STAP Tutorial

Space-Time Adaptive Processing (STAP) for Airborne Radar
James Ward
Opinions, interpretations, conclusions, and recommendations are those of the authors and are not necessarily endorsed by the United States Air Force. This work was sponsored by DARPA under Air Force Contract F19628-95-C-0002
STAP Tutorial-1 JW 1/12/2012
MIT Lincoln Laboratory
Outline
Introduction STAP basics Partially adaptive STAP architectures STAP CFAR detection STAP parameter estimation Multidisciplinary STAP perspective Summary
Outline
Introduction
STAP basics Partially adaptive STAP architectures STAP CFAR detection STAP parameter estimation Multidisciplinary STAP perspective Summary
Space-Time Adaptive Processing (STAP)

Target Jamming
Ground Clutter
40 30 20 10 0 1 0 0 1 PRF/2
SNR (dB)
PRF/2
v
Surveillance Radar
Two-dimensional filtering required to cancel interference Space-Time Adaptive Processing
(STAP)
Radar Signal Processing Chain
Conventional (nonadaptive) radar

Beamforming Pulse Compression RCVR A/Ds
Front-End filtering
Doppler Filtering
CFAR Detection & Metrics
Tracking & Display
Adaptive radar (example architecture)

Pulse Compression Beamforming Doppler Filtering Adaptive Nulling
STAP
CFAR Detection & Metrics Tracking & Display
RCVR A/Ds
Front-End filtering
Topics To Be Covered
Airborne radar clutter
properties Space-time covariance matrices Degrees of freedom Sample support / training data Pre-Doppler, post-Doppler algorithms SINR Loss MDV DPCA processing vs. STAP Principal components Cross spectral metric
Jamming issues Generalized sidelobe
canceller architecture Adaptive CFAR detection Maximum likelihood STAP Cramer-Rao bound on angle and Doppler accuracy Other application areas
Why Adaptive?
Interfering (clutter, jamming) signal locations not precisely

known a priori Required rejection (sidelobe level) not achievable with conventional filtering in presence of system errors Beam broadening that results from uniformly lowering sidelobes is undesirable To gain target visibility as close as possible to interfering sources To react to the natural nonstationarity of typical dynamic radar operating environments
Let the signal processing adapt to the observed data!

Outline
Introduction
STAP basics
Partially adaptive STAP architectures STAP CFAR detection STAP parameter estimation Multidisciplinary STAP perspective Summary
Pulse Doppler Data Collection

RX TX
M Time Range Samples at same range gate
M Pulse Number (Slow time)
A/D
Baseband Quadrature Sampling
Pulse Compression
N 1 1 Range Gate (Fast time) L 1
Pulse Doppler Radar Datacube
Antenna Element (receiverchannel)
N
(Angle)
The snapshot for space-time processing (single range gate)
1 1 M 1
Pulse Number (slow time)
(Doppler Frequency)
Ground Clutter Characteristics
Platform-induced coupling between clutter angle and

Doppler frequency
Radar platform velocity Radar PRF Antenna and velocity vector orientation Range dependence
Shape of clutter locus
Strength of clutter signal: CNR

Radar power and aperture Clutter reflectivity Range dependence
Power distribution along clutter locus
Intrinsic clutter motion

Wind, waves, system instability Bandwidth dispersion
Width of clutter locus
A Hypothetical Radar Problem

100 Target Clutter Jamming
80 70 Required SINR Improvement (dB) 60 50 40 30 20 10 0 50 100 150 Range (nmi) 200 250 Coherent SNR gain Additional rejection required from STAP
Input SNR (dB)
50
-50 20 0 Required for detection
SINR (dB)
-20 -40 -60 -80 Input
Heavy land clutter Strong sidelobe jamming

100 150 200 250
50
Range (nmi)
Airborne Radar Geometry

z
Velocity vector:
v U R J
Clutter patch
v x v ! v y ! v uv v z
y
Array orientation (Linear array assumed):
x Clutter Doppler frequency
d x d ! d y ! d ud d z
fc (J ,U ) !
2v T uv u (J ,U ) P d T ud u (J ,U ) P
[c (J ,U ) ! fcTr !
2vTr T uv u (J ,U ) P
Clutter spatial frequency
] c (J ,U ) !
Clutter Iso-Contours
Iso (Velocity) Iso (Range) Iso (Angle)
Scan angle = 0 deg

(Velocity vector and array axis pointing in same direction)
IsoDoppler and IsoAngle contours are identical
More Clutter IsoContours

Iso (Velocity) Iso (Range) Iso (Angle)
Scan angle = 90 deg

(Velocity vector and array axis pointing in different directions)
Ground Clutter Doppler vs. Range Characteristics

Scan angle = 0 deg v Scan angle = 20 deg v
Clutter angle Doppler locus is range independent
Clutter azimuth
-60 deg -30 deg 0 deg 30 deg 60 deg
Clutter angle Doppler locus depends on range
Clutter Ridges: Angle and Doppler

Scan angle = 0 deg Scan angle = 30 deg
F=1 9 km altitude
500 km 200 km 100 km 20 km 10 km MIT Lincoln Laboratory
Clutter Ridges
Doppler unambiguous F=1 Doppler ambiguous F = 2.5
Doppler ambiguous clutter:
F!
2v df r
4v p P fr
! 2F
d P " 1 F " 1 for d ! P 2
Optimum Space-Time Processing

... wN1
N antennas
T T T
} M pulses } NM weights (degrees of freedom)

STAP weight vector Element / Pulse measurements
w11
w1M
wNM
7
Optimum weights
STAP output = wHx

R = covariance matrix v = steering vector
w=
R1v
Dimensionality can be very large: NM can be 102 to >104 Covariance matrix unknown a priori and must be
estimated from the radar data
STAP Optimality Criteria
w ! QR v
1
Criterion Formulation Weight Normalization
Maximum SINR
max
w
w v
Q {0
w H Rw 1 Q ! H 1 1 / 2 (v R v ) 1 Q ! H 1 v R v
Maximum PD while maintaining CFAR PF Minimum output power subject to unit gain constraint in look direction
max PD (w ) PF ! L
w
min w H Rw
w
w Hv ! 1
Clutter Covariance Matrix Rank
Mainlobe clutter
N = 16 Elements M = 16 Pulses Sidelobe clutter Uniformly weighted transmit pattern CNR = 50 dB per element per pulse
F !0
F !1
F !2
F !3
2v F! df r
(F=1 is the DPCA condition)
rank ( Rc ) ! N ( M 1) F
Number of DOF occupied by the full (mainlobe plus sidelobe) clutter ridge
Brennans Rule for Clutter Rank

Example: N=4 elements, M=3 pulses, F=1
Element #1 Pulse #1 Element #4 d Space Pulse #2 T Clutter signal on nth element, mth pulse
xnm ! e j ( n] m[ ) ! e
j 2T ( n mF ) dP1 sin J
Effective position for nth element, mth pulse
Pulse #3 Time
~ d nm ! ( n mF )d
Rank(Rc) = N + (M-1)F = 4 + (3-1)1 = 6
Clutter rank is the number of distinct effective element positions, or the length of effective synthetic array aperture
Space-Time Clutter Eigenbeams

Eigenbeam #1 Eigenbeam #2
kth Eigenbeam:
Pk (] , [ ) ! e v(] , [ )
H k
Eigenbeam #10
Eigenbeam #20
8 Pulses 8 Elements F=1 Uniform transmit taper
More STAP Eigenbeams

Unweighted Eigenvalue Weighted
N ( M 1) F k !1
P (] , [ )
k
N ( M 1) F
P
k !1
Pk (] , [ )
STAP Radar Data Model

Primary snapshot (target range gate)
x0 E_ 0 a! E v (] , [ ) x Cov_ 0 a! R x
SNR (dB)
Secondary snapshots (target-free range gates for covariance estimation) Noise Jamming Clutter
x1 , x 2 , - , x K E_ k a! 0 x Cov_ k a! R x
Assumptions
Target
Multivariate Gaussian Target only in primary snapshot Common interference covariance matrix
Radar Data and Interference Estimation

Radar data cube
T T T
Pulses
Estimate interference using this data (training region)
Elements
T = pulse repetition interval z = A/D sampling period
Rangegates
z z z z
The degrees of freedom (DOF) problem:

More DOF requires more computation O(DOF3) More DOF requires more training data In data limited environment, increasing DOF can degrade performance
Reduced DOF STAP approaches are required

Outline
Introduction STAP basics Partially adaptive STAP architectures STAP CFAR detection STAP parameter estimation Multidisciplinary STAP perspective Summary
Reduced-Dimension STAP Architecture

Data cube
Front-End Filtering Apply STAP Weights Detections
Reduced dimension space
Preprocessor
Estimate Interference
Compute STAP Weights
Beam Angle & Target Doppler Selection
Compute Steering Vectors
Preprocessing may involve beamforming and/or Doppler

filtering
Reject some interference nonadaptively Adapt on small number of preprocessor outputs
Taxonomy of STAP Architectures

Pulse Element Doppler bin Element
Spatial filtering Doppler filtering
Element-Space Pre-Doppler
Element-Space Post-Doppler
Spatial filtering
Beam
Beam-Space Pre-Doppler
Beam Doppler bin
Doppler filtering
Beam-Space Post-Doppler
Pulse
STAP algorithms classified by domain in which

adaptivity occurs There are performance differences between algorithms

Partially Adaptive STAP Clutter Rank

What is clutter DOF here? Preprocessor
N Elements M Pulses
T=FG
Reduced Dimension
Ds Spatial DOF Dt Temporal DOF
Output
STAP

Separable processors easily implemented with cascade of beamformer and Doppler filter Toeplitz structures represent equivalent subaperture filtering in space and/or time Judicious preprocessor design can lessen required DOF after preprocessor MIT Lincoln Laboratory
Duality
Beamspace Pre-Doppler Element-space Post-Doppler
Element #1 Pulse #1 Space Pulse #2 Pulse #2 Element #4
Element #1 Pulse #1
Element #4
d
Space
Pulse #3 Time
Pulse #3 Time
Effectively combine displaced spatial subapertures from different pulses
Effectively combine displaced temporal subapertures from different elements
Beamspace Post-Doppler Clutter Rank

Example: N=4 elements, M=3 pulses, F=1 Ds=3, Dt=2 subaperture beams
Element #1 Pulse #1 Element #4 d Space Pulse #2 T Each subaperture processed with 2 element, 2 pulse subaperture filter
Pulse #3 Time
Rank(Rc) = Ds + (Dt-1)F = 4
Implicit subaperture filters can be formed with

Uniform weighted filters spaced at nominal resolution Ideal sum and difference filters (space and/or time)
Example: Post-Doppler Sum-Delta STAP

Useful for backfitting existing
Sum / Difference Beamforming
Pulse Data
monopulse radars Need more than two spatial DOF (beams/subapertures) for
Jammer nulling Simultaneous clutter cancelling and angle estimation
Doppler FFT(s)
Doppler FFT(s)
Doppler filter bank design is

STAP weight calculation and filtering (4 DOF)
Output Doppler Bins
important

Adjacent bin (uniform) PRI-staggered Sum-Delta tapers
Two Step Nulling

Sequential Rejection of Jamming then Clutter
Step 1
N Elements M Pulses
Step 2
B Beams M Pulses
Adaptive Beamforming Jammer Nulling
Beamspace
STAP
Clutter Nulling
CFAR Detection and Metrics
Jammer Training
Clutter Training
Lessens total DOF required for STAP Requires training data free of mainlobe clutter for Step 1
Beyond the horizon range gates in low PRF Doppler filter away from mainlobe clutter
Beamspace pre- or post-Doppler STAP clutter nulling

A Hypothetical Airborne Radar Problem

100 Target Clutter Jamming
80 70 Required SINR Improvement (dB) 60 50 40 30 20 10 0 50 100 150 Range (nmi) 200 250 Coherent SNR gain Additional rejection required from STAP
Input SNR (dB)
50
-50 20 0 Required for detection
SINR (dB)
-20 -40 -60 -80 Input
Radar altitude = 25 kft Heavy land clutter Strong sidelobe jamming

100 150 200 250
50
Range (nmi)
Displaced Phase Center Antenna (DPCA) Processing -- Predecessor to STAP

d
Transmit Pulse #1 Receive Pulse #1
Distance
Element / subaperture phase center Transmit phase center Receive phase center Equivalent monostatic phase center
Transmit Pulse #2 Receive Pulse #2
DPCA Condition 2vT / d = 1

Slope = velocity Time
DPCA: Subtract clutter signals from same equivalent monostatic phase center for perfect clutter cancellation
Another DPCA Viewpoint

d
Pulse #1
Distance
Clutter signal on nth element, mth pulse has phases commensurate with effective position dnm = (n+mF)d = (n+m)d
Pulse #2
Pulse #3
Identical clutter signals for elements, pulses where (n+m) = constant
Time
DPCA Condition F = 2vT / d = 1

DPCA subtracts signals with same effective position for perfect (ideally) clutter cancellation
Displaced Phase Center Antenna Processing (DPCA)

Principle Block Diagram
Space A two element, two pulse space-time filter
Tr
+ -
Tr
+
2Tr
Time
7
+
Doppler FFT
0 1 w! 1 0
Choose PRF to satisfy the DPCA Condition (F!)
2v fr ! d
d vTr ! 2
Subtract signals from same effective phase center for perfect clutter cancellation
F (] , [ ) ! w H v ! e j 2T] e j 2T[
DPCA filter produces a null along the F! clutter ridge ]![
Array effectively moves one element spacing with each PRI
Example DPCA Canceller Response
0 0.4 -5 -10 Relative Power (dB) -15 -20 -25 -30 -35 -40 -0.4 -0.2 0 0.2 Spatial Frequency 0.4
Temporal Frequency
0.2
Deep null along F! clutter ridge Doppler cuts are two-pulse canceller responses Performance depends only on true target velocity
-0.2
-0.4
DPCA Issues
Advantages Simple, straightforward processing chain Can be implemented with subaperture beams, sum and difference beams Disadvantages Requires PRF matched to platform velocity Requires precise element pattern matching to get cancellation over whole ridge Velocity and array axis misalignment degrades performance No inherent provision to suppress clutter and jamming simultaneously No inherent provision to adapt to intrinsic clutter motion
Solution: STAP
Sum/Delta DPCA Implementation

1 Amplitude Sum / Difference Beamforming 0.5 0 -0.5 -1 1 DPCA Canceller Amplitude 0.8 0.6 0.4 0.2 0 2 4 6 8 10 12 Element Number 14 16 18 Left Right
DPCA Beamforming Left Right
T
+ -
Doppler FFT
Equivalence Between 7( Beams and Shifted Subaperture Beams

Example 1 Amplitude 0.5 0 -0.5 Matrix Beamformer -1 1 0.8 Amplitude 0.6 0.4 0.2 0 2 4 6 8 10 12 Element Number 14 16 18 Left Right
Sum / Difference Beamforming
7j(
7j(
Left subaperture
Right subaperture
Outline
Introduction STAP basics

Partially adaptive STAP architectures
STAP CFAR detection STAP parameter estimation Multidisciplinary STAP perspective Summary
Multibin Post-Doppler Performance

5 0 5 10
OPTIMUM
SINR LOSS (dB)
15
1Bin
16 elements 16 pulses Heavy clutter

(CNR = 40 dB)
20 25 30 35 40 45 50 0 RELATIVE VELOCITY (m/s)
2Bin 3Bin 4Bin
50
Near optimum performance with only 48 = 3 16 DOF

A fraction of optimum STAPs 256 DOF
Outline
Introduction STAP basics Partially adaptive STAP architectures

STAP CFAR detection
STAP parameter estimation Multidisciplinary STAP perspective Summary
Adaptive Detection Problem
)Bd( REWOP TUPTUO
081 571 071 ATAD POTNIATNUOM
DLOHSERHT NOITCETED
EVITPADANON
EVITPADA
)mk( EGNAR
561 061 551 051 541 01 01 02 03 0
Signal/Noise Statistics Affected by Adaptivity

H0 : H1 :
z= n z = bv+n
INPUT
ADAPTIVE DETECTOR
OUTPUT
H1
THRESHOLD
H0
N DIMENSIONAL (Complex)
1 DIMENSIONAL (Real)
Outline
Introduction STAP basics Partially adaptive STAP architectures STAP CFAR detection STAP parameter estimation
Multidisciplinary STAP perspective Summary
STAP Estimation Problem

0.5 0.4 0.3 TEMPORAL FREQUENCY 0.2 SINR (dB) 0.1 0 0.1 0.2 0.3 0.4 0.5 0.5 0 SPATIAL FREQUENCY 0.5 16 14 12 10 8 6 4 2 0 2
8 elements 8 pulses Heavy clutter

(CNR = 50 dB)
Uncertainty indicated by error ellipses (95% confidence) Angle-Doppler estimation a joint problem with STAP
Outline
Introduction STAP basics Partially adaptive STAP architectures STAP CFAR detection STAP parameter estimation Multidisciplinary STAP perspective
Summary

STAP Tutorial

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Space-Time Adaptive Processing (STAP) for Airborne Radar

STAP Tutorial-1 JW 1/12/2012

MIT Lincoln Laboratory

STAP Tutorial-2 JW 1/12/2012

MIT Lincoln Laboratory

STAP Tutorial-3 JW 1/12/2012

MIT Lincoln Laboratory

Space-Time Adaptive Processing (STAP)

Two-dimensional filtering required to cancel interference Space-Time Adaptive Processing

Radar Signal Processing Chain

Conventional (nonadaptive) radar

CFAR Detection & Metrics

Tracking & Display

Adaptive radar (example architecture)

STAP Tutorial-5 JW 1/12/2012

MIT Lincoln Laboratory

Airborne radar clutter

Jamming issues Generalized sidelobe

STAP Tutorial-6 JW 1/12/2012

MIT Lincoln Laboratory

Interfering (clutter, jamming) signal locations not precisely

Let the signal processing adapt to the observed data!

STAP Tutorial-7 JW 1/12/2012

STAP Tutorial-8 JW 1/12/2012

MIT Lincoln Laboratory

Pulse Doppler Data Collection

M Time Range Samples at same range gate

M Pulse Number (Slow time)

Baseband Quadrature Sampling

N 1 1 Range Gate (Fast time) L 1

STAP Tutorial-9 JW 1/12/2012

MIT Lincoln Laboratory

Pulse Doppler Radar Datacube

Antenna Element (receiverchannel)

The snapshot for space-time processing (single range gate)

Pulse Number (slow time)

STAP Tutorial-10 JW 1/12/2012

MIT Lincoln Laboratory

Ground Clutter Characteristics

Platform-induced coupling between clutter angle and

Strength of clutter signal: CNR

Power distribution along clutter locus

Intrinsic clutter motion

Width of clutter locus

STAP Tutorial-11 JW 1/12/2012

MIT Lincoln Laboratory

A Hypothetical Radar Problem

Input SNR (dB)

-50 20 0 Required for detection

-20 -40 -60 -80 Input

Heavy land clutter Strong sidelobe jamming

MIT Lincoln Laboratory

Airborne Radar Geometry

x Clutter Doppler frequency

Clutter spatial frequency

MIT Lincoln Laboratory

Scan angle = 0 deg

IsoDoppler and IsoAngle contours are identical

STAP Tutorial-14 JW 1/12/2012

MIT Lincoln Laboratory

More Clutter IsoContours

Scan angle = 90 deg

STAP Tutorial-15 JW 1/12/2012