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Progress and Prospects of Radar Target Detection and Recognition Technology for Flying Birds and Unmanned Aerial Vehicles (in English)
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摘要: 飞鸟和无人机(UAVs)是典型的“低慢小”目标，具有低可观测性，对两者的有效监视和识别成为保障空中航路安全、城市安保等需求迫切需要解决的难题。飞鸟和无人机目标类型多、飞行高度低、机动性强、雷达散射截面积小，加之探测环境复杂，给目标探测带来极大困扰，已成为世界性难题。因此迫切需要研发“看得见(检测能力强)、辨得明(识别概率高)”的无人机、飞鸟等“低慢小”目标监视手段和技术，实现目标的精细化描述和识别。该文集中对近年来复杂场景下旋翼无人机和飞鸟目标检测与识别技术的研究进展进行了归纳总结，介绍了飞鸟和无人机探测的主要手段，从回波建模和微动特性认知、泛探模式下机动特征增强与提取、分布式多视角特征融合、运动轨迹差异、深度学习智能分类等方面给出了检测和识别的有效途径。最后，该文总结了现有研究存在的问题，对未来复杂场景下飞鸟和无人机目标检测与识别技术的发展进行了展望。Abstract: Flying birds and Unmanned Aerial Vehicles (UAVs) are typical “low, slow, and small” targets with low observability. The need for effective monitoring and identification of these two targets has become urgent and must be solved to ensure the safety of air routes and urban areas. There are many types of flying birds and UAVs that are characterized by low flying heights, strong maneuverability, small radar cross-sectional areas, and complicated detection environments, which are posing great challenges in target detection worldwide. “Visible (high detection ability) and clear-cut (high recognition probability)” methods and technologies must be developed that can finely describe and recognize UAVs, flying birds, and “low-slow-small” targets. This paper reviews the recent progress in research on detection and recognition technologies for rotor UAVs and flying birds in complex scenes and discusses effective detection and recognition methods for the detection of birds and drones, including echo modeling and recognition of fretting characteristics, the enhancement and extraction of maneuvering features in ubiquitous observation mode, distributed multi-view features fusion, differences in motion trajectories, and intelligent classification via deep learning. Lastly, the problems of existing research approaches are summarized, and we consider the future development prospects of target detection and recognition technologies for flying birds and UAVs in complex scenarios.
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图 1 飞鸟、无人机对民航飞机的威胁
Figure 1. The threat of flying birds and UAVs to civil aviation aircraft
图 6 国际典型的“低慢小”目标探测系统
Figure 6. International typical “low, slow, small” target detection system
图 9 基于数字电视信号外辐射源雷达的无人机目标监视应用场景示例
Figure 9. UAV target surveillance application based on digital TV signal passive radar
图 15 飞鸟与无人机微动特征差异
Figure 15. Differences in micromotion characteristics of flying birds and UAVs
图 16 仿真的飞鸟目标雷达微动特性分析
Figure 16. Analysis of radar m-D characteristics of simulated flying bird
图 22 单频网分布式外辐射源雷达微动特征提取研究思路
Figure 22. Method of micro-motion feature extraction via single-frequency distributed passive radar
图 24 基于深度学习的微动参数估计流程示意图
Figure 24. Schematic diagram of m-D parameter estimation based on deep learning
图 25 基于雷达数据的飞鸟与无人机目标识别算法流程
Figure 25. Target recognition algorithm of flying birds and UAVs based on radar data processing
图 17 Analysis of measured m-D characteristics of UAV target (center frequency of external radiation source 658 MHz)[39]
图 22 Method of micromotion feature extraction via single-frequency distributed passive radar
图 23 Data characteristics of convolutional layers in CNN (take LeNet as an example)[73]
图 25 Target recognition algorithm of flying birds and UAVs based on radar data processing
表 1 国外3种典型探鸟雷达产品说明
Table 1. Description of three typical foreign avian radar products
产品名称 技术特点 部署方式 Merlin 水平和垂直扫描雷达结合，固态发射机 水平扫描雷达通常部署在靠近机场中心的位置，负责机场周边低空预警；垂直扫描雷达通常部署在每条跑道中心一侧，负责监视航班起降通道；当然，雷达部署是个复杂的系统问题，需要考虑净空障碍物限制面、地物遮挡、供电等多方面因素。 Accipiter 水平和垂直扫描雷达结合，附加抛物面天线 Robin 水平和垂直扫描雷达结合，磁控管发射机 
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表 2 鸟类热点月度轨迹数量统计
Table 2. Monthly statistics of bird hot spots
热点编号 轨迹数量 百分比(%) 1 7628 0.73 2 30299 2.89 3 22484 2.15 4 16885 1.61 5 21987 2.10 6 15652 1.50 7 29856 2.85 8 33938 3.24 9 21650 2.07 10 846406 80.86
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表 1 Description of three typical foreign avian radar products
Product name Merlin Accipiter Robin Technical characteristics Technical features combination of hori-zontal and vertical scanning radar,
solid state transmitterCombination of horizontal and vertical scanning radar, additional parabolic antenna additional parabolic antenna combination of horizontal and vertical scanning radar, magn-etron transmitter Deployment method Horizontal scanning radars are usually deployed close to the center of the airport and are responsible for low-altitude warnings around the airport; vertical scanning radars are usually deployed on the center side of each runway and are responsible for monitoring flight take-off and landing channels; of course, radar deployment is a complex system problem that needs to be considered, there are many factors such as clearance obstacle restriction surface, ground obstruction, power supply and so on.
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表 2 Monthly statistics of bird hot spots
Hot number Track number The percentage (%) 1 7628 0.73 2 30299 2.89 3 22484 2.15 4 16885 1.61 5 21987 2.10 6 15652 1.50 7 29856 2.85 8 33938 3.24 9 21650 2.07 10 846406 80.86
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