Digital Image Processing Techniques
Applied to the Radar Detection Problem
C. R. Guarino
International Business Machines Corporation
800 North Frederick Avenue
Gaithersburg, Maryland 20879
ABSTRACT
Digital image processing techmques are usually applied to two
dimensional data to improve visual dormation and to facilitate
automatic processing. Often the unprocessed image data is cor-
rupted by noise and other artifacts which can limit reliable
detection. Accordingly, filtering structures must be devised and
applied to the to increase the probability of dctcction. In the
radar target detection arena the data suffers from many of the
same distracting phenomena as in image processing. There is a
current trend in radar processing to regard the problem of target
detection and clutter suppression more as a problem of image
processing and image analysis. This is the point of view adapted
in this paper. The detection of echo rctums from a radar trans-
mitter is regarded as a one dimensional image processing
problem, where all the techniques available to thc image analyst,
with suitable modification. can also be applied.
The purpose of this paper is to investigate the utility of applying
several non-linear filtering structures that have been shown to be
useful in image processing to the radar detection problem.
Median filtering is a non-linear signal processing tcchnique that is
useful for noise suppression in images. In one-dimensional form
the median filter consists of a sliding window encompassing an
odd number of points. The center point in the window is
replaced by the median of the data points within the window. In
two dimensions, an NxN window is slid through the data record,
where the center data point is replaced by the median of the
remaining points in the odd dimensioned window.
In radar processing a window-like construct is often used to limit
the false alarm rate. CFAR (constant false alarm rate) is, like
median filtering, a sliding window that compares a central point
to surrounding reference points. In this paper a CFAR-like
window processing technique will be describcd. After describing
the form of this processing window and pointing out both the
similarities between it and conventional CFAR and median fil-
tering windows, performance result will be presented. Results
will be shown that clearly demonstrate the utility of this window
in suppressing clutter and main lobe sidelobe interference.
Section 1. Introduction
The radar detection process is often complicated by noise or
clutter, which can mask objects of interest. Many optimal
detector have been devised which perform well under the con-
straining conditions under which they were derived. The classic
matched filter is a representative of t h s class of optimal filters
whch can be shown to be the best h e a r unbiased estimator
when appropriate assumptions are made about the noise statistics
(Rcf. 1, 2, 3 ) .
Often the noise or interference that affects radar detection docs
not conform to mathematically tractable statistical assumptions.
The noise is rarely gaussian or stationary; two statistical realities
that greatly complicate mathematical analysis. One approach
that can be taken is to incorporate as much h o ~ k d g eas pos-
sible concerning the noise statistics into the derivation of the
optimal detector and essentially formulate a new filter structure
(Ref. 4). These filters can often lead to improved detection per-
formance. However they are typically much more complicated
to implement than a simple matched filter, and thcy requuc a
CH2998-3/91/0000-0702$01.000199lJEE
substantial amount of statistical knowledge about the noise
source.
The approach taken in this paper is shown in Figure 1. The
received waveform is fdtered by a fdter matched just to the trans-
mitted waveform. S o additional dormation concerning the
noise statistics is included in the filter structure. The output is
then passed through a n o n - h e a r fdter which operationally bears
a strong resemblance to a CFAR (Constant False Alarm Ratej
detector.
In the next section the structure of the Post Matched Filter
Processor (PXlFP) mill be explained. The PXlFP adaptability to
changing signal characteristics will be demonstrated. The last
section will present some simulation results obtained with several
signal types.
Filter Processor
Threshold
PC1-095
Figure 1 PROCESSING STRUCTURE
Section 2. Filter Description
Figure 2(a) shows the details of the post matched filter processor.
T h s structure is similar to conventional CFAR processors (Ref.
5 ) and to provide a proper foundation for what follows a brief
overview is given. In conventional CFAR the box identified as
Process Block A can take one of the following forms. If that
box provides simp12 averaging of the radar range cells then it is
referred to as a CA-CFAR (cell-- averaged constant false alarm
rate). If the maximum:minimum is chosen from the range cells
in the window surrounding the reference cell then it is referred to
as GO-CFAR or SO-CFAR (greatest of or smallest of constant
false alarm rate). There are additional variations possible and the
interested reader is encouraged to consult the cited references
(Ref. 5 , 6). (See Figure 2 for additional details.)
The OS-CFAR (order-statistic constant false alarm rate) block
diagram is shown in Figure 2(c). When interfering targets or a
clutter edge are in the reference windows the OS-CFXR suffers
significantly less than the CA-CFAR. In the CA-CFAR all the
background cells are averaged to get the threshold static. If the
interfering target is in the reference cell then it too will contribute
to the threshold and detection performance is reduced. By
ranking the values in the reference window-s and then summing
an interval of a quantities chosen to e h a t e the contribution
from the interfering targets the OS-CFAR has overcome this
problem.
Filtering techniques similar to CFXR are often used to filter
spcckle noise from coherent images. The received waveform is
modeled as:
(1) z = s . Li
where Z is the measurement, S is the radiometric value and U
reprcscnts the noise process.
The parameter Q is allowed to vary over the entire normalized
‘l’licrc are a plethora of fdtcring schemes that can be use to
frequency range between 0 and T .
rcniovc noise from the model postulated by equation (1). Refer-
cncc 7 lists and analyzes ten of the most generic fdters. AU of
Indicative results from this experiment are shown in Figure 3.
thcsc fdtcrs have demonstrated a certain ability to remove noise
Figure 3a shows the power spectrum density for a low pass
under particular conditions and several of them are s d a r to the
signal. This same signal was passed through the PMFP and the
GO-CF~IRif appropriate modifications are made to convert an spectrum is shown in Figure 3b. As can be seen, the funda-
intrinsically two- dimensional problem to a single dimension. mental frequency is passed as well as some spurious harmonies.
Figure 3c shows a narrowband signal located toward the center
of the frequency spectrum. Once again, Figure 3d shows the
I‘he filter postulated in the present paper is similar to the Lee spectrum of this signal after it has been filtered by the PMFP.
filter (Ref. 8), except that the noise is not Linearized and the esti- The fundamental frequency has been preserved. Similar results
mate of the noise statistic is best performed bl- ordered statistics. are shown in Figures 3e and 3f for a high pass signal.
With these changes in place the new reference range cell value is
jjvcn by
As can be seen from Figure 3 the PMFP ffiter can track a

n
-
z
narrowband signal through a wide range of frequencies. It
should be noted that the fdter is not an adaptive filter, so there is
(2) z= I$’ Quartile Reference Cells no settling time during which the filter coefficients adjust to the
new waveform.

where 2
is the middle cell value and N Quartile Reference is
A second series of tests was performed to determine the fdter’s
effect on pure noise input. For these experiments the gaussian
thc Mh quartilc from the sliding window. If N is set to 50%,
noise process and the exponential process were used. The
then thc median is selected from the reference window. Typi- gaussian process was chosen because it is often used as a model
cally, Iiowcver, for the data sources of interest in t h s study (i.e.
for thermal noise. The exponential process can be used to model
clutter], the 70% quartile has been more successful than the
u d o r m clutter. The gaussian distribution is given by
median valuc.

Relerence Re,erence Process Block Process Block

Wlndow Window
Delecled
where U, is the standard deviation.

The exponential distribution is given by

GO Max (Y,,Y,)
SO Mln (YA,Y,)

1
(b)
Mean-Level CFAR Processors

1 Operator 1 In both (4) and (5) n = 1 ... N .

-_
I‘ Process Block
A
Process Block
B
After making a series of .Monte Carlo runs the average energy
(a) out of the filter was compared with the average energy into the
Post Matched Filter Processor
K th Ordered filter. It was found for a gaussian distribution that
StaUstic

1
(4
PCIW

OS-CFAR
whde for the exponential distribution

Figure 2. ORDER-STATISTIC CONSTANT FALSE RATE

A onetime history slice from those runs is shown in Figure

(4a,b) for the gaussian distribution and in Figure (4c,d) for the
Section 3. Analysis of PMFP exponential distribution.

In general the environment under which a filter like PMFP is
cxpccted to enhance detection performance is difficult to charac-
tcriie statistically. No effort will be made in tlus paper to cover
the breadth of signal and clutter environmertts which might be
physically possible. Instead, performance will be demonstrated
for particular environments that the author believes are either
indicative of filter performance or represent common
signal/clutter environments.
’fhc fust analysis situation involves the PMFP ability to track a
dcsircd signal through a wide frequency extent. For this purpose
a pulsed sine wave given by
703
The last experiment entails combining several aspects of the pre-
vious experiments. For this test a narrowband signal was com-
bined with both gaussian and exponential noise. In addition
wideband interference was added. After matched filter detection,
the signal to random noise power was approximately 8 dB. The
signal to wideband interference ratio was approximately -18 dB.
After the detected output was filtered with the PMFP the respec-
tive SIN ratings were
S/N = 10 dB
SIN = 2.6 dB
 (a) Low Pass

(b) Mld Pass

80 120
40 SF29
-13
(c) High Pass lUlM0

Figure 3. FREQUENCY BAND ANALYSIS

As can be seen, the PMFP has substantially improved the pcr-
formance of the overall detection system. Figure (sa) shows the
output of the matched filter before PMFP processing. The
detected narrowband output is located at approximately position
500. Figure 5b shows the output after being filtered by PMFP.
As can be seen the target is clearly visible and the noise is greatly
suppressed.
The narrowband waveforms are located at approximately 550
and 57s. The results of filtering with P l l F P are shoivn in F i q r e
(6). As can easily be seen, the two \vaveforms are clearly \-isible.
.Also the noise and interference are greatly reduced. A similar
experiment placing the bvo u-ayeforms even closer together ( i . e .
w i t h 15 cells of each other and well within the reference
window) is shown in Figure (6e).

The last simulation experiment tests the ability of th.: PMFP to

distinguish between two closely spaced targets in a high clutter
environment. For this purpose two narrowband signals were
combined and the output from the matched filter before PMI'P
processing is shown in Figure 6(a).
704
 I I I I I I I , ,
200 400 600 800 1000 I 200 400 600 800 1000
QP QP
(a) Gaussian Input (b)Output from Filtedng

4
,
a
a
P

0
=L
0 2 400 600 800 1000 I 201
QP
(c) Exponential Input

Figure 4. TIME HISTORIES

D
Narrowband I

6
nq

0
0 200 400 600 800 1000
+loo0 +DO1
(a) Before Processing (b)After Processing

Figure 5. NARROWBAND SIGNAL A N D NOISE

705
 ,
(a) Before Filtering (b) Mer Fiitenrg

T"
x'
2

0
0 200 400 600 800 1MM
+loo0
(c) Fliter Output

Figure 6. CLOSELY SPACED OBJECTS

Section 4. Conclusions [4] Lu, N.H., Eisenstein, B. A. (1981)

Detection of weak signals in non-gaussian noise.
A new n o n - h e a r fdter structure has been presented which has lEEE Transaction on Information Theory, IT-21,
been shown, via simulation, to have many desirable character- 6 (Nov. 1981).
istics. It can track narrowband signals without having to esti-
mate filter coefficients. It can reduce the effects of both gaussian [SI Weiss, M. (1982)
and exponential noise. The fdter is also able to greatly improve Analysis of some modified cell-averaging CFAR processors
the appearance of a detected signal in wideband noise. T h s in
capability does not seem to be reduced when two narrowband multiple-target situations.
signals are very closely spaced. lEEE Transaction on Aerospace and Electronic Systems,
AES-IS, I (Jan. 1982).
REFEREKCES [6] AI-Hussaini, E. K., and Ibrahim, B.
[I] Spafford, L. (1968) Comparison of adaptive cell-averaging detectors for multiple
Optimum radar signal processing in clutter. target situations.
lEEE Transactions on Information Theory, IT- 14, Proceedings of the IEEE, 133, (Jun. 1986).
5 (Sep. 1968)
171 Durand, J., Gimowet, B., and Perbos, J. (1987)
121 Urkowitz, H. (1973) SAR data fdtering for classification.
Filters for detection of small signals in clutter IEEE Transaction on Geoscience and Remote Sensing,
J . Appl. Physics, 24 (Aug. 1973) GE-25, 5 (Sep. 1987)

[3] Rihaczek, A. W. (1965) [SI Lim, J. S. and Yawab, H. (1980)

Optimum fdters for signal detection in cluttcr. Techmques for speckle noise removal.
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