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Abstract: Mechanical vibration or rotation of a target or structures on the target may induce
additional frequency modulations on the returned radar signal which generate sidebands about the
target’s Doppler frequency, called the micro-Doppler effect. Micro-Doppler signatures enable some
properties of the target to be determined. In the paper, the micro-Doppler effect in radar is
introduced and the mathematics of micro-Doppler signatures is developed. Computer simulations
are conducted and micro-Doppler features in the joint time – frequency domain are exploited.
Fig. 2 Geometry of radar and vibrating point scatterer; and time – frequency micro-Doppler signatures
a Geometry of a radar and a vibrating point scatterer
b Time–frequency micro-Doppler signature calculated by (15)
c Time– frequency micro-Doppler signature by simulation
IEE Proc.-Radar Sonar Navig., Vol. 150, No. 4, August 2003 273
d d The azimuth and elevation angle of the target in the radar
rðtÞ ¼ rðtÞ nV co-ordinates (U, V, W) is a and b, respectively.
dt dt
Because of the target’s rotation, any point on the target
¼ 2Dv fv cosð2 fv tÞ described in the local co-ordinate system (x, y, z) will move
to a new position in the reference co-ordinate system
ðcos P cos P ; sin P cos P ; sin P ÞT ð14Þ
(X, Y, Z). The new position can be calculated from its initial
From (7) and using RotðtÞr0 ¼ r and nP n; the micro- position vector multiplied by an initial rotation matrix
Doppler shift induced by the vibration is RotInit determined by Euler angles (f, u, c) [6].
T In the target local co-ordinate system (x, y, z), when a
2f d
fmicroDoppler ¼ rðtÞ n target rotates about its axes x, y and z with the angular
c dt velocity v ¼ ðox ; oy ; oz ÞT ; a point-scatterer P at r0 ¼
4f fv Dv ðx0 ; y0 ; z0 ÞT in the local co-ordinates will move to a new
¼ cosð2 fv tÞnV n ð15Þ location in the reference co-ordinates (X, Y, Z) described by
c RotInit r0 : The unit vector of the rotation is defined by
which is a sinusoidal function of time oscillating at the
RotInit v
vibration frequency. v 0 ¼ ðo 0x ; o 0y ; o 0z ÞT ¼ ð16Þ
Assume the radar operates at f ¼ 10 GHz and a point- kv k
scatterer is vibrating about a centre point at (U0 ¼ 1000 m;
To compute the 3-D rotation matrix Rot(t) in (8), the
V0 ¼ 5000 m; W0 ¼ 5000 m). Thus, the unit vector from the
Rodrigues’ rotation formula [6]
radar to the vibration centre is
1=2 RðtÞ ¼ expðv ^ 0 sin Ot þ v
^ tÞ ¼ I þ v ^ 0 2ð1
cos OtÞ ð17Þ
n ¼ ðU0 ; V0 ; W0 ÞT =ðU02 þ V02 þ W02 Þ
is an efficient method, where I is the identity matrix, the
If the amplitude and frequency of the vibration is scalar angular velocity O ¼ kvk and v ^ 0 is the skew
Dv ¼ 0:01 m and fv ¼ 2 Hz; and the azimuth and elevation symmetric matrix associated with v ¼ ðo 0x ; o 0y ; o 0z ÞT
0
angle of the vibration direction are P ¼ 208 and P ¼ 108; 2 3
respectively, the theoretical result of the micro-Doppler 0
o 0z o 0y
signature calculated from (15) is shown in Fig. 2b. v^ ¼ 4 o z
0 0
0
o x 5
0
In our simulation study, the pulse radar with a pulse
o 0y o 0x 0 ð18Þ
repetition frequency (PRF) of 2000 is assumed and a total of
2048 pulses are used to generate the micro-Doppler Therefore, in the reference co-ordinate system (X, Y, Z), at
signature of the vibrating point-scatterer. The simulation time t the scatterer P will move from its initial location to a
result is shown in Fig. 2c and is identical to the theoretical new location r ¼ Rott RotInit r0 : According to (12), the
analysis. micro-Doppler frequency shift induced by the rotation is
approximately
5 Summary
6 Acknowledgments
7 References
1 Zediker, M.S., Rice, R.R., and Hollister, J.H.: ‘Method for extending
range and sensitivity of a fiber optic micro-Doppler ladar system and
Fig. 4 Time – frequency micro-Doppler signatures apparatus therefor’, US Patent no. 6,847,817, 8 Dec. 1998
a Calculated from (8) 2 Chen, V.C., and Ling, H.: ‘Time-frequency transforms for radar
imaging and signal analysis’ (Artech House, 2002)
b By simulation 3 Kleinman, R., and Mack, R.B.: ‘Scattering by linearly vibrating
objects’, IEEE Trans. Antennas Propag., 1979, 27, pp. 344– 352
4 Gray, J.E.: ‘The Doppler spectrum of accelerating objects’. Proc. IEEE
Int. Radar Conf., Arlington, VA, USA, 1990, pp. 385 –390
Because the skew symmetric matrix v ^ 0 is defined by the 5 Chen, V.C., and Miceli, W.: ‘Time-varying spectral analysis for radar
0
^ 0 3 ¼
v
unit vector of the rotation v ; then v ^ 0 and the imaging of maneuvering targets’, IEE Proc. Radar Sonar Navig., 1998,
145, (5), pp. 262–268
rotation-induced micro-Doppler frequency becomes 6 Murray, R.M., Li, Z., and Sastry, S.S.: ‘A mathematical introduction to
robotic manipulation’ (CRC Press, Boca Raton, FL, USA, 1994)
7 Chen, V.C.: ‘Analysis of radar micro-Doppler signature with time-
2f O
0 0 frequency transform’. Proc. 10th IEEE Workshop on Statistical signal
fmicroDoppler ¼ ^ ðv
v ^ sin Ot þ I cos OtÞRotInit r0 radial and array processing, Pocono Manor, PA, USA, August 2000,
c
pp. 463–466
ð20Þ 8 Cohen, L.: ‘Time-frequency analysis’ (Prentice – Hall, Englewood
Cliffs, NJ, 1995)
9 Auger, F., Flandrin, P., Goncalves, P., and Lemoine, O.: ‘Time-
Assume the radar carrier frequency and the initial location frequency toolbox for use with MATLAB’, 1996
of the target centre is the same as described in Section 4.1. 10 Chen, V.C., and Miceli, W.: ‘Simulation of ISAR imaging of moving
The target is assumed to be a cube that consists of eight targets’, IEE Proc., Radar Sonar Navig., 2001, 148, (3), pp. 160 –166
point-scatterers as illustrated in Fig. 3. The initial Euler
angles are ( ¼ 458; ¼ 458; ¼ 458). If the target rotates 8 Appendix
along the x, y and z axes with an angular velocity
v ¼ ½; ; T rad/s and initial positions of eight scatterers The cross-product of a vector a ¼ ðax ; ay ; az Þ and a vector
in the target co-ordinate system are b ¼ ðbx ; by ; bz Þ is
2 3
ay bz
az by
P1 ¼ ðx ¼ 0:5 m; y ¼ 0:5 m; z ¼ 0:5 mÞ a b ¼ 4 az bx
ax bz 5
ax by
ay bx
P2 ¼ ðx ¼
0:5 m; y ¼ 0:5 m; z ¼ 0:5 mÞ
2 32 3
P3 ¼ ðx ¼
0:5 m; y ¼
0:5 m; z ¼ 0:5 mÞ 0
az ay bx
P4 ¼ ðx ¼ 0:5 m; y ¼
0:5 m; z ¼ 0:5 mÞ ¼ 4 az 0
ax 54 by 5 ¼ a^ b
ay ax 0 bz ð21Þ
P5 ¼ ðx ¼ 0:5 m; y ¼ 0:5 m; z ¼
0:5 mÞ
where
P6 ¼ ðx ¼
0:5 m; y ¼ 0:5 m; z ¼
0:5 mÞ 2 3
P7 ¼ ðx ¼
0:5 m; y ¼
0:5 m; z ¼
0:5 mÞ 0
az ay
a^ ¼ 4 az 0
ax 5
P8 ¼ ðx ¼ 0:5 m; y ¼
0:5 m; z ¼
0:5 mÞ
ay ax 0 ð22Þ
is called the skew symmetric matrix and
Then, the micro-Doppler frequency shift can be calculated
from (20) and is shown in Fig. 4a. With a PRF of 2000 and a^ ¼
ð^aÞT ð23Þ
2048 pulses transmitted within about 1.024 s. of dwell time,
the simulated result of the micro-Doppler induced by the A rotation matrix that belongs to the special orthogonal 3-D
IEE Proc.-Radar Sonar Navig., Vol. 150, No. 4, August 2003 275
rotation matrix group R33 is denoted by v^ ¼ R_ otðtÞRotT ðtÞ ð26Þ
thus
fRot 2 R33 jRotT Rot ¼ I; detðRotÞ ¼ þ1g ð24Þ
R_ otðtÞ ¼ o
^ RotðtÞ ð27Þ
T
By taking a derivative of the constraint RotðtÞRot ðtÞ ¼ I By solving this linear ordinary differential equation (27), we
with respect to time t, we have obtain
RotðtÞ ¼ expfv
^ tgRotð0Þ
R_ otðtÞRotT ðtÞ ¼
½R_ otðtÞRotT ðtÞT ð25Þ
Assuming Rotð0Þ ¼ I for the initial condition, we have
This means that the matrix R_ otðtÞRotT ðtÞ 2 R33 is a skew RotðtÞ ¼ expfv
^ tg ð28Þ
symmetric matrix. Therefore, we can find a rotation vector
v ¼ ðoX ; oY ; oZ Þ such that the associated skew symmetric The matrix is a 3-D rotation matrix that rotates about the
matrix axis v by kvkt rad.
276 IEE Proc.-Radar Sonar Navig., Vol. 150, No. 4, August 2003