Vessel fusion tracking with a dual-frequency high-frequency surface wave radar and calibrated by an automatic identification system

High-frequency surface wave radar（HFSWR） and automatic identification system（AIS） are the two most important sensors used for vessel tracking.The HFSWR can be applied to tracking all vessels in a detection area,while the AIS is usually used to verify the information of cooperative vessels.Because of interference from sea clutter,employing single-frequency HFSWR for vessel tracking may obscure vessels located in the blind zones of Bragg peaks.Analyzing changes in the detection frequencies constitutes an effective method for addressing this deficiency.A solution consisting of vessel fusion tracking is proposed using dual-frequency HFSWR data calibrated by the AIS.Since different systematic biases exist between HFSWR frequency measurements and AIS measurements,AIS information is used to estimate and correct the HFSWR systematic biases at each frequency.First,AIS point measurements for cooperative vessels are associated with the HFSWR measurements using a JVC assignment algorithm.From the association results of the cooperative vessels,the systematic biases in the dualfrequency HFSWR data are estimated and corrected.Then,based on the corrected dual-frequency HFSWR data,the vessels are tracked using a dual-frequency fusion joint probabilistic data association（JPDA）-unscented Kalman filter（UKF） algorithm.Experimental results using real-life detection data show that the proposed method is efficient at tracking vessels in real time and can improve the tracking capability and accuracy compared with tracking processes involving single-frequency data.

Study of the ability of SWOT to detect sea surface height changes caused by internal solitary waves

Surface Water and Ocean Topography(SWOT)is a next-generation radar altimeter that offers high resolution,wide swath,imaging capabilities.It has provided free public data worldwide since December 2023.This paper aims to preliminarily analyze the detection capabilities of the Ka-band radar interferometer(KaRIn)and Nadir altimeter(NALT),which are carried out by SWOT for internal solitary waves(ISWs),and to gather other remote sensing images to validate SWOT observations.KaRIn effectively detects ISW surface features and generates surface height variation maps reflecting the modulations induced by ISWs.However,its swath width does not completely cover the entire wave packet,and the resolution of L2/L3 level products(about 2 km)cannot be used to identify ISWs with smaller wavelengths.Additionally,significant wave height(SWH)images exhibit blocky structures that are not suitable for ISW studies;sea surface height anomaly(SSHA)images display systematic leftright banding.We optimize this imbalance using detrending methods;however,more precise treatment should commence with L1-level data.Quantitative analysis based on L3-level SSHA data indicates that the average SSHA variation induced by ISWs ranges from 10 cm to 20 cm.NALTs disturbed by ISWs record unusually elevated SWH and SSHA values,rendering the data unsuitable for analysis and necessitating targeted corrections in future retracking algorithms.For the normalized radar cross section,Ku-band and four-parameter maximum likelihood estimation retracking demonstrated greater sensitivity to minor changes in the sea surface,making them more suitable for ISW detection.In conclusion,SWOT demonstrates outstanding capabilities in ISW detection,significantly advancing research on the modulation of the sea surface by ISWs and remote sensing imaging mechanisms.

Wave height measurement in the Taiwan Strait with a portable high frequency surface wave radar

As an important equipment for sea state remote sensing, high frequency surface wave radar （HFSWR） has received more and more attention. The conventional method for wave height inversion is based on the ratio of the integration of the second-order spectral continuum to that of the first-order region, where the strong external noise and the incorrect delineation of the first- and second-order Doppler spectral regions due to spectral aliasing are two major sources of errors in the wave height. To account for these factors, two more indices are introduced to the wave height estimation, i.e., the ratio of the maximum power of the second-or- der continuum to that of the Bragg spectral region （RSCB） and the ratio of the power of the second harmonic peak to that of the Bragg peak （RSHB）. Both indices also have a strong correlation with the underlying wave height. On the basis of all these indices an empirical model is proposed to estimate the wave height. This method has been used in a three-months long experiment of the ocean state measuring and analyzing ra- dar, type S （OSMAR-S）, which is a portable HFSWR with compact cross-loop/monopole receive antennas developed by Wuhan University since 2006. During the experiment in the Taiwan Strait, the significant wave height varied from 0 to 5 m. The significant wave heights estimated by the OSMAR-S correlate well with the data provided by the Oceanweather Inc. for comparison, with a correlation coefficient of 0.74 and a root mean square error （RMSE） of 0.77 m. The proposed method has made an effective improvement to the wave height estimation and thus a further step toward operational use of the OSMAR-S in the wave height extraction.

Surface tidal currents in the open sea area to the east of the Zhoushan Islands measured with high frequency surface wave radar

Based on the quasi-harmonic analysis of 11 d vector ocean currents obtained from two high frequency sur- face wave radars located at Zhujiajian Island and Shengshan Island, the spatial distribution characteristics of surface tidal currents in the open sea area to the east of the Zhoushan Islands of Zhejiang Province, China are studied. The following conclusions are drawn from the analysis： the tidal current pattern in the open sea area to the east of Zhoushan Islands is primarily regular semidiurnal, which is significantly affected by the shallow water constituents. The directions of the major axes of tidal current ellipses of M2 lie approx- imately in the NW-SE direction. With the increasing of distance away from the coast, the directions of the tidal current ellipses gradually shift toward the E-W direction. The tidal currents are mainly reversing cur- rents. The spatial distribution of probable maximum current velocities decreases gradually from northeast to southwest which is basically in accordance with the spatial distribution of measured maximum current velocities. The residual currents near the coast are larger than those far away from the coast. The directions of the residual currents are basically north by east, and the angle to the due north increases gradually with the increasing distance away from the coast. The topography shows a certain impact on the spatial distri- bution of shallow water constituents, the rotation of tidal currents, the probable maximum currents and the residual currents.

Application of ESPRIT in Broad Beam HF Ground Wave Radar Sea Surface Current Mapping

HF surface wave radar system OSMAR2000 is a broad-beam sea-state detecting radar. ESPRIT (Estimation of Signal Parameters via Rotational Invariance Technique) algorithm is proposed to apply in DOA (direction of arrival) determination of sea echoes. The algorithm of ESPRIT is briefly introduced first. Then discussions are made on the technique for application in the OSMAR2000 framework. Numerical simulation results are presented to demonstrate the feasibility of radial current mapping based on this method. The algorithm manifests significant performance and computational advantages compared with that of MUSIC. Data acquired by OSMAR2000 are processed to give radial current map and the synthesized vector currents are compared with the in-situ measurement with traditional means. The results show the validity of ESPRIT application in DOA determination for broad-beam radar. Key words HF ground wave radar - sea surface current - ESPRIT - MUSIC CLC number TN 911.72 - TN 958.95 Foundation item: Supported by the National Natural Science Foundation of China (60201003) and the National High Technology Development 863 Program of China (863-818-01-02)Biography: Liu Dan-hong (1976-), female, Master candidate, research direction: radar signal processing.

Adaptive Radio Frequency Interference Mitigation for HF Surface Wave Radar

The paper analyses the characteristics of radio frequency interference （RFI） in HF surface wave radar （HFSWR） which adopts the linear frequency modulated interrupted continuous wave （FMICW）. RFI will influence all the range cells including all the positive frequency and negative frequency, and the negative frequency range cells contain only the interference information. Based on the above characteristics, we introduce and analyze a new adaptive interference mitigation beamforming algorithm using the negative frequency range cells samples to estimate the interference covariance matrix. Experimental results confirm that this general and robust algorithm can achieve effective RFI suppression using the data recorded by the HFSWR, located near Zhoushan in Zhejiang China.

A novel synthetic aperture radar scattering model for sea surface with breaking waves

In this study a novel synthetic aperture radar(SAR)scattering model for sea surface with breaking waves is proposed.Compared with existing models,the proposed model considers an empirical relationship between wind speed and wave breaking scattering to present the contribution of wave breaking.Moreover,the scattering weight factor p,and wave breaking rate q,are performed to present the contribution of the quasi-specular scattering term,Bragg scattering term,and wave breaking scattering term to the total scattering from the sea surface.To explore the modeling accuracy of sea-surface scattering,a simulated normalized radar cross-section(NRCS)and measured NRCS are compared.The proposed model generated the simulated NRCS and a matching GF-3 dataset was used for the measured NRCS.It was revealed that the performance of the VV polarization of our model was much better than that of HH polarization,with a correlation of 0.91,bias of-0.14 dB,root mean square error(RMSE)of 1.26 dB,and scattering index(SI)of-0.11.In addition,the novel model is explored and compared with the geophysical model of CMODs and satellite-measured NRCS from GF-3 SAR wave mode imagery.For an incidence angle 40°–41°,the relationship between the NRCS and wind speed,relative wind direction is proposed.As with the SAR-measured NRCS,the performance of VV polarization was much better than HH polarization,with a correlation of 0.99,bias of-0.25 dB,RMSE of 0.64 dB,and SI of-0.04.

Observation and modeling of tide- and wind-induced surface currents in Galway Bay

A high-frequency radar system has been deployed in Galway Bay, a semi-enclosed bay on the west coast of Ireland. The system provides surface currents with fine spatial resolution every hour. Prior to its use for model validation, the accuracy of the radar data was verified through comparison with measurements from acoustic Doppler current profilers （ADCPs） and a good correlation between time series of surface current speeds and directions obtained from radar data and ADCP data. Since Galway Bay is located on the coast of the Atlantic Ocean, it is subject to relatively windy conditions, and surface currents are therefore strongly wind-driven. With a view to assimilating the radar data for forecasting purposes, a three-dimensional numerical model of Galway Bay, the Environmental Fluid Dynamics Code （EFDC）, was developed based on a terrain-following vertical （sigma） coordinate system. This study shows that the performance and accuracy of the numerical model, particularly with regard to tide- and wind-induced surface currents, are sensitive to the vertical layer structure. Results of five models with different layer structures are presented and compared with radar measurements. A variable vertical structure with thin layers at the bottom and the surface and thicker layers in the middle of the water column was found to be the optimal layer structure for reproduction of tideand wind-induced surface currents. This structure ensures that wind shear can properly propagate from the surface layer to the sub-surface layers, thereby ensuring that wind forcing is not overdamped by tidal forcing. The vertical layer structure affects not only the velocities at the surface layer but also the velocities further down in the water column.

Spatial Distribution Characteristics of Surface Tidal Currents in the Southwest of Taiwan Strait

This study was conducted on the spatial distribution characteristics of surface tidal currents in the southwestern Taiwan Strait based on the quasi-harmonic analysis of current data obtained by two high frequency surface wave radar(HFSWR) systems. The analysis shows that the tidal current pattern in the southwestern Taiwan Strait is primarily semi-diurnal and influenced significantly by shallow water constituents. The spatial distribution of tidal current ellipses of M2 is probably affected by the interaction between two different systems of tide wave, one from the northern mouth of Taiwan Strait and the other from the Bashi Channel. The directions of the major axes of M2 tidal current ellipses coincide roughly with the axis of the Taiwan Strait. The spatial distribution of the magnitudes of the probable maximum current velocity(PMCS) shows gradual increase of the velocity from northeast to southwest, which is in accordance with the spatial distribution of the measured maximum current velocity(MMCS). The directions of the residual currents are in accordance with the direction of the prevailing monsoon wind at the Taiwan Strait and the direction of the Taiwan warm current during summer. The bathymetry also shows a significant effect on the spatial distribution characteristics of tidal currents.

A curvelet-based method to determine wave directions from nautical X-band radar images

A new method to determine wave directions from nautical X-band images is proposed. The signatures of ocean waves show obvious scale and directional characteristics in nautical X-band radar images. Curvelet transform（CT） possesses very high scale and directional sensitivities. Therefore, it has good capability to analyze ocean wave fields. The radar images are decomposed at different scales, in different directions, and at different positions by CT, and curvelet coefficients are obtained. Given to the scale and directional characteristics of surface waves,the information of ocean waves is centralized in the curvelet coefficients of certain directions and at certain scales.Therefore, the wave orientations can be determined. The 180 ambiguity is removed by calculating crosscorrelation coefficients（CCCs） between continuous collected images. The proposed method is verified by the dataset collected on the Northwest coast of the Zhangzi Island in the Yellow Sea of China from March to April 2009.

基于多帧聚类的紧凑型HFSWR虚假点迹识别方法

紧凑型高频地波雷达发射功率低,目标检测时信噪比低、虚警率高,会产生大量虚假点迹,影响后续目标跟踪性能。为了滤除虚假点迹,利用目标的运动特性,提出了一种多帧聚类与极限学习机分类两级级联的虚假点迹识别方法。首先,利用基于最优邻域尺寸的多帧聚类方法,将连续多帧中与待识别点迹属于同一潜在目标的点迹聚类成簇。然后,计算簇内待识别点迹与其相邻帧内点迹的距离-多普勒速度的差分值,以其为特征利用极限学习机辨识虚假点迹。实验结果表明,所提方法能够准确将属于同一目标的点迹聚类,虚假点迹识别率达到95%。

综合物探方法在贵南高铁隧道基底隐伏岩溶探测中的应用

高铁隧道路线经过岩溶地区,勘察阶段由于地形和物探方法局限性的影响,不能完全勘察清楚岩溶发育情况。本文结合高密度地震映像、地质雷达、二维瞬态面波和钻探方法,详细研究了隧道施工阶段岩溶探查中各种方法的外业数据采集、处理方法、数据分析的注意事项。经过研究,将地震映像的主频提高到800 Hz,可分辨深度5~25 m、宽度10 m左右的空溶洞和充填溶洞;地质雷达有效能量提高到600 ns,可分辨深度30 m内岩溶通道。结合贵南高铁隧道基底岩溶探查中的各种典型图像特征,以及地质施工人员的要求,探讨了隧道基底岩溶探测资料物探地质解释的四类划分解释原则,满足了地质人员及设计施工对物探资料可读性的要求,为岩溶探测资料解释提供了参考。

A frequency domain estimation and compensation method for system synchronization parameters of distributed-HFSWR

To analyze the influence of time synchronization error,phase synchronization error,frequency synchronization error,internal delay of the transceiver system,and range error and angle error between the unit radars on the target detection performance,firstly,a spatial detection model of distributed high-frequency surface wave radar(distributed-HFSWR)is established in this paper.In this model,a method for accurate extraction of direct wave spectrum based on curve fitting is proposed to obtain accurate system internal delay and frequency synchronization error under complex electromagnetic environment background and low signal to noise ratio(SNR),and to compensate for the shift of range and Doppler frequency caused by time-frequency synchronization error.The direct wave component is extracted from the spectrum,the range estimation error and Doppler estimation error are reduced by the method of curve fitting,and the fitting accuracy of the parameters is improved.Then,the influence of frequency synchronization error on target range and radial Doppler velocity is quantitatively analyzed.The relationship between frequency synchronization error and radial Doppler velocity shift and range shift is given.Finally,the system synchronization parameters of the trial distributed-HFSWR are obtained by the proposed spectrum extraction method based on curve fitting,the experimental data is compensated to correct the shift of the target,and finally the correct target parameter information is obtained.Simulations and experimental results demonstrate the superiority and correctness of the proposed method,theoretical derivation and detection model proposed in this paper.

基于改进SFLA-Elman神经网络的电离层杂波抑制方法

针对高频地波雷达目标检测中电离层杂波的干扰问题,提出了一种基于改进混合蛙跳算法优化Elman神经网络预测抑制电离层杂波的策略。为解决混合蛙跳算法初始种群分布不均匀、收敛精度低、易陷于局部极值等问题,引入Cubic混沌映射、莱维飞行策略、非线性平衡因子和复制操作,增强种群多样性,提高算法搜索能力。利用改进后的算法和其他算法分别优化Elman神经网络预测抑制模型,结果表明,改进后的算法无论是在收敛精度和稳定性上,还是在临近距离单元电离层杂波的预测抑制上,都取得了显著的提升。在基本保留目标信号的基础上,平均信杂比较原始回波提升18.52 dB,较原始混合蛙跳算法提升1.08 dB,对于电离层杂波的抑制具有较高应用价值。

基于改进DeeplabV 3+的HFSWR电离层杂波及海杂波自动识别

针对高频地波雷达(HFSWR)回波谱中背景噪声复杂、杂波占比较小且电离层杂波形态位置各异,难以自动识别的问题,以DeeplabV3+深度学习算法为基础架构并加以改进,提出一种HFSWR电离层杂波及海杂波自动识别方法。选用轻量级MobileNetV2作为主干特征网络,加入通道注意力机制模块SENet,实现对杂波标签的侧重学习,优化训练集中各类标签的损失权重;采用模型预训练迁移法对网络进行预训练,解决样本空间过小的问题。实测数据集上的实验结果表明,本方法可以实现HFSWR电离层杂波及海杂波的自动识别。相比原DeeplabV3+算法,杂波识别结果更为准确和精细,海杂波识别结果的平均交并比(mIoU)和准确率(ACC)分别提升2.9%和5.1%;电离层杂波识别结果的mIoU和ACC分别提升3.0%和4.9%。

基于卷积神经网络的高频地波雷达有效波高反演

高频地波雷达海面回波多普勒谱中蕴含着非常丰富的海浪信息,针对经验模型通常存在对回波谱信息利用不充分的问题,本文提出了一种利用卷积神经网络反演波高的方法。首先基于雷达后向散射截面方程和有效波高反演的参数化经验模型,并结合实测数据分析,本文选取了二阶与一阶谱能量比值、二阶谱能量和、二阶与一阶谱峰值比、Bragg频率处无向波高谱值、二阶谱能量、二阶谱峰值、左右一阶谱峰值及其比值、■布拉格频率处峰值、一阶谱能量共11种与有效波高相关的回波谱特征参数;为进一步说明一阶和二阶信息对有效波高的作用,将11种特征参数分成4个组合,分别搭建了多层深度卷积神经网络并进行高频地波雷达有效波高反演;然后将高、低两种海况下多层深度卷积神经网络模型与经验模型反演结果进行对比分析。研究结果表明,利用11种特征参数构建的模型波高反演精度更高,在高、低海况测试集中雷达反演有效波高与浮标波高序列相关系数R分别为0.92和0.78,均方根误差(Root Mean Square Error,RMSE)分别为0.32 m和0.21 m,平均绝对误差(Mean Absolute Error,MAE)分别为0.25 m和0.16 m,平均相对误差(Mean Relative Error,MRE)分别为0.12和0.27。综合利用这11种特征参数,能够提高雷达在复杂海况下对有效波高的反演精度。

基于高频雷达回波谱多特征融合的浪高反演算法

高频地波雷达海洋回波谱的Bragg峰和二次谐波峰中,均蕴含着浪高信息,因此发展出了基于Bragg峰功率(Power of Bragg Peak,PB)、二次谐波峰与Bragg功率比(Power Ratio of Second Harmonic Peak to Bragg Peak,RSB)、双频Bragg峰功率比(Power Ratio of Dual Frequency Bragg Peak,RDB)等浪高反演算法。然而,三种算法均无法实现不同海况、不同距离下浪高的精确反演。本文研究发现,PB算法适用于低海况,RSB算法在近距离高海况下表现良好,而RDB算法适用于远距离测量,即三种算法高性能测量区间存在强互补性。在此基础上,本文提出了一种基于多特征(PB、RSB和RDB)融合的浪高反演算法,其中采用反向传播(Back Propagation,BP)神经网络作为特征融合器。实验表明:本文算法在测量精度、波高适应范围、距离适应范围上均优于现有波高反演算法。

高频地波雷达编队目标分辨方法

由于方位分辨性能受限和多普勒模糊问题,高频地波雷达(HFSWR)难以分辨编队内的子目标。该文将逆合成孔径原理应用于HFSWR,提出横向距离成像方法。该方法首先在运动补偿处理中消除径向运动分量、保留旋转运动,实现聚焦的多普勒谱,并分辨多个子目标。然后,横向距离定标处理将频率坐标转化为横向距离,进而估计子目标间的间距。其中,由最小熵准则来估计径向速度和径向加速度,由分段数字波束形成来估计旋转角度。为了在有限积累时间条件下提升分辨效果,采用基于数据复用方式的重叠相干积累来增加扫频周期数。仿真实验表明,所提方法的理论分辨率在几百米至几千米范围内,运动补偿和横向距离定标实现了单纵队的分辨及其间距估计,重叠积累具有缩窄主峰和降低旁瓣水平的效果。

基于差值信噪比法的船载地波雷达一阶谱识别

本文提出了适用于船载地波雷达展宽一阶谱识别的差值信噪比方法。通过结合仿真分析和实测试验数据,开展了船载地波雷达展宽一阶谱的频移和展宽特性分析,确定了一阶谱的最大展宽范围与平台运动速度之间的定量关系。通过分析一维多普勒频点间的差值数量关系,确定了边界预筛选准则。利用展宽一阶谱的区域连续特性,实现展宽一阶谱边界最终识别。采用船载地波雷达仿真和实测数据对所提方法的有效性进行了验证,所提方法相对于传统方法取得了较好的识别效果。

HFSWR海洋-电离层一体化探测实验与数据分析

高频地波雷达(High-frequency Surface Wave Radar,HFSWR)凭借其全天时、全天候和超视距探测等方面的能力,在海洋遥感与电离层探测应用方面均取得了阶段性进展,然而当前在海洋-电离层回波联合方面的研究还十分有限。本文基于哈尔滨工业大学(威海)HFSWR一体化探测系统,对台风“梅花”过境渤海湾期间的海洋回波与电离层回波进行了数据分析。首先对HFSWR一体化探测系统的整体构成进行了介绍,之后基于Bragg原理对海洋回波进行了海洋径向流速分析,并采用经验模态分解以及HHT变换方法对电离层回波进行能量谱分析。实验结果表明,在台风“梅花”过境期间,海洋回波与电离层回波均出现了明显的特征变化,两者之间存在一定的联动机制。本文提出了进一步研究海洋与电离层之间动力学关系的需要,并强调了HFSWR一体化探测系统的独特体制在海洋-电离层联合研究方面的优势。