Radar CH3

Chapter 3 : MTI & Pulsed Doppler Radars
‫دانشگاه صنعتی‬
‫نوشیروانی‬
‫بابل‬
‫گروه تحقیقاتی رادار‬
INTRODUCTION TO RADAR SYSTEMS , Merrill I. Skolnik , Third Edition Chapter 3 : MTI & Pulsed Doppler Radars
What is Clutters?
‫دانشگاه صنعتی‬ MTI (Moving Target Indicator) :
‫بابل‬
1. No ambiguity in range
2. Low PRF (Long Range)
Pulsed Doppler Radars :
1. Ambiguity in range
2. High PRF (Short Range)
What is Doppler Effect?
‫بابل‬
Number of Wavelength : 2 R

Phase Shift:
  2
‫گروه تحقیقاتی رادار‬ 2R rad
 ?

rad
4 R


R changes with time:

d
 0
dt
1 d 1 d  4 R  2 dR 2Vr
 fd     
2 d t 2 d t     d t 
Vr is radial velocity of target :
Vr  v cos
2Vr 2v
 fd   cos
 
‫بابل‬
1 Nmile  1852 m
1 knot  1 Nmile / h  0.51444... m / s
1 mach  340.29 m / s  1224Km / h
Example 1: Example 2:
For a Commercial Aircraft: v  800 K / h For a Military Aircraft: v  1 mach
v  800  10 3 m / 3600 s  222.22 m / s if f t  3GHz    0 .1 m
if f t  3GHz    0 .1 m 2
for   0 : fd  v cos   6 .8 KHz
2 
for   0 : fd  v cos   4 .44 KHz

‫بابل‬
CW Doppler Radars Block Diagram
‫بابل‬
Pulsed Radars Block Diagram
‫بابل‬
MTI Radars Block Diagram
‫بابل‬
Doppler Detection
‫بابل‬ Ar  At
Vt (t )  At sin 2 f t t Vr (t )  Ar sin 2 f t (t  TR )

R0
2R
R TR 
c
R  R0  vr t   2v 4 f t R0 
Vr (t )  Ar sin 2 f t (1  r )t 
 c c 
Mixer
Vr (t ) VD (t )
 4 R0 
Vd (t )  Ad cos 2 f d t  
  
Vt (t )
Doppler Detection
‫بابل‬
Doppler Detection
V1 (t )  K sin2 f d t   0 
‫بابل‬
V2 (t )  K sin2 f d t  T    0  Scan1
V1 (t )
V2  V1  2 K sin  f d T cos2 f d t  T / 2   0 
 
Scan 2
V2 (t )
Several
Scans
Single Delay Line Cancellers (DLC)
‫بابل‬ Analog DLC : By Acoustic Devices
V1 (t ) V2  V1
Delay Line Subtract
V2 (t )
V2  V1  2 K sin  f d T cos 2 f d t  T / 2   0 
Output Amplitude 2 K sin f d T 

H( f ) 
Input Amplitude
 H( f )   H ( f )  2 sin f d T 
K
Digital DLC:
V1 (t ) V2 (t )
V1 (t )  V2 (t )
Blind Speeds
‫نوشیروانی‬ First Blind Speed Second Blind Speed Third Blind Speed
‫بابل‬
fd  n f P n  1,2,3,...
2vr
fd   n fP

n m / s
vB n  fP n  1,2,3,...
2
 m/s
vB1  f P
2
Double Delay Line Cancellers
(Three Pulse Cancellers)
‫بابل‬
H 3P ( f )  4 sin 2  f d T 
Frequency Response of Cancellers
‫بابل‬
Single Canceller (Two Pulses) : Double Canceller (Three Pulses):

H 2 P ( f )  2 sin f d T  H 3P ( f )  4 sin 2  f d T 
Clutter Attenuation
Clutter Power Spectral Density :  f2   f 22 
‫بابل‬ W ( f )  W0 exp  2   W0 exp  
2 
C is standard deviation of Clutter spectrum
 2 C   8 V 
V is standard deviation of Clutter speed

2 V
‫گروه تحقیقاتی رادار‬ C 
 
 W ( f )df f P2 f P2
For 2-Pulse canceller: H ( f )  2 sin f d T   CA   0
  CA 
2 4 2 C2 4 2 C2
 W ( f ) H ( f ) df
0
Exercise:
For 3-pulse canceller we have:
H ( f )  4 sin 2  f d T 
Find CA =?
Non-Recursive Filters
‫نوشیروانی‬ y(t )  w1 x(t )  w2 x(t  T )  
‫بابل‬
H ( f )  w1  w2 exp( j 2 f T )  
Improvement Factor
‫بابل‬ IF 
S / C out  C in  Sout  CA . gain
S / C in C out Sin
f P2 1
For 2-Pulse canceller: H ( f )  2 sin f d T  , CA  2 2  IFsin gle 
4  C 2 2 ( c / f p ) 2
For 3-Pulse canceller:
1
IFdouble 
8 2 ( c / f p ) 4
For n-Pulse canceller:
2n
2n  1 

IFn  pulse 
n !  2  c / f p 

Recursive Filters
‫بابل‬
Recursive Filters
‫بابل‬
Staggered PRF
‫بابل‬
Staggered PRF
‫بابل‬
Doppler Filter Banks
‫بابل‬
Advantages :
1. Multiple target are detected.
2. Target velocity is estimated (with ambiguity that is resolved
with PRF change).
2. These narrow band filters Reduce noises.
MTI Filter Bank
‫بابل‬ Improvement Factor
Filter 2 & 8
MTI Filter Bank
‫بابل‬ Improvement Factor increasing by placing a simple DLC in ahead of the filter bank
MTI Filter Bank
‫نوشیروانی‬ IF increasing by placing a simple DLC in ahead of the filter bank
‫بابل‬
Chebyshev
Weighting
Blind Phase Effects
‫بابل‬
Blind Speeds :

Blind Phase Effects :
Digital MTI (DMTI)
‫بابل‬
FFT
Limitation of Improvement Factor by A/D Converter :

Quantization noise limits IF by :

I q  20 log 2 N  1 0.75  dB N is number of bits in A/D
Limitation of Dynamic Range by A/D Converter :

Quantization noise limits it :
D.R.  22 N 3 / 3 N is number of bits in A/D
Moving Target Detectors (MTD)
‫بابل‬
It was originally developed by the MIT Lincoln Lab. for airport surveillance radars (ASR), 60 n-mile radar
FAA (Federal Aviation Agency) , designed ASR-8, 47.5 n-mile in S-Band (2.7-2.9 GHz) including:
First MTD
1. 8-pulse FFT filter bank which preceded by 3P-DLC.
2. Frequency domain weighting to reduce side lobes. Task: what is the flowing:
3. Change PRF to eliminate blind speeds.
4. Adaptive thresholds due to non-uniform of nature clutters. Second MTD = ?
5. Clutter Maps to detect aircraft with zero radial velocity (crossing trajectory of aircrafts). Third MTD = ?
Clutter map is produced by the zero velocity filter centered in clutter spectrum. (ARS-9, a operational
radar)
Limitations for MTI Performance
‫نوشیروانی‬ 1. Antenna scanning modulation. 2nStandard deviation of clutter spectral density :
‫بابل‬ 2n  
2. Internal fluctuation of clutters. IFn  pulse 
1  2
 2 2 2
,  c  1   2  1     N  1/ 2
n !  2  c / f p 
3. Instability of equipments.
4. Limiters. Oscillator stability
c Generate from various effects such as: Quantization of A/D
Antenna scanning mod.

1

1

1

1
IF IF1 IF2 IF3

1
IFN
…
Internal fluctuation of clutters :

• Perfect stationary Clutters: Mountain, rocks, building,
water tower, fences, thick tree trunks and bare hills
• Motion Clutters: sea, rain, tree, large

vegetation, wind and chaff
Wind Effects in MTI radars
‫بابل‬
• Heavily wooded hills, 20-mph wind: 1.5 Hz (0.22 m/s)
• Sparsely wooded hills : 0.11 Hz (0.02 m/s)
• Sea echo, windy day: 6.0 Hz (0.9 m/s)
• Chaff: 7.1 Hz (1.1 m/s)
System Instability Effects in MTI radars
‫بابل‬ • Amplitude Change COHO
• Phase Change
• Phase Noise Synthesizers
Phase Noise is more important in local oscillators (LO) such as : STALO

MTI from a Moving Platform (AMTI)
‫نوشیروانی‬ • Produced by installing a MTI radar on moving places such as: Aircrafts, Ships, Spacecraft
‫بابل‬
• AMTI means Airborne MTI that generalized for all
• AMTI Limitations:

• Spreading Spectrum
• Shifting Center Frequency
• These Limitations must be compensated by

different techniques
Compensation of Platform Motion
‫بابل‬ • The Compensation for Clutter Doppler Shift (TACCAR)
• The Compensation for Clutter Doppler Spread (DPCA)
‫گروه تحقیقاتی رادار‬ TACCAR : Time Average Clutter Coherent Airborne Radar introduced by ‘ Fred Staudaher ‘ ref. 84
This method compensate doppler shift in reference oscillators
DPCADisplaced
: Phase Center Antenna
v v
fd  2 cos  f  2 sin d 
 
2v
f   B sin

Pulse Doppler Radars
‫نوشیروانی‬ Three Type of Pulsed radars :
‫بابل‬
• The MTI with no range ambiguity and many Doppler ambiguity.
• The high PRF radar wit opposite MTI features.
• The medium PRF.

High PRF radars : • High PRF Radar.
• High First Blind Speed.
• Range Ambiguity.
Example: the NATO Airborne Warning and Control System

(AWACS) designed to detect aircraft
Pulse Doppler Radars
‫بابل‬
Three Type of Pulsed radars
‫بابل‬
•High PRF Pulse Doppler.
•Medium PRF Pulse Doppler. Typical values
•Low PRF Pulse Doppler (AMTI).
High PRF Pulse Doppler : • No ambiguity in doppler, no blind speed, but many rang ambiguity.
• Rang ambiguity can be resolved by change PRF.
• Removing altitude return and leakages by filtering.
• Main beam clutter is removed by tunable filter.
• Very low side lobe level is required.
• Range accuracy and multiple targets detection is poor.
Airborne Air Surveillance Radars
‫بابل‬
Figure 3.45 (a) :
•U.S Navy aircraft carrier.
•UHF radar.
•Rotation array with 8 x 1 meter Rotodome.
•Satellite communication antenna on top of
aircraft.
Figure 3.45 (b) :

•U.S air Force E3 AWACS.
•S Band Pulsed radar.
•Planar antenna 24ft. x 5ft.
Rotodome is a Radome enclosed antenna in

which rotate together
Airborne Air Surveillance Radars
‫بابل‬ Figure 3.45 (c) :
• Phalcon L Band radar.
•Electronically scan phase array

•Each side is 12 x 2 meter.
•Each contain 600 solid state T/R modules.
•3 meter diameter Radome on nose
of the aircraft for coverage forward sector.
Figure 3.45 (d) :

•S Band radar.
•Electronically scan phase array.
•8 meter long of antenna.
•Each contain 192 solid state T/R modules.
•Each section coverage 120 deg.
Non-Coherent MTI
‫بابل‬
Coherent MTI :
Reference signal is STALO
Non-Coherent MTI :
Reference signal is clutter echo
Ground Moving Targets Detection :
• Ground moving targets indicators (GMTI).

• Side-looking airborne radar (SLAR) with non coherent MTI.
• Synthetic Aperture Radars (SAR).
• Interferomectic SAR (In-SAR).
CW Radars
‫بابل‬
Applications :
• Police speed meter.
• The speed gun used in baseball and other sports.
‫گروه تحقیقاتی رادار‬ • The artillery proximity fuse. (artillery is a gun device in army)
• The artillery projectile muzzle velocity
measurement radar. ( muzzle velocity is speed of gunshot while outlet)
• Radars for the docking of large ships.
• The airborne doppler navigators.
• Vibration measurements.
• Intruder detection. Intruder is one who enters by force or without
invitation
• Monitoring the respiration rate of human and

animals. respiration is the act of breathing human
• Measurement of ground speeds.
• Semiactive missile guidance.
CW Radars
‫نوشیروانی‬ CW radars application Notes:
‫بابل‬
• Isolation of TX and RX.
• Reduction of flicker effect noise (1/f noise).
• Matched filters to maximize of S/N.
• Direction of target’s is lost because of doppler
sign is lost.
• CW radars have more clutter.
• FM-CW radars is used to measure of range.
• FM-CW is used to altimeter.

• Hawk air defense system. Hawk is a ground to
air missile.

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Chapter 3 : MTI & Pulsed Doppler Radars

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

Pulsed Doppler Radars :

R changes with time:

v  800  10 3 m / 3600 s  222.22 m / s if f t  3GHz    0 .1 m

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

V2  V1  2 K sin  f d T cos 2 f d t  T / 2   0 

Output Amplitude 2 K sin f d T 

‫گروه تحقیقاتی رادار‬

Single Canceller (Two Pulses) : Double Canceller (Three Pulses):

V is standard deviation of Clutter speed

‫گروه تحقیقاتی رادار‬

For 3-Pulse canceller:

For n-Pulse canceller:

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

Limitation of Improvement Factor by A/D Converter :

Limitation of Dynamic Range by A/D Converter :

D.R.  22 N 3 / 3 N is number of bits in A/D

‫گروه تحقیقاتی رادار‬

Internal fluctuation of clutters :

• Motion Clutters: sea, rain, tree, large

Phase Noise is more important in local oscillators (LO) such as : STALO

‫گروه تحقیقاتی رادار‬

• Shifting Center Frequency

• These Limitations must be compensated by

‫گروه تحقیقاتی رادار‬

Example: the NATO Airborne Warning and Control System

‫گروه تحقیقاتی رادار‬

‫گروه تحقیقاتی رادار‬

Figure 3.45 (b) :

Rotodome is a Radome enclosed antenna in

‫گروه تحقیقاتی رادار‬

Figure 3.45 (d) :

Ground Moving Targets Detection :

• Ground moving targets indicators (GMTI).

• Monitoring the respiration rate of human and

• FM-CW is used to altimeter.

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