the prf or
D
a multiple thereof.
E
S • Those relative target velocities which result in zero MTI response are
I
G called blind speed. nf r n
N  vn   n  1,2,3...  f  2vr
2 2T d

M
O
D
E nf r • Where, vn is the nth blind speed in knot
R  vn   nf r
N 1.02
 operating wavelength in m
R fr is prf in Hz
A
D
A
R

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Y
S
T
E
M

D
E
S
I
G
N
Plot of MTI radar first blind speed as a function of R un
M
O Limitation in MTI Radar
D
E • The blind speeds are one of the limitations of pulse MTI radar which
R
N do not occur with CW radar.

R • Blind speed can be a serious limitation in MTI radar since they cause
A
D
some desired moving targets to be cancelled along with the
A undesired clutter at zero frequency.
R
nf r n
S  vn   n  1,2,3...
Y 2 2T
S
T • Based on the equation, there are four methods for reducing the
E
M detrimental effects of blind speeds.

D • Operate the radar at lower frequencies [or long wavelengths]

E
• Operate with a high prf
S
I • Operate with more than one prf [known as staggered-prf]
G
N • Operate wit more than one RF frequency [or wavelength]
M
O
D
E
R
N

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A
D
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Y
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D
E
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N

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Y
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T
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D
E
S
I
G Frequency-response of a single-delay-line canceler for f, = 1/T,; (b)
N
same for fr = l/T2; (c) composite response with T1/T2 =4/3.
M
O
D
E
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N

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A
D
A
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M
O Clutter Spectrum
D
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N

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Y
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E
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I
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M
O N Pulse Delay line Canceler
D
E • The frequency response of a single-delay-line canceler does not always have
R
as broad a clutter-rejection null as might be desired in the vicinity of d-c.
N
• The clutter-rejection notches may be widened by passing the output of the
R
A delay-line canceler through a second delay-line canceler as shown in Fig.
D
A
R

S
Y
S
T Double-delay-line canceler
E sout (t )  s(t )  2s (t  T )  s (t  2T )
M • The output of the adder

D
E
S
I
G
N
Three pulse canceler
M
O
D
E • The output of the two single-delay line canceler in cascade is the square of
R
H  f DDLC  H  f SDLC   4 sin 2 f d T 
2
that from a single canceler.
N
• The double delay line canceler and three pulse canceller are same
R
A frequency response function
D
A
• The weights of double delay line canceler or three pulse canceller are +1, -2,
R +1.  sout (t )  s (t )  2 s (t  T )  s (t  2T )
S
Y
S
T
E
M

D
E
S
I
G
N
M
O
D
E • Similarly, the weights of four pulse canceler are +1, -3, +3, -1 and
R
N frequency response proportional to sin3fdT.
R • The weights of five pulse canceler are +1, -4, +6, -4, +1 and
A
D frequency response proportional to sin4fdT.
A
R • If n is the number of delay lines, there are n+1 = N pulses available to

S
produce a frequency response function proportional to sinnfdT when
Y
the weights are the coefficients of the expansion of binomial series (1-
S
T x)n with alternating signs.
E
M n!
wi   1
i 1
i  1,2,3..., n  1
D n  i  1!i  1!
E
S • The greater the value of N, the greater will be the clutter attenuation.
I
Note: N is no of pulses, n is no of delay lines
G
N
M
O
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D General form of a transversal (or nonrecursive) filter for MTI signal processing.
E
S This is known as trarnsversal filter. [also sometimes known as a feed
I
G forward filter, a nonrecursive filter, a finite memory filter or a tapped delay-
N
line filter.]
M
O
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M
Canonical-configuration comb filter
D
E
S
I
G
N
M
O
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S Amplitude responses for three MTI delay-line cancelers.
I
G (1) Classical three-pulse canceler (2) five-pulse delay-line canceler with
N
"optimum" weights, and (3) 15-pulse Chebyshev design
M
O Clutter Spectrum and Clutter Attenuation
D
E • Although clutter targets such as buildings, water towers, bare hills. or
R
N mountains produce echo signals that are constant in both phase and

R amplitude as a function of time, there are many types of clutter that

A
D
cannot be considered as absolutely stationary.
A • Echoes from trees, vegetation, sea, rain, and chaff fluctuate with time,
R
and these fluctuations can limit the performance of MTI radar.
S
Y • Because of its varied nature, it is difficult to describe precisely the
S
T clutter echo signal.
E
M • The experimentally measured power spectra of clutter signals rnay be

D approximated by
E
S
I
G
N
 Where, W (f) = clutter-power spectrum as a function of frequency
M
O g (f) = Fourier transform of input waveform (clutter echo)
D
E f0 = radar carrier frequency
R
N a = a parameter dependent upon clutter
R
A
Power spectra of various
D
A clutter targets.
R
(1) Heavily wooded hills,
S
20 mi/h wind blowing (a
Y
S = 2.3 x 1017; (2) sparsely
T
E wooded hills, calm day
M
(a = 3.9  1019); (3) sea
D echo, windy day (a =
E
S 1.41x1016), (4) rain
I
G clouds ( a = 2.8 x 1015);
N
M
O
D
E • The clutter spectrum can also be expressed in terms of an rms clutter
R
N frequency spread c in hertz or by the rms velocity spread v, in m/s.

R Thus,
A
D
A
R

S
Y
S
T
E
M
For a single-delay-line canceler, the clutter attenuation is

D
E
S
I
G
N
M
O
D
E The improvement factor can be written as
R
N

R
A
D
A where S0/C0, output signal-to-clutter ratio,
R
Si/Ci input signal-to-clutter ratio, and
S
Y CA = clutter attenuation.
S
T The average is taken over all target doppler frequencies of interest.
E
M The clutter attenuation is
D
E
S
I
G
N Where, H (f) is the frequency response function of the canceler
M
O
D
E
R
N

R
A
D
A
R
ex = xn / n! = 1 + x/1 + x2 / 2 + x3 / 6 + ...
S
Y
S
T
E
M Where, fp is the pulse repetition frequency = 1/T.

D The average gain (S0/Si)avg of the single delay-line canceler can be equal
E
S to 2. Therefore. The Improvement factor is
I
G
N
M
O
D
E
R
Find the improvement factor for a double delay line canceler, whose
N average gain is 6.
R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I
G
N
M
O
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I
G
N
M
O
D
E
• The transmitter shown employs a magnetron because a magnetron is
R
a pulsed oscillator that has no phase coherence between consecutive
N
pulses, a phase reference must be established for each transmitted
R
A pulse.
D
A • This is done by taking a sample of the transmitted pulse at a
R
directional coupler, mixing this pulse with the stalo (stabilized local
S
Y oscillator) and then using this pulse to phase-lock the coho (coherent
S
T oscillator).
E
M
• The coho then becomes the reference oscillator for the received
signals.
D
E • The lock-pulse amplifier is gated off just before the end of the
S
I transmitted pulse because a magnetron emits a certain amount of
G
N noise during the fall of the high-voltage pulse applied to it, and this
M
O
D
E • The received signals are mixed with the stalo and amplified in a
R
N linear-limiting amplifier.
R • The received signals are then compared in phase with the coho in a
A
D phase detector.
A
R • The output of the phase detector is a function of the relative phase of

S the signal and the coho, and it is also a function of the amplitude of
Y
the signal.
S
T • At the output of the phase detector, the signal phase and amplitude
E
M information has been converted into bipolar video.
D • If the point target is moving and if there is also a moving target in the
E
S region of strong clutter return, the superimposed bipolar video from
I
G several transmitted pulses may appear as in Figure
N
M
O
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I
G
N
Bipolar video: several sweep
M
O
D
E • The output of the subtracter is a digital bipolar signal that contains
R
N moving targets, system noise, and a small amount of clutter residue if
R clutter cancellation is not perfect.
A
D • The absolute value of the signal is then converted to analog video in
A
R a digital-to-analog (D/A) converter for display on a PPI.

S • The digital signal may also be sent to automatic target detection

Y
circuitry.
S
T • The dynamic range (peak signal to rms noise) is limited to about 20
E
M dB for a PPI display.
D
E
S
I
G
N
M
O
Non-Coherent MTI
D
E
R
N

R
A
D
A
R

S
Y
S Non-Coherent MTI
T
E
M

D
E
S
I
G
N
M
O
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I
G
N
M
O
Coherent Pulsed MTI
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I
G Pulsed Coherent
N
MTI Search Radar
M
O
D
E • The detection of moving targets are improved by suppression of fixed
R
N targets.

R • This is expanded to incorporate Doppler processing as one possible

A
D
form of MTI implementation
A • is deified as one uses simple band reject to reject the return from
R
fixed targets Enhanced detection of the moving target
S
Y • Doppler filter
S
T • A relative narrow bandwidth clutter is rejected.
E
M • A broad passband (unknown Doppler shift)

D • Post-Doppler processing stage  Non-coherent integration

E
S • Rejection notches in the passband should be placed in frequency
I
G
about the response that are to be rejected and should be as wide
N as required to achieve the desired clutter cancellation.
M
O
D
E • Non-coherent Pulsed Radar
R
N • No reference signal

R • Coherent Pulsed Radar

A
D
• TX phase is reserved
A • MTI Radar
R
• detection of moving target by suppressing fixed targets
S
Y
S
T
E
M

D
E
S
I
G
N
M
O Non-Coherent Pulsed Radar
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I
G
N
M
O Coherent Pulsed Radar
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I Simplified block diagram of
G
N Coherent Pulsed Radar
M
O
D
E
R
1. M.I. Skolnik, Introduction to Radar Systems, McGraw hill, 2000.
N 2. M.I. Skolnik, Radar Handbook, McGraw hill, 2nd edition, 1990.
R 3. A.K. Sen and A.B. Battacharya, Radar Systems andRadar Aids to
A
D Naviation, Khanna Publications, 1988.
A
R

S
Y
S
T
E
M

D
E
S
I
G
N
M
O
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I
G
N
 View publication stats

M
O
Coherent Pulsed MTI
D
E
R
N

R
A
D
A
R

S
Y
S
T
E
M

D
E
S
I
G Pulsed Coherent
N
MTI Search Radar