1

Lect ure Topics

Doppler CW Radar Syst em,
FM-CW Radar Syst em,
Moving Target I ndicat ion Radar Syst em, and
Pulsed Doppler Radar Syst em
2
Remember t hat :
v =

f

= v / f v = 3 x 10
8

m/s
v :

is in metre/second
f :

is in cycle/second

: is ?
An EM wave will go t hrough one cycle in a dist ance equal
t o one wavelengt h
An EM wave is a funct ion of bot h space and t ime e.g.
The elect ric field st rengt h E(x, y, z, t)
cycle
metre
cycle
ond
ond
metre
f
= = =
sec
sec
u

3
I nt erpret at ion
As an example, for a frequency f = 900 MHz, the wavelength

= 1/3 m, and the period T = 1.11 x 10
-9

sec.
The wave will travel 1/3 m per cycle
t
1 m
4
Phasor Represent at ion
u
A
e
i
) (t A u Z
}
+ =
t
i
d t
0
0
) ( ) ( u t t e u
Real
Imaginary
5
I nst ant aneous Frequency
) (t
dt
d
i
e
u
=
Taking the derivatives of both side of the equation:
}
+ =
t
i
d t
0
0
) ( ) ( u t t e u
the result is:
The instantaneous frequency of a sinusoidal signal is given by
the time derivative of its phase.
6
Fixed and Moving Obj ect s
(st raight line)
1 2 3
Fixed Object
Moving Object
R
1
R
3
R
2
R
1

R
2

R
3
7
Fixed and Moving Obj ect s
(circular pat h)
1
2
3
Fixed Object
Moving Object
R
1
R
3
R
2
R
1

= R
2

= R
3
8
Doppler CW Radar (Simplified)
CW Tx
CW Tx
Det
Det
Amp
Amp
Dup
Dup
Frequency
Frequency
Counter
Counter
f
t
f
t

+ f
r
f
t

-

f
r
f
d
f
d
f
t
f
r
CW: Cont inuous wave
9
Charact erist ics of CW Radar
Transmit unmodulat ed cont inuous sinusoidal carrier.
Echoes will also be unmodulat ed cont inuous sinusoidal
carrier.
Time difference bet ween t he t ransmit t ed and ret urned
echoes cannot be det ect ed.
Echoed radio energy from a moving t arget differs in
frequency from t hat t ransmit t ed by t he radar producing
a beat frequency t hat can be det ect ed.
CW Radar Ut ilise Doppler Frequency Shift for det ect ing
and measuring t he radial velocit y of moving t arget s.
10
Doppler Frequency
The total number of wavelengths of the two-way path between
the Radar and Target is given by: 2R /

.
Since a wavelength correspond to an angular excursion of 2t
radians, the returned echo will have a phase difference given by:
|

= (2R / ) 2t = 4tR /

radians
Substituting c /

f
t

for
|

= 4t R f
t
/ c radians
Where

f
t

is the radar transmitted frequency, and c the speed of
radio waves.
11
Angular Frequency
Differentiating R and |

with respect to time,
|(t)

= 4t R(t) f
t
/c radians
For a moving target, R

and |

are functions of time.
d|
dt
= 4t

f
t
/c
dR
dt
d|
dt
= e
d
= 2tf
d
angular Doppler frequency
dR
dt
= v
r
target relative velocity
(a)
but,
and
(b)
(c)
12
Equat ion of Doppler Frequency
2tf
d

= (4t

f
t
/ c) v
r
f
d

= 2 v
r
f
t
/ c
Substituting (b) and (c) in (a) and rearranging:
f
d

: Doppler Frequency
v
r

: Target relative velocity
f
t

: Radar transmit frequency
c : 300 x 10
6

m/s
13
Bandwidt h Considerat ion
A wide bandwidt h amplifier is required for t he expect ed
range of Doppler frequencies.
Receiver noise increases wit h bandwidt h, result ing in
decrease of receiver sensit ivit y.
Use of mult iple narrowband filt ers at t he baseband or I F
frequencies.
Use of Phase-Locked-Loop t o keep t rack of t he varying
Doppler frequency.
14
I F Doppler Filt er Bank
Filter No.n
Filter No.n
Filter No.4
Filter No.4
Filter No.3
Filter No.3
Filter No.2
Filter No.2
Filter No.1
Filter No.1
Indicator
Indicator
Det
Det
Det
Det
Det
Det
Det
Det
Det.
Det.
IF Amp
IF Amp
Mixer
Mixer
15
Frequency Response
Charact erist ics
Frequency
R
e
s
p
o
n
s
e
f
1
f
2
f
3
f
4
fn
IF bandwidth
16
Radial Velocit y Sign Det ect ion
CW
Trans.
Mix
A
Mix
B
t
2
Synch
Motor
Indicator
Channel A
Channel B
Transmit
Antenna
Receive
Antenna
f
t
f
t
+

f
d
f
t
-

f
d
LPF
LPF
17
Spect ra of Received Signals
Frequency
Frequency
Frequency
A
m
p
l
i
t
u
d
e
A
m
p
l
i
t
u
d
e
A
m
p
l
i
t
u
d
e
f
t
f
t
f
t
f
d
f
d
No Doppler shift
Approaching target
Receding target
18
Signal Represent at ion
Let the transmitted signal be:
E
t

= E
o

cos e
o

t
E
r

= k
1

E
o

cos [(e
o

+ e
d

)t]
E
r

= k
1

E
o

cos [(e
o

-

e
d

)t]
For an approaching target, the echo signal will be:
For a receding target, the echo signal will be:
Note: k
1
is a scaling factor
19
Signal Analysis
cos A cos B = 0.5 cos (A-B) + 0.5 cos (A+B)
The output of the Mixer is obtained by multiplying

the
transmitted and echo signals and using the following
trigonometric identity.
20
Mixer Out put (t he answer)
If the target is approaching, the output of channels A and B:
If the target is approaching, the output of channels A and B:
E
E
A A

= k
= k
2 2

E
E
o o

cos (
cos (
e
e
d d

t)
t)
E
E
B B

= k
= k
2 2

E
E
o o

cos (
cos (
e
e
d d

t +
t +
t
t
/2 )
/2 )
E
E
A A

= k
= k
2 2

E
E
o o

cos (
cos (
e
e
d d

t)
t)
E
E
B B

= k
= k
2 2

E
E
o o

cos (
cos (
e
e
d d

t
t
-
-

t
t
/2 )
/2 )
If the target is receding, the output of channels A and B:
If the target is receding, the output of channels A and B:
Velocity
Velocity
Direction
Direction
Velocity
Velocity
Direction
Direction
21
Calculat ions
E
t

= E
o

cos e
o

t
E
E
r r

= k
= k
1 1

E
E
o o

cos [(
cos [(
e
e
o o

+
+
e
e
d d

)t]
)t]
E
E
r r

= k
= k
1 1

E
E
o o

cos [(
cos [(
e
e
o o

-
-

e
e
d d

)t]
)t]
E
t

= E
o

cos(e
o

t -

t/2)
E
t

= E
o

cos e
o

t
E
t

= E
o

cos(e
o

t -

t/2)
x
x
x
x
x
x
x
x
E
E
r r

= k
= k
1 1

E
E
o o

cos [(
cos [(
e
e
o o

+
+
e
e
d d

)t]
)t]
E
E
r r

= k
= k
1 1

E
E
o o

cos [(
cos [(
e
e
o o

-
-

e
e
d d

)t]
)t]
Echo Signal
Echo Signal
Local Oscillator
Local Oscillator
For an approaching target,
For a receding target,
22
E
A

= cos [(e
o

+ e
d

)t] cos e
o

t
E
A

= 0.5 cos [(e
o

+ e
d

-

e
o

)t] + 0.5 cos [(e
o

+ e
d

+ e
o

)t]
E
A

= 0.5 cos (e
d

t) + 0.5 cos [(2e
o

+ e
d

)t]
Ignoring magnitude for now,
Out put of A Mixer (approaching
t arget )
The term cos [(2e
o

+ e
d

)t]

is double the RF frequency and
hence it is filtered out
Then the out put of the mixer A is: E
A

= 0.5 cos (e
d

t)
E
t

= E
o

cos e
o

t E
r

= k
1

E
o

cos [(e
o

+ e
d

)t] x
x
23
Out put of B Mixer (approaching
t arget )
E
B

= cos [(e
o

+ e
d

)t] cos(e
o

t -

t/2)
E
B

= 0.5 cos [(e
o

+ e
d

-

e
o

)t + t/2] + 0.5 cos [(e
o

+ e
d

+ e
o

)t -t/2]
E
B

= 0.5 cos [(e
d

)t + t/2] + 0.5 cos [(2e
o

+ e
d

)t -

t/2]
The term cos [(2e
o

+ e
d

)t -

t/2]

is double the RF frequency and
hence it is filtered out
Then the out put of the mixer A is: E
B

= 0.5 cos [(e
d

)t + t/2]
E
t

= E
o

cos(e
o

t -

t/2) x
x E
r

= k
1

E
o

cos [(e
o

+ e
d

)t]
24
FM - CW Radar Syst ems
25
FM- CW Radar Syst ems
CW Radar Syst ems do not give t arget range informat ion.
Doppler frequency is zero for st at ionary t arget s.
A version of CW Radar provides range informat ion by
incorporat ing Frequency Modulat ion (FM) t echnique.
FM-CW Radar can employ linear or non-linear frequency
modulat ion.
Linear Modulat ion is achieved by Triangular modulat ing
waveform, while Non-Linear Modulat ion is achieved by
Sinusoidal modulat ing waveform.
26
Frequency-Time Relat ionship
At = 2R/c
time
F
r
e
q
u
e
n
c
y
Af
transmitted received
The frequency Rate of Change:
Hz / second
Af
At
f
o

=
.
f
o
27
Linear Modulat ion
If the frequency is being increased linearly at the rate f
o

Hz/sec,
then during the time At = 2R/c the transmitted frequency would
have increased by:
.
f
b

= f
o

2R/c
.
Af = f
o

At
.
Substituting 2R/c for At and f
b

for Af
28
Range Calculat ion
If the transmitted frequency is f
t

, then the received frequency is
given by: f
t

+ f
b
The range R is then given by:
The difference between the transmitted and received frequencies
is called the Beat Frequency

f
b

.
Af
At
f
o

=
.
2 f
o
.
c f
b
R =
where
29
Linear Modulat ion Waveform
At = 2R/c
time
time
F
r
e
q
u
e
n
c
y
F
r
e
q
u
e
n
c
y
f
r
f
b
transmitted received
30
Triangular Modulat ion
Practically, the frequency cannot be increased indefinitely and
the target may not be stationary.
The modulating signal waveform used is Triangular, linearly
increasing and decreasing (positive and negative slopes).
Let the frequency of the triangular waveform be f
m
, and the
peak-to-peak frequency deviation 2Af (FM modulation), then
the transmitted frequency is linearly increasing and
decreasing by the rate:
see FM theory
f f f
m
A = 4
0

31
Frequency Rat e of Change
time
F
r
e
q
u
e
n
c
y
f
o
A f
T
T/4
The modulating frequency f
m

= 1 / T
The frequency rate of change (slope) = A

f / A

t
At = T / 4 = 1 / 4f
m
32
St at ionary Target
f
b

= f
o
2 R / c
f
b

= 8 f
m

Af R / c
.
R = c f
b

/ ( 8 f
m

Af )
The beat frequency is given by:
Substituting f
o

= 4 f
m

Af
The range is given by:
.
33
St at ionary Target Waveform
2R
c
time
time
F
r
e
q
u
e
n
c
y
F
r
e
q
u
e
n
c
y
f
b
f
o
At =
Af
34
Moving Target
When the target is moving Doppler Effect takes place and the
frequency is shifted accordingly.
time
F
r
e
q
u
e
n
c
y
f
d
f
o
f
d

= 2 v
r
f
t
/ c
35
Moving Target Waveform
time
time
F
r
e
q
u
e
n
c
y
F
r
e
q
u
e
n
c
y
f
o
f
b
36
Beat Frequency for Moving
Target
For a moving target, the beat frequency will now include an
additional component due to Doppler frequency shift. The
positive and negative frequency slopes will be:
f
up

= f
r

- f
d
f
down

= f
r

+ f
d
37
Beat Frequency Waveform
time
F
r
e
q
u
e
n
c
y
f
r

- f
d
f
r

+ f
d
38
FM-CW Radar Block Diagram
Modulator
Mixer
Transmit
Antenna
Receive
Antenna
FM
Transmitter
Limiter
Frequency
Counter
Indicator
Amp
39
MTI & Pulsed Doppler Radar
Syst em
40
I nt roduct ion
So far we examined t he funct ionalit y of a number of
radar syst ems, Pulsed Radar, CW Radar, and FM-CW
Radar Syst ems.
Pulsed Radar Syst em provides range (dist ance)
informat ion.
Doppler CW Radar Syst em provides t he relat ive velocit y
of a moving obj ect .
FM-CW Radar Syst em provides range informat ion.
I s it possible t o obt ain bot h range and velocit y of a
moving obj ect using one radar syst em?
41
Waveform (Wide Pulse)
CW
Modulating
Signal
Pulsed
CW
Long enough to detect velocity !
42
Waveform (Narrow Pulse)
CW
Modulating
Signal
Pulsed
CW
Far enough to detect range !
43
Waveform (Medium Pulse)
CW
Modulating
Signal
Pulsed
CW
Good enough to detect both range and velocity !
44
MTI Radar (measures range)
The purpose of MTI Radar is t o rej ect signals from fixed
or slow-moving unwant ed t arget s and display signals
from fast -moving want ed t arget s.
Examples of slow-moving t arget s:

buildings,

hills,

t rees

sea waves, and

rainfall.
A flying aircraft is an example of fast -moving t arget s.
45
Pulsed Doppler Radar
(measures velocit y)
Opt imised for speed measurement , t he range need not
be accurat e.
Pulsed Doppler Radar operat es wit h unambiguous
Doppler measurement but wit h ambiguous range
measurement .
46
Purpose & Charact erist ics
MTI and Pulsed Doppler Radar systems are used to detect
moving targets in severe clutter environment.
Low Medium High
PRF
Range Velocity
Ambiguous
Unambiguous
PRF : Pulse Repetition Frequency
MTI PD
47
Purpose and Definit ion
MTI Radar

operates with ambiguous Doppler Measurement but with
unambiguous Range Measurement.
Pulsed Doppler Radar

operates with unambiguous Doppler
Measurement but with ambiguous Range Measurement.
Both the MTI and Pulsed Doppler Radar systems are based on
the same physical principle, but in practice there are generally

recognisable differences between them.
mainly for range but with some knowledge on speed
mainly for speed but with some knowledge on range
48
Operat ional Limit s
Combing t he feat ures of Pulsed and CW radar syst ems
t o obt ain t arget Range and Speed informat ion.
Unambiguous Range Measurement is inversely
proport ional t o t he pulse repet it ion rat e.
Unambiguous Speed Measurement by Doppler frequency
shift met hod requires a long enough pulse widt h.
A compromise must be made on which measurement is
t o be unambiguous, Rang or Speed.
49
Coherent MTI Radar Syst em
Phase
Detector
PRI
Memory
E
-
+
RF
Oscillator
Pulsed
Amplifier
Dup
Pulsed
f
t
f
t
Pulsed
PRI : Pulse Repetition Interval
CW
CW
50
Simple CW Radar
Transmit
Antenna
Receive
Antenna
CW
Oscillator
Indicator Receiver
f
d
f
t
f
t

+ f
d
f
t

- f
d
f
t
51
Pulsed-Doppler Radar
Pulse
Modulator
Transmit
Antenna
Receive
Antenna
Power
Amplifier
Indicator Receiver
CW
Oscillator
f
t

+ f
d
f
t

- f
d
Pulsed
f
t
f
d
f
t
f
t
Pulsed
52
Waveform Equat ions
The transmitted carrier = A
1

sin (2t f
o

t)
The reference carrier = A
2

sin (2t f
o

t)
The returned echo = A
3

sin [2t ( f
o

+/-

f
d

) t -

4t

f
o

R / c]
The result of mixing returned echo and reference carrier is :
V
diff

= A
4

sin ( 2t f
d

t -

4t

f
o

R / c )