RT-CH 4 - MTI and Pulse Doppler Radar

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Chapter 4
4. MTI and Pulse Doppler Radar

4.1 Moving Target Indicator Radar
MTI Radar, Detection of moving target by suppressing fixed targets, the block diagram of a more
common MTI radar employing a power amplifier is shown figure below. The significant
difference between this MTI configuration and that Figure is the manner in which the reference
signal is generated. As shown in figure below, the coherent reference is supplied by at oscillator
called the Coho, which stands for coherent oscillator. The Coho is a stable oscillator whose
frequency is the same as the intermediate frequency used in the receiver. In addition to providing
the reference signal the output of the Coho. is also mixed with the local-oscillator frequency. The
local oscillator- must be a stable oscillator and is called STALO. The RF echo signal is
heterodyned with the STALO signal to produce the IF frequency just as in the super heterodyne
receiver.
They serve in both the receiver and the transmitter mode. The characteristic feature of coherent
MTI radar is that the transmitted signal must be coherent (in phase) with the reference signal in
the receiver. This is accomplished in the radar system diagramed in Figure below.
Figure: MTI block diagram

By generating the transmitted signal from rile Coho reference signal. The function of the STALO
is to provide the necessary frequency translation from the IF to the transmitted frequency.
Although the phase of the STALO influences the phase of the transmitted signal, any STALO
phase shift is canceled on reception because the STALO that generates the transmitted signal
also acts as the local oscillator in the receiver. The reference signal from the STALO and the IF
echo signal are both fed into a mixer called the phase detector. The phase detector differs from
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the normal amplitude detector since its output is proportional to the phase difference between
the two input signals. Because a reference signal cannot be generated by a continuously running
oscillator. Coherent reference signal can be obtained by readjusting the phase of the COHO at
the beginning of each sweep.
In MTI Basic Principle, Measures changes in Phase of the return signal. Identifies targets in
motion ONLY! Phase Comparator, Samples Transmit and Return signal. Compares Phase. i.e.
In phase = Largest positive value and Out of Phase = Largest negative value.
Figure: MTI signal displaying Technique.

In MTI radar the PRF is chosen so that there are no range ambiguities, but there are usually many
Doppler ambiguities, or blind speeds. The convenience of digital processing meant that multiple
delay-line cancelers with tailored frequency-response can be obtained.
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Figure: Digital MTI Signal Processor

A simple block diagram of a digital MTI processor is shown in Figure above. From the output
of the IF amplifier the signal is split into two channels. One is denoted I, for in-phase channel.
The other is denoted Q, for quadrature channel, since a 90” phase change (π/2 radians) is
introduced into the Coho reference signal at the phase detector. One of the purpose of the
quadrature channel is to eliminate the blind speeds.
Advantages of MTI
1. No range ambiguities.
2. MTI radar distinguishes between moving targets and stationary targets.
Disadvantages of MTI
1. In MTI radar the PRF is chosen so that there are no range ambiguities, but there are
usually many Doppler ambiguities, or blind speeds.
2. Blind speeds are the limitations of the MTI
4.2 Delay line and Cancellers
Two Techniques are available for realizing MTI filter
1. Delay Line Canceller
2. Range Gate and Filter
Figure: Simple MTI Delay Line Canceller
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The delay-line canceler, which can be considered as a time-domain filter, has been widely used
in MTI radar as the means for separating moving target from stationary clutter. if the signal is
received from a stationary target, the output of the phase detector is constant at every period,
while signal is received from a moving target, the amplitude of the output changes at each period.
i.e. Delay line circuit saves previous phase evaluation. Cancellation circuit subtracts previous
phase from current phase. Return from Stationary targets will have same phase comparison and
be cancelled out. Return from Moving targets will have different phase comparison and will be
retained / displayed.
Accordingly, subtracting one signal from the next signal results in signals only from moving
targets. The canceller circuit performs this operation. Having only one canceller system is called
a single canceller.
Figure: Effect of delay line canceller on the signal

The use of digital delay lines requires that the output of the MTI receiver phase-detector be
quantized into a sequence of digital words. The compactness and convenience of digital
processing allows the implementation of more complex delay-line cancellers with filter
characteristics not practical with analog met holds. One of the advantages of a time-domain
delay-line canceller as compared to the more conventional frequency-domain filter is that a
single network operates at all ranges and does not require a separate filter for each range
resolution cell.
The canceller compares (subtracts) the coherent video with the one-period delayed coherent
video and extracts only the signals having different amplitude and/ or polarity for MTI video.
The system diagram is shown in figure below.
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Figure: Digital Delay line canceller system diagram

The operation theory, Though MTI video (COHO video A, as shown figure below) has both
polarities, it is converted into a single polarity signal in actual use.
Figure: Effect of Digital Time domain delay line canceler diagram

Calculation of magnitude of Target received by MTI canceller;
1. 𝑚1 − 𝑚2 = 𝑚1 − (−𝑚2 ) = 𝑚1 + (𝑚2 ) and Result is +Ve.
2. 𝑚2 − 𝑚3 = −𝑚2 − (−𝑚3 ) = 𝑚3 − 𝑚2 and Result is -Ve.
Frequency-domain doppler filter banks are of interest in some forms of MTI and pulse-doppler
radar.
Advantages of Delay Line Cancellers
1. One of the advantages of a time-domain delay-line canceller as compared to the more
conventional frequency-domain filter is that a single network operates at all ranges and does
not require a separate filter for each range resolution cell.
4.3 Staggered Pulse Repetition Frequency
The use of more than one pulse repetition frequency offers additional flexibility in the design of
MTI Doppler filters. It not only reduces the effect of the blind speeds, but it also allows a sharper
low- frequency cutoff in the frequency response than might be obtained with a cascade of single-
delay-line cancelers with signal T response.
Blind speeds are regions of Doppler space where targets with those Doppler velocities cannot be
detected. These blind speeds of two independent radars operating at the same frequency will be
different if their pulse repetition frequencies are different. Therefore, if one radar were " blind "
to moving targets, it would be unlikely that the other radar would be " blind" also. Instead of
using two separate radars, the same result can be obtained with one radar which time-shares its
pulse repetition frequency between two or more different values (multiple PRF). The pulse
repetition frequency might be switched every other scan or every time the antenna is scanned a
half beam width, or the period might be alternated on every other pulse. When the switching is
pulse to pulse, it is known as a staggered PRF.
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An example of the composite (average) response of an MTI radar operating with two separate
pulse repetition frequencies on a time-shared basis is shown in Figure below.
Figure: Staggered PRF

Repetition frequencies are in the ratio of 5: 4. Note that the first blind speed of the composite
response is increased several times over what it would be for a radar operating on only a single
pulse repetition frequency. (i.e. Using multiple PRFs allows targets, whose radial velocity
corresponds to the blind speed at 1 PRF, to be detected at another PRF).
PRFs may be changed from scan to scan, dwell to dwell, or from pulse to pulse (Staggered PRFs)
and it can be seen that using staggered PRF, zero response occurs only when the blind speeds of
each PRF coincide. (Note: 4 PRF1 = 5 PRF2)
4.4 Range gated Doppler Filter
The delay-line canceler, which can be considered as a time-domain filter, has been widely used
in MTI radar as the means for separating moving target from stationary clutter.
It is also possible to employ the more usual frequency-domain bandpass filters of conventional
design in MTI radar to sort the Doppler-frequency-shifted targets, the filter configuration must
be more complex, however, than the single, narrow-bandpass filter. A narrow filter with
passband designed to pass the Doppler frequency components of moving targets will “ring" when
excited by the usual short radar pulse. That is, its passband is much narrower than the input. The
narrow band filter “smears/spreads" the input pulse since the impulse response is approximately
the reciprocal of the filter bandwidth. This smearing destroys the target resolution. If more than
one target is present they cannot be resolved. Even if only one target were the noise from the
other range cells that do not contain the target will interfere with the desired target signal.
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The loss of the range information and the collapsing loss may be eliminated by first quantizing
the range (time) into small intervals. This process is called range gating the width of the range
gates depends upon the range accuracy desired and the complexity which can be tolerated, but
they are usually of the order of the pulse width. Range resolution is established by gating. Once
the radar return is quantized into range intervals, the output from each gate may be applied to a
narrowband filter since the pulse shape need no longer be preserved for range resolution. A
collapsing loss does not take place since from the other range intervals is excluded. (i.e. Does
not pass the entire received pulse of frequency, but only the central component)
Figure: Typical pulse train and range gates.
Figure: Data Collection for MTI Processing

A block diagram of the video of an MTI radar with multiple range gates followed by clutter
rejection filters. The output of the phase detector (I or Q) is provided as input to N sample and
Hold circuit and each Sample and Hold circuit receives sampled gate which is sampled
sequentially by the range gates. Each range gates opens in sequence just of the long enough to
sample the voltage of the video wave from corresponding to a different range interval in space.
The range gate acts as a gate which opens and closes at the proper time. The range gates are
activated once each pulse repetition interval.
The output for a series of pulse which vary in amplitude according to the Doppler frequency.
The output range gates are stretched in a circuit called sample and hold circuit, whose purpose
is to aid in the filtering and detection process by emphasizing the fundamental of the modulation
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frequency and eliminating harmonics of the pulse repetition frequency. The clutter rejection filter
is a bandpass filter whose bandwidth depends upon the expected clutter spectrum.
Figure: Range gate and filter MTI Processer

Where 𝑅𝑔 𝑃1 stand for Range gate is applied for pulse one, following the Doppler filter is a full
wave linear detector and an integrator (a low-pass filter). The purpose of the detector is to convert
the bipolar video to unipolar video. The output of the integrator is applied to a threshold detection
circuit. Only those signals which cross the threshold are reported as targets. Following the
threshold detector, the output from each of the range channels must be properly combined for
display on the PPI or A scope or for any other appears "cleaner “than the display from a normal
MTI radar, not only because of better clutter rejection, but also because the threshold device
eliminates many of the unwanted false alarms due to noise.
The bandpass filter can be designed with a variable low frequency cutoff that can be selected to
the dominant clutter conditions. The selection of the lower that cutoff might be at the operator
or it can be done deceptively. MTI radar using range gates and filters is usually more complex
than an MTI with a signal delay line canceler.
The additional complexity is justified in those applications where god MTI performance and the
flexibility of the range gates and filter MTI are desired. The better MTI performance result from
the better match between the clutter filter characteristic and the clutter spectrum.
In Brief;
Moving Target Indicator (MTI) techniques are Doppler filtering techniques that reject stationary
clutter;
1. It is used to suppress clutter with a low pass Doppler filter
▪ Reject slow moving clutter
▪ Detect moving targets
2. Small number of pulses typically used
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▪ Two to three pulses

3. No estimate of target’s velocity
4. There is significant difficulty suppressing moving clutter (rain) with MTI techniques
5. Two and three pulse MTI cancellers are examples of MTI filters
4.5 Other MTI Delay Line
The basic principle of MTI Delay Line canceller is used in MTI radar as the means for separating
moving target from stationary clutter. As the no of stage of delay line canceller are increased, it
is seen that clear and fine moving target video can be extracted from stationary.
1. Double Delay line canceller & Three pulse cancellers
It will have better clutter rejection null.

2. N-Pulse Canceller
Figure: N Pulse Canceller
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3. MTI Cancellers Employing Feedback

With few pulses it is very difficult to develop a filter, which has a rectangular shape without
employing feedback in the MTI canceller.
Figure: Recursive MTI Filter Based on a Three Pole Chebyshev Design
Figure: Filter Response

Advantages
▪ Good rectangular response across Doppler spectrum
▪ Well suited for weather sensing radars, which want to reject ground clutter and
detect moving precipitation
• NEXRAD (WSR-88)
• Terminal Doppler Weather radar (TDWR)
Disadvantages
▪ Poor rejection of moving clutter, such as rain or chaff
▪ Large discrete clutter echoes and interference from other nearby radars can produce
transient ringing in these recursive filters
• Avoided in military radars
4. Log CFAR (Log Constant False Alarm Rate) for Heavy Clutter Suppression.
Log-CFAR amplifier works to raise the saturation level by around three times than amplifier so
that it gets rid of heavy weather clutter. However, LOG-CFAR does work only when the
amplitude of the wanted echo exceeds that of the clutter. Although LOG-CFAR has greater
capability of eliminating the undesired clutter than circular polarization (CP) does not affect
when the amplitude of wanted signal is masked by that of weather clutter whereas circular
polarization does.
And also, the moving clutter such as weather clutter, occurring over a wide range are suppressed
through cell average CFAR. With a sufficiently wide dynamic range, the sums of all such clutters
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occurring every certain no of range bins before and after the output are average, and average
obtained is used as a threshold to perform suppression.
In order to suppress uncancelled ground clutters remaining as residual clutters in each filter bank,
a circuit to suppress them by determining the correlation between range and sweep (at CPIs,
Coherent Processing Intervals) directions is provided. Where K stand for kth Doppler filter.
Figure: Shows a block diagram of Cell Average CFAR clutter suppression.
Figure: Shows working concept of cell average CFAR.

4.6 MTI Performance
The performance factors of the MTI Receiver are as follows;
1 Cancelation Ratio
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The cancellation ratio indicates the cancellation performance of the stationary target, CR
indicates the reduction amount of a stationary target signal after MTI compared to that before
MTI.
When a stationary target level at the input side of the MTI receiver is 𝑅𝑐 and that of the output
side is 𝑟0 ,The cancellation ratio is defined as follows
MTI Receiver output 𝑟0

𝐶𝑅 = =
MTI Receiver Input 𝑅𝑐
In order to indicates this value in decibels, the following equation is used. where 𝑅𝑐 > 𝑟0
𝑅𝑐
𝐶𝑅 = 20 log
𝑟0
2 Improvement Factor;
The improvement factor indicates the display performance of moving target. Improvement factor
Ratio with; Sin and Cin - Input target and clutter power per pulse and Sout(fd) and Cout(fd) – Output
target and clutter power from processor at Doppler frequency, fd
MTI Improvement Factor = I(fd)
𝑆𝑖𝑔𝑛𝑎𝑙
⌈ ⌉ 𝐶 𝑆𝑂𝑢𝑡
𝐶𝑙𝑢𝑡𝑡𝑒𝑟 𝑂𝑢𝑡
= 𝑆𝑖𝑔𝑛𝑎𝑙 =𝐶 𝐼𝑛 (𝐶𝑙𝑢𝑡𝑡𝑒𝑟 𝐴𝑡𝑡𝑒𝑛𝑢𝑎𝑡𝑖𝑜𝑛)𝑥 (𝑆𝑖𝑔𝑛𝑎𝑙 𝐺𝑎𝑖𝑛)
⌈ ⌉ 𝑂𝑢𝑡 𝑆𝐼𝑛
𝐶𝑙𝑢𝑡𝑡𝑒𝑟 𝐼𝑛
Figure: MTI Improvement Factor
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Figure: Improvement factor Example

Three-pulse canceller provides wider clutter notch and greater clutter attenuation for this model,
which includes only the effect of ground clutter. The limitations cause the clutter spectrum to
widen. More clutter energy is passed through the doppler filters which lowers the improvement
factor.
3. Sub Clutter visibility (SVC),
To detect the target within the clutter of same power with specified detection probability and
false alarm probability. SCV indicates the display performance of the moving target at the same
position. In the improvement factor, moving targets are also considered at the same position of
stationary targets and moving targets.
SCV indicates the displaying ability of an aircraft over clutter by MTI. i.e. ability to display a
moving target in a stationary target.
The ratio of the stationary target and the minimum moving target which can be detected when
both are at the same position.
4. Receiving sensitivity
5. Antenna Scanning Modulation
6. Internal fluctuation of clutter
7. Equipment instabilities
8. Limiting
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4.7 Non-Coherent MTI

Noncoherent MTI Radar has no reference signal used by the receiver is phase, Non-Coherent
MTI Radar uses clutter Echo as the reference signal, to extract Doppler shifted (Echo)
Frequency. Phase Detector (IN MTI) has been replaced by conventual amplitude detector. Echo
signal from clutter also has the characteristics of the transmitted signal and thus can be used as
reference to extract the doppler frequency shift of the target echo signal.
Figure: Simplified Diagram of Non-coherent MTI Radar.

The figure above depicts block diagram of Non-Coherent MTI radar. In this radar, required
variations are obtained by comparing required echoes from stationary and radially moving
targets.
The echoes from moving target involves both amplitude and phase changes. In non-coherent
MTI radar, change in amplitude is considered. As shown, modulated output from magnetron is
transmitted. The received echo signal and local oscillator difference is fed to the mixer. The
output of mixer is fed to IF amplifier. The output of IF amplifier is passed to amplitude detector
and detector output is given to delay line canceller.
Applications Non-Coherent MTI
1 To detect moving ground vehicles/TGTS.
2 X Band RADAR (AIR BORNE).
3 Obtains a MAP like Image of the scene as well as well as detect moving TGTS.
4.8 Pulse Doppler Radar
Pulsed Doppler radar: A radar that increases its PRF high enough to avoid the problem of blind
speeds is called a pulse Doppler radar. Pulse Doppler Radar uses high PRF to avoid Doppler
ambiguities (Two targets with Doppler frequencies separated by an integer multiple of the PRF
are indistinguishable), but it can have numerous range ambiguities. Doppler data are extracted
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by the use of range gates and Doppler filters. It provides;

1. Unambiguous velocity.
2. Unambiguous or ambiguous range
The radar’s operating band is divided into narrow sub-bands. Ideally there should be no overlap
in sub-band frequency characteristics. The noise bandwidth of the Doppler filters is small
compared to that of the radar’s total bandwidth, which improves the SNR. Velocity estimates
can be made by monitoring the power out of each filter. If a signal is present in a filter, the target's
velocity range is known.
Figure: Doppler Filter Banks
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Figure: Basic Block Diagram of Pulse Doppler Radar

Pulse Doppler Radar uses high PRF to avoid Doppler ambiguities, but it can have numerous
range ambiguities. Where as in MTI radar the PRF is chosen such way that there are no range
ambiguities, but there are usually many Doppler ambiguities, or blind speeds. So, A radar that
increases its PRF high enough to avoid the problem of blind speeds is called a pulse Doppler
radar.
Pulse Doppler radar has another interest, it is interested in the changes happen to the transmitted
wave (DOPPLER SHIFT), either it will be compressed if the target moving toward the radar
(example: received frequency may change from transmitted 6000MHz to 6010MHZ), or may
stretch if the target is going away from the radar (the 6000MHz will be 5990MHz).
The PD radar are not interested in the transmitted frequency any more after it has been
transmitted but it does set filters around it at the expected reflected frequency
(example:5970,5980,5990,6010,6020,6030). If there are moving targets then the filters will
receive power and that is an indication of presence of target.
A simple pulse doppler radar consists of a transmitter, receiver, indicator, and the necessary
antennas along with power amplifier and a modulator to turn the amplifier on and off for the
purpose of generating pulses. A small portion of the stable oscillator power that generates the
transmitted pulses is diverted to the receiver to take the place of the local oscillator. It acts as the
coherent reference needed to detect the Doppler frequency shift. Sample of transmitted and
received signal are compared at mixer. Mixer output is Doppler shift (velocity). Doppler sorted
into velocity categories (Doppler shifted velocity).
The multi-doppler filter composed of filter banks including a zero doppler filter separates the
target from the clutter along the frequency axis. The target, which is embedded in the clutter and
cannot be detected only by conventional MTI, can be separated into the different channel bank
by this method if the Doppler frequency of the target is different from that of the clutter. The
detection percentage thus improves.
In the Doppler filter, the output from the doppler filter is obtained at CPIs (Coherent Processing
Intervals) which contains groups of equal periods, since it is necessary to have the coherent
relation between sweep signals that are used in the calculation, as shown below;
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Figure: Waveforms for MTI and Pulse Doppler Processing

The Doppler filter is used in radar signal processing is divide 1 PRF into proper bands along the
Doppler frequency axis. The number of divisions is related to the hit number of the radar. The
radar reception signals are divided into phase-detected I channel and Q channel videos, since I
channel and Q channels corresponds to the real and imaginary parts of the complex function,
they can be processed by the Doppler filter. Fixed clutter such as ground clutter is suppressed at
the front stage canceler, and moving clutters such as weather clutter are suppressed with CFAR
processing after it is separated into filter banks output.
Figure: shows a concept of the target detection by the Doppler Filter.
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In Brief:
Pulsed Doppler (PD) Techniques,
1. Suppress clutter with a set pass band Doppler filters
2. Targets sorted into one or more Doppler filters
▪ Targets radial velocity estimated
3. A large number of pulses are coherently processed to generate optimally shaped Doppler
filters
▪ From 10s to 1000s of pulses
4. No Doppler ambiguities or Non-Blind Speed.
5. Pulse Doppler Radar uses high PRF to avoid Doppler ambiguities, but it can have
numerous range ambiguities.
Advantages of Doppler Filter Bank;
1. Multiple Moving Targets can be separated from one another in a filter bank.
2. When the clutter and target echo signal appear in different doppler shifts, the clutter echo
need not interfere with the detection of the desired moving target.
3. A measure of target’s radial velocity can be obtained. The ambiguity in the measurement
can be resolved by a change in PRF.
4. The narrowband doppler filters exclude more noise than do the MTI delay line cancelers
described previously and provide coherent integration.
Disadvantages of Doppler filter Bank;
1. Lower sidelobes are needed if large values of the improvement factor are to be obtained
with a doppler filter bank.
2. The filter bank requires more pulses for good performance and it requires a larger signal
to noise ratio if the true radial velocity is to be extracted when two or more PRFs are
employed.
4.9 MTI from a moving Platform
Doppler frequency shift from clutter is no longer at zero frequency, which is depends on relative
velocity with respect to moving radar platform as well as clutter with respect to radar. This
Doppler shift because of clutter must be taken into account, otherwise the MTI improvement
factor will be degraded. This is done by changing the frequency of COHO and output of COHO
is mixed with a signal from a tunable oscillator whose frequency is made equal to that of clutter
Doppler. Further, not only does the center frequency of clutter spectrum vary, so does the clutter
spectral width.
The widening of the clutter spectrum is due to the finite beam width of antenna, which makes
the Doppler frequency shift from clutter scatters difference, depending on their location within
the antenna beam. An MTI radar on a moving platform that uses two methods (TACCAR &
DPCA) for compensating for platform motion is known as an AMTI (Airborne Moving Target
Indicator) radar.
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Figure: Conceptual view of MTI from a moving platform

Performance of a moving MTI radar can be degraded by
1. Non-zero Doppler shift from clutter
2. Variation in clutter spectral width
3. Variation in above two are compensated by
I. TACCAR (clutter lock MTI) Time averaged clutter coherent airborne radar and
II. DPCA (Displaced phase center antenna) compensation for clutter Doppler spread.
4.10 Limitations of MTI Performance
There are limitations to the performance of MTI radar. The degradation in the performance of
MTI radar are caused due to following reasons:
I. Antenna scanning modulation
The duration of echo signal received from a target or a clutter scattered as antenna of pulse radar
𝑁𝑏 𝜃
scans is given by to= = 𝑏
𝑃𝑅𝐹(𝑓𝑝 ) 𝜃𝑠
Where;
𝑁𝑏 = Number of pulses received
𝑓𝑝 = Pulse repetition frequency
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𝜃𝑏 = Antenna beam width in degrees

𝜃𝑠 = Antenna scanning rate in degree/second
The bandwidth of the frequency spectrum is inversely proportional to the time duration too.
Consequently, even if the clutter scattered were perfectly stationary and there were no
instabilities in equipment, there would be still finite spectral spread due to finite duration of echo
signal.
This limitation has been called antenna scanning modulation, but it is basically due to finite time
on target. The longer time on the target, less will be the spread in the clutter spectrum.
II. Internal fluctuations of clutter
Echoes from mountains, rocks, buildings, water towers, fences, thick tree trunks, hills usually
stationary in nature. Many other sources of clutter echoes however can be in motion. These
include echoes from sea, rain, chaff, Rees, large vegetation’s, structures blowing in wind etc.
The amplitude and phase fluctuations of wind-blown structures results in widened frequency
spectrum of clutter echo that can be a limitation on performance of MTI radar.
III. Equipment Instabilities
Changes in amplitude, frequency or phase of STALO and COHO oscillators as well as changes
in pulse to pulse characteristics of transmitted signal or errors in timing can result in uncancelled
clutter echoes and causes limit to improvement factor of MTI radar that can be achieved.
IV. Limiting
A limiter in the MTI receiver has sometimes been used to reduce the clutter to the level of
receiver noise. The hard limiters used in MTI radar cause quite serious degradation of the MTI
performance. Instead a limiter should be set above the receiver noise by an amount equal to MTI
radar improvement factor.
V. BLIND SPEED LIMITATION
The response of the single-delay-line canceller will be zero whenever the argument 𝜋𝑓𝐷 𝑇 in the
amplitude factor of is 0, π, 2π, etc., or when
𝑛
𝑓𝐷 = = 𝑛𝑓𝑝
𝑇
where n = 0, 1, 2, . . ., and fp, = pulse repetition frequency. The delay-line canceller not only
eliminates the d-c component caused by clutter (n = 0), but unfortunately it also rejects any
moving target whose Doppler frequency happens to be the same as the PRF or a multiple there
of. Those relative target velocities which result in zero MTI response are called blind speeds are
given by
𝑛𝜆 𝑛𝜆𝑓𝑝
𝑣= = 𝑛 = 1,2,3 ….
2𝑇 2
where 𝑣𝑛 , is the 𝑛𝑡ℎ blind speed.
The blind speeds are one of the limitations of pulse MTI radar which do not occur with CW
radar. They are present in pulse radar because Doppler is measured by discrete samples -(pulses)
at the PRF rather than continuously. If the first blind speed is to be greater than the maximum
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radial velocity expected from the target, the product, IF must be large. Thus, the MTI radar must
operate at long wavelengths (low frequencies) or with high pulse repetition frequencies, or both.
Unfortunately, there are usually constraints other than blind speeds which determine the
wavelength and the pulse repetition frequency. Therefore, blind speeds might not be easy to
avoid. Low radar frequencies have the disadvantage that antenna beam widths, for a given-size
antenna, are wider than at the higher frequencies and would not be satisfactory in applications
where angular accuracy or angular resolution is important. The pulse repetition frequency cannot
always be varied over wide limits since it is primarily determined by the unambiguous range
requirement.
Figure: Effect of Blind speeds

EXAMPLE: In a MTI radar the pulse repetition frequency is 200 Hz and the carrier transmission
frequency are 100 MHz Find its first, second and third blind speeds.
ANSWER:
The pulse repetition frequency, fp = 200 Hz
The carrier transmission frequency, ft = 100 MHz.
𝑐 3𝑥108
The carrier wavelength, 𝜆 = = = 3m
𝑓𝑡 100 𝑥 106
𝑛𝜆𝑓𝑝
The n-th blind speed, 𝑣𝑟𝑛 =
2
𝑛𝜆𝑓𝑝
So, the first blind speed =𝑣𝑟1 = =1 × 3 × 200/2 = 300m/sec
2
𝑛𝜆𝑓𝑝
The second blind speed = 𝑣𝑟2 = =2 × 3 × 200/2 = 600m/sec
2
𝑛𝜆𝑓𝑝
The third blind speed = 𝑣𝑟3 = =3 × 3 × 200/2 = 900m/sec
2
MTI Vs Pulse Doppler Radar
Parameter MTI Radar Pulse Doppler Radar
Principle Doppler effect, but the MTI radar Doppler effect, but Pulse Doppler radar
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 22 of 31
determine moving targets by has another interest , it is interested in the

detecting the phase and amplitude changes happen to the transmitted wave
of the received wave and compare (DOPPLER SHIFT), either it will be
it with saved replica of the compressed if the target moving toward
original transmitted wave but at the radar (example: received frequency
opposite phase, so if the target is may change from transmitted 6000MHz
not moving then the phase and to 6010MHZ ),or may stretch if the target
amplitude of the two signals will are going away from the radar( the
match but at different value will 6000MHz will be 5990MHz ).
result of canceling each other, but The PD radar are not interested in the
if the two signals are not matched transmitted frequency any more after it
they will give positive or negative has been transmitted but it does set filters
value and that is indication of around it at the expected reflected
moving target. frequency
(example:5970,5980,5990,6010,6020,60
30 )If there are moving targets then the
filters will receive power and that is an
indication of presence of target.
Technique Moving Target Indicator (MTI); Pulse Doppler

of – Utilizes Phase Shift. – Utilizes Frequency Shift.
Detection -Delay line cancellers are used. -Range gates are use.
- Range is estimated accurately. - Fr is estimated accurately
PRF The MTI Radar uses low pulse Pulse Doppler Radar uses high PRF to
repetition frequency (PRF) to avoid Doppler ambiguities, but it can
avoid range ambiguities. have numerous range ambiguities.
Range MTI RADAR has no range While range ambiguity may occur in
Ambiguity ambiguity. pulse Doppler.
Type of High-power klystron amplifier Usually magnetron oscillator is

is used as transmitter in MTI commonly used as transmitter in pulse
Amplifier
RADAR Doppler Radar
are used
Canceler MTI RADAR uses analog delay while in pulse Doppler it uses analog
line canceller filter banks.
Clutter MTI RADAR receives less while pulse Doppler RADAR receives
clutter signal more clutter signals
Improvem Improvement factor need not to Improvement factor is needed

ent Factor be improved in MTI RADAR
Advantage No range ambiguities. No Doppler ambiguities or Non-Blind
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 23 of 31
s MTI radar distinguishes between Speed.

moving targets and stationary
targets.
Disadvant In MTI radar the PRF is chosen Pulse Doppler Radar uses high PRF to
ages so that there are no range avoid Doppler ambiguities, but it can
ambiguities, but there are usually have numerous range ambiguities.
many Doppler ambiguities, or
blind speeds.
Blind speeds are the limitations
of the MTI
Scope and Used to find the movement of the A pulse-Doppler radar is a radar system
Area targets. that determines the range to a target using
pulse-timing techniques, and uses the
If we use only stationery target
Doppler effect of the returned signal to
indication radar then we can't
determine the target object's velocity. It
recognize targets are whether
combines the features of pulse radars and
moving or stationary. next time
continuous-wave radars, which were
previous will be indicated as new
formerly separate due to the complexity
object appear at another place
of the electronics.
when we don't use MTI with
radar. Example: Standard weather Radar
Example: ATC Radar, Military
Radar. UAV Stands for
Unmanned Aerial Vehicles, these
aircraft are without pilot on
board.
PRF tradeoffs
Different PRF frequencies have different advantages and disadvantages. The following
discussion summarizes the trade-offs.
Low PRF operation is generally used for maximum range detection. It usually requires a high
power transmit power, in order to receive returns of sufficient power for detection at a long range.
To get the highest power, long transmit pulses are sent, and correspondingly long matched filter
processing (or pulse compression) is used. This mode is useful for precise range determination.
Strong sidelobe returns can often be determined by their relatively close ranges (ground area
near radar system) and filtered out.
Disadvantages are that Doppler processing is relatively ineffective due to so many overlapping
Doppler frequency ranges. This limits the ability to detect moving objects in the presence of
heavy background clutter, such as moving objects on the ground.
High PRF operation spreads out the frequency spectrum of the receive pulse, allowing a full
Doppler spectrum without aliasing or ambiguous Doppler measurements. A high PRF can be
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 24 of 31
used to determine Doppler frequency and therefore relative velocity for all targets. It can also be
used when a moving object of interest is obscured by a stationary mass, such as the ground or a
mountain, in the radar return. The unambiguous Doppler measurements will make a moving
target stand out from a stationary background. This is called main-lobe clutter rejection or
filtering. Another benefit is that since more pulses are transmitted in a given interval of time,
higher average transmit power levels can be achieved. This can help improve the detection range
of a radar system in high PRF mode.
Medium PRF operation is a compromise. Both range and Doppler measurements are ambiguous,
but each will not be aliased or folded as severely as the more extreme low or high PRF modes.
This can provide a good overall capability for detecting both range and moving targets. However,
the folding of the ambiguous regions can also bring a lot of clutter into both range and Doppler
measurements. Small shifts in PRFs can be used to resolve ambiguities, as has been discussed,
but if there is too much clutter, the signals may be undetectable or obscured in both range and
Doppler
Pulsed frequency spectrum
For this to be of any use, the Doppler shift must be measured. First, the spectral representation
of the pulse must be considered.
The frequency response of an infinite train of pulses is composed of discrete spectral lines in the
envelope of the pulse frequency spectrum. The spectrum repeats at intervals of the PRF.
Figure 2. Pulse frequency spectrum

What is important is that this will impose restrictions on the detectable Doppler frequency shifts.
In order to unambiguously identify the Doppler frequency shift, it must be less than the PRF
frequency. Doppler frequency shifts greater than this will alias to a lower Doppler frequency.
This ambiguity is similar to radar range returns beyond the range of the PRF interval time, as
they alias into lower range bins.
Doppler frequency detection is performed by using a bank of narrow digital filters, with
overlapping frequency bandwidth (so there are no nulls or frequencies that could go undetected).
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 25 of 31
This is done separately for each range bin. Therefore, at each allowable range, Doppler filtering
is applied. Just as the radar looks for peaks from the matched filter detector at every range bin,
within every range it will test across the Doppler frequency band to determine the Doppler
frequency offset in the receive pulse.
Doppler ambiguities
Doppler ambiguities can occur if the Doppler range is larger than the PRF. For example, in
military airborne radar, the fastest closing rates will be with targets approaching, as both speeds
of the radar-bearing aircraft and the target aircraft are summed. This should assume the
maximum speed of both aircraft.
The highest opening rates might be when a target is flying away from the radar-bearing aircraft.
Here, the radar-bearing aircraft is assumed to be traveling at minimum speed, as well as the target
aircraft flying at maximum speed. It is also assumed that the target aircraft is flying a large angle
θ from the radar-bearing aircraft flight path, which further reduces the radar-bearing aircraft
speed in the direction of the target.
CASE 1
The maximum positive Doppler frequency (fastest closing rate) at 10 GHz / 3 cm is:
Radar –bearing aircraft maximum speed: 1200 mph = 536 m/s
Target aircraft maximum speed: 1200 mph = 536 m/s
Maximum positive Doppler = 2 (1072m/s) / (0.03m) = 71.5 kHz
CASE 2
The maximum negative Doppler frequency (fastest opening rate) at 10 GHz / 3 cm is:
Radar-bearing aircraft minimum speed: 300 mph = 134 m/s.
Effective radar-bearing aircraft minimum speed with 𝜃 = 60° angle from target track
(cos 60°) = 0.5; = 150 𝑚𝑝ℎ = 67m/s.
Target aircraft maximum speed: 1200 mph = 536 m/s.
Maximum negative Doppler = 2 (67–536 m/s) / (0.03m) = 31.3 kHz.
This results in a total Doppler range of 71.5 + 31.3 = 102.8 kHz. Unless the PRF exceeds 102.8
kHz, there will be aliasing of the detected Doppler rates, and the associated ambiguities.
If the PRF is assumed at 80 kHz, then Doppler aliasing will occur as shown in Figure below.
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 26 of 31
Figure 3. Doppler aliasing example
Radar clutter
There are two categories of radar clutter. There is main-lobe clutter and sidelobe clutter. Main-
lobe clutter occurs when there are undesirable returns in the main-lobe or within the radar beam
width. This usually occurs when the main-lobe intersects the ground. This can occur because the
radar is aimed downward (negative elevation), there is higher ground such as mountains in the
radar path, or even if the radar beam is aimed level and as the beam spreads with distance hits
intersects the ground. Because the area of ground in the radar beam is often large, the ground
return can be much larger than target returns.
Sidelobe clutter is unwanted returns that are coming from a direction outside the main-lobe.
Sidelobe clutter is usually attenuated by 50 dB or more, due to the antenna directional selectivity
or directional radiation pattern. A very common source of sidelobe clutter is ground return. When
radar is pointed toward the horizon, there is a very large area of ground area covered by the
sidelobes in the negative elevation region. The large reflective area covered by the sidelobe can
cause significant sidelobe returns despite the antenna attenuation.
Different types of terrain will have a different “reflectivity”, which is a measure of how much
radar energy is reflected back. This also depends on the angle of the radar energy relative to the
ground surface. Some surfaces, like smooth water, reflect most of the radar energy away from
the radar transmitter, particularly at shallow angles. A desert would reflect more of the energy
back to the radar, while wooded terrain would reflect even more. Manmade surfaces, such as in
urban areas; tend to reflect the most energy back to the radar system.
Often targets are moving, and Doppler processing is an effective method to distinguish the target
from the background clutter of the ground. However, the Doppler frequency of the ground will
can be non-zero if the radar is in motion. Different points on the ground will have different
Doppler returns, depending on how far ahead or behind the radar-bearing aircraft that a particular
patch of ground is located. Doppler sidelobe clutter can be present over a wide range of Doppler
frequencies.
Main-lobe clutter is more likely to be concentrated at a specific frequency, since the main lobe
is far more concentrated (typically 3 to 6 degrees of beam width), so the patch of ground
illuminated is likely to be far smaller and all the returns at or near the same relative velocity.
A simple example (as shown in Figure 4) can help illustrate how the radar can combine range
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 27 of 31
and Doppler returns to obtain a more complete picture of the target environment.
Figure 4. Interpreting Doppler radar returns

Figure above illustrates unambiguous range and Doppler returns. This assumes the PRF is low
enough to receive all the returns in a single PRF interval and the PRF is high enough to include
all Doppler return frequencies.
The ground return comes though the antenna sidelobe, known as sidelobe clutter. The reason
ground return is often high is due to the amount of reflective area at close range, which results
in a strong return despite the sidelobe attenuation of the antenna. The ground return will be at
short range, essentially the altitude of the aircraft. In the main-lobe, the range return of the
mountains and closing target are close together, due to similar ranges. It is easy to see how if just
using the range return, it is easy for a target return to be lost in high terrain returns, known as
main lobe clutter.
The Doppler return gives a different view. The ground return is centered around 0 Hz. The
ground slightly ahead of the radar-bearing plane is at slightly positive relative velocity, and the
ground behind the plane is at slightly negative relative velocity. As the horizontal distance from
the radar-bearing plane increases, the ground return weakens due to increased range.
The Doppler return from mountain terrain is now very distinct from the nearby closing aircraft
target. The mountain terrain is moving at a relative velocity equal to the radar-bearing plane’s
velocity. The closing aircraft relative velocity is the sum of both aircrafts velocity, which is much
higher, producing a Doppler return with a high velocity. The other target aircraft, which is slowly
opening the range with radar-bearing aircraft, is represented as a negative Doppler frequency
return.
CW radar Vs MTI radar
Parameter CW Radar MTI Radar
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 28 of 31
Principle Doppler principle, A CW-radar Doppler principle, but the MTI

transmitting an unmodulated radar determine moving targets by
power can measure the speed detecting the phase and amplitude
only by using the Doppler- of the received wave and compare
effect. It cannot measure a it with saved replica of the original
range and it cannot differ transmitted wave but at opposite
between two or more reflecting phase, so if the target is not moving
objects. When an echo signal is then the phase and amplitude of the
received, then that is the proof 2 signals will match but at different
that there is an obstacle in the value will result of canceling each
propagation direction of the other, but if the 2 signals are not
electromagnetic waves. matched they will give positive or
negative value and that is
indication of moving target.
PRF CW radar sets transmit a high- MTI RADAR uses low pulse
frequency signal continuously. repetition frequency
No PRF.
Range Ambiguity It cannot measure a range. MTI RADAR has no range

ambiguity
Type of Amplifier No Amplifier are used. High-power klystron amplifier is

are used used as transmitter in MTI
RADAR
Canceler No Canceler Circuit are used, MTI RADAR uses analog delay
Mixer is used to convert from line canceller
RF to IF.
Clutter Clutter from stationary target MTI RADAR receives less

cannot be detected clutter signal
Improvement Not used Improvement factor need not to be

Factor improved in MTI RADAR
Advantages Very simple No Range ambiguities
Disadvantages Due to how the Doppler effect Many Doppler ambiguities, or

works, any stationary objects blind speeds.
will not be detected by the
radar, as well any objects
moving tangentially to the
radar.
Application Police mans are used Radar ATC Radar

Gun to know the speed of Road
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 29 of 31
vehicles.
CW Radar Vs Pulse Radar
Parameter Pulse radar CW Radar
Type of Signal Modulated Unmodulated
Antenna Duplexer or Separate Separate Antenna

Antenna
Range Indicates Range Don’t indicates Range
Transmitting Power High Low
Circuit Complicated Simple
Stationary Target Can detects Cannot detects
Maximum Range High Low
More than one Target Can detect Cannot Detect
Basic Block Diagram Figure 2 Figure 1
Figure:1 Basic CW Radar
Figure:2 Basic Pulse Radar

How butterfly effect is produced on the screen in the case of MTI radar?
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 30 of 31
When MTI radar signal is processed, the indication represents only the moving target. This is
given to a Plan Position Indicator. The screen will have some persistence. This display remains
for some time. During this time, if the echo for the next pulse is processed and is displayed, it
will show a slight change from the previous display. Like this, after several pulses, the screen
consists of several slightly changed displays which appears like a butter fly.
In the case of PPI, what is the need of converting bipolar signal to unipolar signal?
A PPI displays range versus azimuth. The range signal input must be only positive. But the
receiver output is going to be bidirectional. Because the phase of the present time echo may be
sometimes more and less other times when compared to previous time echo. So, using a FWR,
this bipolar signal is converted to a unipolar signal.
What happens if the duty cycle goes below 10% for pulse Doppler radar?
If the duty cycle is below 10%, the amount of power contained within that will be very small.
So, far off target will give rise to very little echo at the receiver which may not be detected.
How multiple moving targets are separated from one another by using Doppler filter bank?
A doppler filter bank is a frequency selective filter bank. Each filter selects only a narrow range
of frequencies which correspond to narrow range of velocities. As the targets are likely to be
moving at different velocities, the echoes from different targets enter into different receivers due
to these filter banks.
Why first blind speed should be kept out of the expected range of Doppler freq?
The blind speed cannot be avoided in the MTI system. To avoid this blind speed, the delay line
canceller is designed so that it is definitely higher than the maximum velocity of the expected
targets in a specific location.
Coherent MTI Radar
The figure above depicts block diagram of Coherent MTI radar. Here each cycle of magnetron
oscillations starts with phase which is not related to the previous pulsed cycle.
Prepared By;
Er.Hemant Yadav
Msc.in Engineering
Page 31 of 31
The coherent MTI radar requires a high pulse repetition frequency to make sure that pulses from
each target are returned.
Here RF oscillator is used to act as phase reference to find the phase of reflected signal. Pulse
amplifier is used to generate the pulses. The detected phase data is stored in delay line for interval
between transmitted pulses. This is substracted from data of previous pulse. The output of
subtractor exists if there is moving target. The output is zero for stationary target. Phase
fluctuation due to moving target is considered in coherent MTI radar.
Old Questions
1. How clutter helps tracking moving target in radar system?
Hint: Non-Coherent MTI
2. Differentiate between CW radar and MTI radar?
3. Draw the block Diagram of MTI radar and Explain its operation.
*End of CHAPTER 4*
Prepared By;
Er.Hemant Yadav
Msc.in Engineering

RT-CH 4 - MTI and Pulse Doppler Radar

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Page 1 of 31

4. MTI and Pulse Doppler Radar

Figure: MTI block diagram

Figure: MTI signal displaying Technique.

Figure: Digital MTI Signal Processor

Figure: Simple MTI Delay Line Canceller

Figure: Effect of delay line canceller on the signal

Figure: Digital Delay line canceller system diagram

Figure: Effect of Digital Time domain delay line canceler diagram

Figure: Staggered PRF

Figure: Typical pulse train and range gates.

Figure: Data Collection for MTI Processing

Figure: Range gate and filter MTI Processer

▪ Two to three pulses

It will have better clutter rejection null.

Figure: N Pulse Canceller

3. MTI Cancellers Employing Feedback

Figure: Recursive MTI Filter Based on a Three Pole Chebyshev Design

Figure: Filter Response

Figure: Shows a block diagram of Cell Average CFAR clutter suppression.

Figure: Shows working concept of cell average CFAR.

MTI Receiver output 𝑟0

Figure: MTI Improvement Factor

Figure: Improvement factor Example

4.7 Non-Coherent MTI

Figure: Simplified Diagram of Non-coherent MTI Radar.

by the use of range gates and Doppler filters. It provides;

Figure: Doppler Filter Banks

Figure: Basic Block Diagram of Pulse Doppler Radar

Figure: Waveforms for MTI and Pulse Doppler Processing

Figure: shows a concept of the target detection by the Doppler Filter.

Figure: Conceptual view of MTI from a moving platform

𝜃𝑏 = Antenna beam width in degrees

Figure: Effect of Blind speeds

Parameter MTI Radar Pulse Doppler Radar

determine moving targets by has another interest , it is interested in the

Technique Moving Target Indicator (MTI); Pulse Doppler

Type of High-power klystron amplifier Usually magnetron oscillator is

Improvem Improvement factor need not to Improvement factor is needed

Advantage No range ambiguities. No Doppler ambiguities or Non-Blind

s MTI radar distinguishes between Speed.

Figure 2. Pulse frequency spectrum

Figure 3. Doppler aliasing example

Figure 4. Interpreting Doppler radar returns

Parameter CW Radar MTI Radar

Principle Doppler principle, A CW-radar Doppler principle, but the MTI

Range Ambiguity It cannot measure a range. MTI RADAR has no range

Type of Amplifier No Amplifier are used. High-power klystron amplifier is

Clutter Clutter from stationary target MTI RADAR receives less

Improvement Not used Improvement factor need not to be

Advantages Very simple No Range ambiguities

Disadvantages Due to how the Doppler effect Many Doppler ambiguities, or

Application Police mans are used Radar ATC Radar

CW Radar Vs Pulse Radar

Parameter Pulse radar CW Radar

Type of Signal Modulated Unmodulated

Antenna Duplexer or Separate Separate Antenna

Range Indicates Range Don’t indicates Range

Transmitting Power High Low

Circuit Complicated Simple

Stationary Target Can detects Cannot detects

Maximum Range High Low

More than one Target Can detect Cannot Detect