High Frequency Surface Wave Radar Research Articles

High-Frequency Surface Wave Radar Current Measurement Corrections via Machine Learning and Towed Acoustic Doppler Current Profiler Integration

High-Frequency Surface Wave Radar Current Measurement Corrections via Machine Learning and Towed Acoustic Doppler Current Profiler Integration

Characteristics of Spring Sea Surface Currents near the Pearl River Estuary Observed by a Three-Station High-Frequency Surface Wave Radar System

The processes of ocean dynamics are complex near the Pearl River Estuary and are not clear due to a lack of abundant observations. The spatial characteristics of the spring sea surface currents in the adjacent waters of the Pearl River Estuary were analyzed using the current data observed by a three-station high-frequency surface wave radar system (HFSWRS). Compared with the two-station HFSWRS, the deviation of current velocity and direction observed by the three-station HFSWRS from the underway measurements decreased by 42.86% and 38.30%, respectively. The analyzed results show that the M2 tidal current is the dominant current among all the tidal constituents, followed by K1, with angles of inclination ranging from 130° to 150°. The tidal flow is dominated by northwest–southeast back-and-forth flow. In the southern part of the observed area, which is far from the coastline, the tidal current ellipses exhibit a circular pattern. The prevalent tidal current type in this region is irregularly semi-diurnal, and the shallow water constituents also have a significant effect. The tidal energy in the adjacent waters of the Pearl River Estuary is affected by potential energy flux and kinetic energy flux. As the water depth and currents velocity increase in the southeast direction, the tidal energy flux increases. In the nearshore zone, the direction of tidal energy flux varies along the coastline. The changes in the residual current within the observed area are correlated with the sea surface wind field. Based on the high-precision sea surface current observed by the three-station HFSWRS, the characteristics of the ocean dynamic processes near the Pearl River Estuary are analyzed comprehensively, which provides important reference and confidence for the application of the developing new radar observing network with about 10 radar stations near the Pearl River Estuary.

Submesoscale Short-Lived Eddies in the Southwestern Taiwan Strait Observed by High-Frequency Surface-Wave Radars

Surface currents obtained from the high-frequency surface-wave radars (HFSWRs) installed along the coast of Fujian Province are utilized to characterize submesoscale eddies in the southwestern Taiwan Strait from 29 January to 26 March 2013. The algorithm based on vector geometry (VG) has been applied to datasets and a total of 414 (161 anticyclonic and 253 cyclonic eddies) were obtained. Eddies with both rotations had a relatively short lifespan (≤3.7 h), and their radii were in the range of 5–22.5 km. Eddies with a lifespan of over 30 minutes were more likely to occur north of the Taiwan Strait shoals and move eastward or northeastward. The deviation of moving directions of eddies with a moving distance of more than 20 km was within 18°. Moreover, eddies could hardly hold their original forms with cyclones extending in the east-west and compressing in the north-south direction, and anticyclones were the opposite. The vorticity and strain rate were proportional to the square of the energy intensity (EI). This study shows that the array HFSWRs have a strong capability to observe short-lived submesoscale eddies.

Ship Formation Identification with Spatial Features and Deep Learning for HFSWR

Ship detection has been an area of focus for high-frequency surface wave radar (HFSWR). The detection and identification of ship formation have proven significant in early warning, while studies on the formation identification are limited due to the complex background and low resolution of HFSWR. In this paper, we first establish a spatial distribution model of ship formation in HFSWR. Then, we propose a cascade identification algorithm of ship formation in the clutter edge. The proposed algorithm includes a preprocessing stage and a two-stage formation identification stage. The Faster R-CNN is introduced in the preprocessing stage to locate the clutter regions. In the first stage, we propose an extremum detector based on connected regions to extract suspicious regions. The suspicious regions contain ship formations, single-ship targets, and false targets. In the second stage, we design a network connected by a convolutional neural network (CNN) and an extreme learning machine (ELM) to identify two densely distributed ship formations from inhomogeneous clutter and single-ship targets. The experimental results based on the factual HFSWR background demonstrate that the proposed cascade identification algorithm is superior to the extremum detector combined with the classical CNN algorithm for ship formation identification. Meanwhile, the proposed algorithm performs well in weak formation and deformed formation identification.

Target Detection Method for High-Frequency Surface Wave Radar RD Spectrum Based on (VI)CFAR-CNN and Dual-Detection Maps Fusion Compensation

This paper proposes a method for the intelligent detection of high-frequency surface wave radar (HFSWR) targets. This method cascades the adaptive constant false alarm (CFAR) detector variability index (VI) with the convolutional neural network (CNN) to form a cascade detector (VI)CFAR-CNN. First, the (VI)CFAR algorithm is used for the first-level detection of the range–Doppler (RD) spectrum; based on this result, the two-dimensional window slice data are extracted using the window with the position of the target on the RD spectrum as the center, and input into the CNN model to carry out further target and clutter identification. When the detection rate of the detector reaches a certain level and cannot be further improved due to the convergence of the CNN model, this paper uses a dual-detection maps fusion method to compensate for the loss of detection performance. First, the optimized parameters are used to perform the weighted fusion of the dual-detection maps, and then, the connected components in the fused detection map are further processed to achieve an independent (VI)CFAR to compensate for the (VI)CFAR-CNN detection results. Due to the difficulty in obtaining HFSWR data that include comprehensive and accurate target truth values, this paper adopts a method of embedding targets into the measured background to construct the RD spectrum dataset for HFSWR. At the same time, the proposed method is compared with various other methods to demonstrate its superiority. Additionally, a small amount of automatic identification system (AIS) and radar correlation data are used to verify the effectiveness and feasibility of this method on completely measured HFSWR data.

Joint Analysis and Morphological Characterization of HFSWR Echo Properties during Severe Typhoon Muifa

Investigating the dynamic evolution process of the ocean and ionosphere in sudden sea conditions poses a challenging problem. To address this objective, this study utilizes actual data from high-frequency surface wave radar (HFSWR) to analyze, validate, summarize, and characterize the echo properties of the ocean and ionosphere during the severe Typhoon Muifa. By employing the short-time Fourier transform (STFT) method, the HFSWR ocean and ionosphere echoes stimulated by typhoon-induced gravity waves are observed, and the joint gravity wave features of the ocean and ionosphere echoes at different time scales are extracted. Additionally, the phase-space reconstruction method is employed to characterize the dynamical evolution of the joint gravity wave features in higher-dimensional space. Furthermore, the chaotic dynamics behavior of the joint gravity wave features is analyzed using the largest Lyapunov exponents. By combining the gravity wave features with chaotic dynamics, this study introduces a method to characterize the joint gravity wave features. The extraction of joint gravity wave features in HFSWR echoes stimulated by typhoons, along with the construction of a chaotic characterization scheme for the gravity wave features, provides an innovative approach and a solid technical foundation for studying the ocean and ionosphere using HFSWR under sudden sea conditions.

Improved Main Lobe Cancellation Method for Suppression Directional Noise in HFSWR Systems

High frequency surface wave radar (HFSWR) has been successfully developed for early warning, especially for vessel target detection. However, the system’s performance is consistently constrained by external environmental noise, particularly directional noise, which presents a new problem for HFSWR. Anisotropic directional noise has complex behavior, and its noise level is generally increased by 10 to 15 dB compared to traditional noise floor level. Suppressing varying directional noise and exploring obscured targets are challenging tasks for HFSWR. In this paper, a novel algorithm based on angle-Doppler joint multi-eigenvector synthesis, which considers the angle-Doppler map of radar echoes, is adopted to analyze the characteristics of the directional noise. Given the measured data set, we first analyze the directional noise-spatial correlation. Then, an algorithm based on sliding main lobe cancellation (SL-MLC) based on a sliding single-notch space filter (SSNSF) is proposed to block target components and get training data that contains precise directional noise information. Finally, the method is examined by measured data, and the results indicate the method has better performance for directional noise than the compared method.

Extraction of Weak Harmonic Target Signal from Ionospheric Noise of High Frequency Surface Wave Radar

Extraction of Weak Harmonic Target Signal from Ionospheric Noise of High Frequency Surface Wave Radar

Linear Frequency Modulation and Orthogonal Code Modulation for Co-Located Multiple-Input Multiple-Output High-Frequency Surface Wave Radar

A high-frequency surface wave radar (HFSWR) is the only sensor that provides inexpensive surveillance for up to 200 nautical miles (NM) of the exclusive economic zone in the 3–5 MHz band. However, because of its long wavelength, its angular resolution is low. Multiple-input multiple-output (MIMO) technology is an attractive method to improve angular resolution. This paper proposes MIMO waveforms and their processing that can be used in HFSWR systems. This dual modulation method applies linear frequency modulation to each pulse and orthogonal polyphase codes for a few consecutive pulses to enable MIMO processing. The proposed method can effectively remove the correlation of mutual interference and exhibits excellent performance in removing multiple-time-around echoes.

Antenna Pattern Calibration Method for Phased Array of High-Frequency Surface Wave Radar Based on First-Order Sea Clutter

The problem of accurate source localization has been an area of focus in high-frequency surface wave radar (HFSWR) applications. However, antenna pattern distortion (APD) decreases the direction-of-arrival (DOA) estimation performance of the multiple signal classification (MUSIC) algorithm. Up to now, limited studies have been conducted on the calibration of antenna pattern distortion for phased arrays in HFSWR. In this paper, we first analyze the effect of APD on the performance of the MUSIC algorithm through estimation of accuracy and angular resolution. We demonstrate that using the actual pattern (or say APD) can improve DOA estimation performance. Based on this proposition, we propose a novel iterative calibration method that employs the first-order sea clutter data and can jointly estimate DOA and APD in an iterative way. To obtain available calibration points, we introduce the extraction methods of the first-order sea clutter spectrum and single-DOA spectrum points. Meanwhile, in each iteration, the Beamspace MUSIC algorithm and artificial hummingbird algorithm (AHA) are utilized to estimate the DOA and APD, respectively. Numerical results reveal a good coincidence between the actual pattern and the estimated APD. We also apply this method to process the experimental data of HFSWR. We obtain the APD vector of the real phased array and improve the direction-finding performance of several real ship targets using this vector. Both numerical and experimental results prove the correctness of our proposed calibration method.

Chaotic Properties of Gravity Waves during Typhoons Observed by HFSWR

The gravity wave produced by typhoons has been an essential subject of study that concerns numerous researchers. The damage to human beings and infrastructure in coastal regions caused by typhoon disasters annually is very severe, and analyzing gravity wave variation is a reliable approach to research typhoons. High-frequency surface wave radar (HFSWR) as an over-the-horizon radar can achieve real-time monitoring of an extensive sea area and space. This paper derived the gravity wave perturbation spectrum by handling high-frequency surface wave radar data during typhoons. The gravity wave spectrum data were examined by applying the chaos examination approaches of the Lyapunov exponent and phase-space reconstruction to the gravity wave spectrum data after processing and extraction. The reconstructed phase space had a specific shape in a certain direction, with the maximum Lyapunov exponent greater than zero. The gravity wave spectrum data are suggested to have chaotic properties through two chaos examination approaches. This paper demonstrated that the gravity waves observed by a radar have chaotic properties through the measurement data of HFSWR. While the chaotic properties suggest that observed gravity wave data are predictable in the short term, they are unpredictable in the long term. Predicting gravity wave data is important for understanding the chaotic properties of the atmosphere and for future gravity wave prediction.

Time-Frequency Characteristics of Ionospheric Clutter in High Frequency Surface Wave Radar during Typhoon Muifa

The ionospheric clutter in High Frequency Surface Wave Radar (HFSWR) is the reflection of electromagnetic waves from the ionosphere back to the receiver, which should be suppressed as much as possible for the primary purpose of target detection in HFSWR. However, ionospheric clutter contains vast quantities of ionospheric state information. By studying ionospheric clutter, some of the relevant ionospheric parameters can be inferred, especially during the period of typhoons, when the ionospheric state changes drastically affected by typhoon-excited gravity waves, and utilizing the time-frequency characteristics of ionospheric clutter at typhoon time, information such as the trend of electron concentration changes in the ionosphere and the direction of the typhoon can be obtained. The results of the processing of the radar data showed the effectiveness of this method.

Overview of ionosphere clutter suppression for high frequency surface wave radar (HFSWR) system: Observation, approaches, challenges and open issue

AbstractA great interest has been directed towards high frequency surface wave radar (HFSWR), because it is applied as long‐range early warning and real‐time measurements of sea surface condition tools in maritime surveillance. However, the unwanted reflection from the ionosphere (ionosphere clutter) damages the consistent detection performance of HFSWR. Target detection and environmental information extraction from radar echoes are primarily determined by the extent to which the medium contaminates the transmitted signals. Although the ionospheric signal corruption mechanisms are complex and various, a number of eliminating contamination approaches have been developed in the last 50 years. The purpose of this paper is providing an overview of the past and current clutter theoretical models and clutter suppression techniques for HFSWR system. The experimental results involved in the complex long‐term ionosphere observation and ionosphere echo analysis are first discussed. Special attention is paid to the correlation between the signal degradation sources and eliminating clutter techniques. Furthermore, the clutter suppression methods are classified based on the design idea. The specific clutter suppression methods as well as its operation principle are briefly introduced. Finally, several research trends and open issues are presented, with emphasis on the need for proactively controlling the radar design cost and generally agreed‐upon standards.

DOA Estimation of Multiple Coherent Targets Using Weight Vector Orthogonal Decomposition in TDM-MIMO HF-Radar

In recent years, MIMO high-frequency surface wave radar (MIMO-HFSWR) plays an increasingly important role in sea surveillance because of its wide-area surveillance capabilities. In signal processing, the coherent targets with the same distance and speed can only be distinguished in the angle dimension. However, HF radar’s angular resolution is poor because of the restrictions of the aperture, which causes aliasing of targets on the range–angle (RA) spectrum. Traditional super-resolution algorithms, such as MUSIC, are also inapplicable because of the targets’ coherence. Therefore, the spatial smoothing algorithm is usually used to realize the decoherence of echo at the cost of array aperture. The loss of array aperture makes the algorithm fail when there are too many targets in the echo. Aiming at this problem, this paper proposes an iterative calculation method (iterative calculation via weight vector orthogonal decomposition, IC-WORD) to estimate the angle of multiple coherent targets. Through the verification of simulation, it is proved that IC-WORD has better performance than the traditional spatial smoothing algorithm. More specifically, IC-WORD can correct spectral peak shift, improve angle measurement accuracy, and still operate stably under the condition of multiple coherent targets. This paper also uses the measured data from one of the most advanced HFSWR stations in China to validate the algorithm, which makes the paper have strong practical significance.

Measurement and Analysis of Antenna Pattern for MIMO HF Surface Wave Radar

The Multiple Input Multiple Output (MIMO) is a popular technology applied in radar field for its ability to generate virtual elements, which ensures radar miniaturization in the case of obtaining a large array aperture especially for high frequency surface wave radar (HFSWR). Antenna pattern distortions caused by environmental obstacles seriously conta-minate the manifold of MIMO synthesized array, resulting in inaccurate direction-of-arrival (DOA) estimation. In this letter, MIMO antenna patterns including transmitters and receivers are initially measured by shipborne transponder and their effect on static beam patterns are analyzed. The comparison between ideal beam patterns and actual beam patterns reveals that the transmit antenna pattern distortion has an obvious impact on weakening the effect of MIMO synthesized array. Moreover, the expe-rimental results using multiple signal classification (MUSIC) algorithm demonstrate that the measured antenna patterns (MAPs) are effective for MIMO DOA estimation improvement.

APO-ELM Model for Improving Azimuth Correction of Shipborne HFSWR

Shipborne high-frequency surface wave radar (HFSWR) has a wide range of applications and plays an important role in moving target detection and tracking. However, the complexity of the sea detection environment causes the target signals received by shipborne HFSWR to be seriously disturbed by sea clutter. Sea clutter increases the difficulty of azimuth estimation, resulting in a challenging problem for shipborne HFSWR. To solve this problem, a novel azimuth correction method based on adaptive boosting error feedback dynamic weighted particle swarm optimization extreme learning machine (APO-ELM) is proposed to improve the azimuth estimation accuracy of shipborne HFSWR. First, the sea clutter is modeled and simulated. Then, we study its characteristics and analyze the influence of its characteristics on the first-order clutter spectrum and target detection accuracy, respectively. In addition, the proposed improved particle swarm optimization (PSO) and adaptive neuron clipping algorithm are used to optimize the input parameters of the ELM network. Then, the network performs error feedback based on the optimized parameter performance and updates the feature matrix, which can give a minimum clutter-error estimation. After that, it iteratively trains multiple weak learners using the adaptive boosting (AdaBoost) algorithm to form a strong learner and make strong predictions. Finally, after error compensation, the best azimuth estimation results are obtained. The sample sets used for the APO-ELM network are obtained from field shipborne HFSWR data. The network training and testing features include the wind direction, sea current, wind speed, platform speed, and signal-to-clutter ratio (SCR). The experimental results show that this method has a lower root-mean-square error than the back-propagation neural network and support vector regression (SVR) azimuth correction methods, which verifies the effectiveness of the proposed method.

Unambiguous Wind Direction Estimation Method for Shipborne HFSWR Based on Wind Direction Interval Limitation

Due to its maneuverability and agility, the shipborne high-frequency surface wave radar (HFSWR) provides a new way of monitoring large-area marine dynamics and environment information. However, wind direction ambiguity is problematic when using monostatic shipborne HFSWR for wind direction inversion. In this article, an unambiguous wind direction measurement method based on wind direction interval limitation is proposed. The two first-order spectral wind direction estimation methods are first presented using the relationship between the normalized amplitude differences or ratios of the broadened Doppler spectrum and the wind direction. Moreover, based on the characteristic of a small wind direction estimation error in a large included angle between the spectral wind direction and the radar beam, the wind direction interval is obtained by counting the distribution of radar-measured wind direction within this included angle. Furthermore, the eliminated ambiguity of wind direction is transformed to judge the relationship between the wind direction interval and the two curves, which represent the relationship between the spreading parameter and the wind direction. Therefore, the remote sensing monitoring of ocean surface wind direction fields can be realized by shipborne HFSWR. The simulation results are used to evaluate the performance of the proposed method and the multi-beam sampling method for wind direction inversion. The experimental results show that the errors of wind direction estimated by the multi-beam sampling method and the equivalent dual-station model are large, and the proposed method can improve the accuracy of wind direction measurement. Three widely used wave directional spreading models have been applied for performance comparison. The wind direction field measured by the proposed method under a modified cosine model agrees well with that observed by the China-France Oceanography Satellite (CFOSAT).

Increasing Maritime Safety and Security in the Off-Shore Activities with HFSWRs as Primary Sensors for Risk Assessment

This paper demonstrates the benefits that high-frequency surface wave radars (HFSWR) are bringing to maritime safety and security in off-shore activities at over the horizon distances. As a primary means for remote sensing of marine and maritime environment, a network of HFSWRs is deployed in the western part of the Gulf of Guinea and covers an area of over 100 km2. Alongside HFSWRs, usual maritime sensors are utilized for vessel tracking as well, however, only satellite automatic identification systems (SAIS) and land automatic identification systems (LAIS) are capable of covering over the horizon distances. Unfortunately, both LAIS and SAIS require vessel cooperation in order to provide any data, which is often abused by vessels conducting illegal activities. Here, analysis is done in which AIS and HFSWR data are compared in order to identify a pattern of behavior of non–cooperative vessels (vessels with onboard AIS devices turned off) so a proper risk assessment may be achieved. It is shown that typical patterns can be easily recognized for two illegal activities which plague the waters where this study is conducted. Those illegal activities are oil bunkering and piracy, both conducted off-shore and out of the reach of the usual coastal sensors such as X or S band radars. Furthermore, tracks created whilst conducting illegal activities are easily distinguishable from others in the overall operational picture. Additionally, it should be pointed out that numerous vessels are switching off their AIS devices when they leave the coastal regions in order to avoid detection by pirate vessels. This behavior can also be easily recognized and must not be mixed with the illegal activities mentioned above.

Spatial-Time-Frequency Information Collaborative Learning for Ionosphere Clutter Suppression in HFSWR

Eliminating the ionosphere clutter is particularly important for high frequency surface wave radar (HFSWR). This article fills the gap between the growing interests in the application of deep learning network and the new approach of ionosphere clutter suppression. We present a dynamic collaborative learning strategy to simultaneously learn the spatial-time-frequency (STF) information of multi-component radar echoes for suppressing the ionosphere clutter. For capturing the multi-dimension information, we design a multi-channel time-frequency characteristic learning network (MTF) and a multi-channel spatial characteristic learning network (MS) to sufficiently learn the characteristics of multi-component radar echoes according to the divided regions. The proposed methodology not only suppresses the ionosphere clutter but also preserves the targets from contaminated region after the suppression process. The results presented in the letter allow demonstrating how the proposed methodology outperforms the approaches taken as reference in all the cases under study.

An Evaluation Method of Ship-Tracking Algorithms for High-Frequency Surface Wave Radar considering High Maneuvers Generated by the MMG Model

Thelong-distance coverage of high-frequency surface wave radar (HFSWR) has promoted it as an enormous means for ship monitoring on the country’s maritime territory. Since it is a primaryradar, noncooperative targets can also be detected. However, this radar also has a shortcoming of low spatial and temporal resolutions due to the narrow available bandwidth in the HF band. This limitation can reduce the performance of ship detection and tracking, especially for highly maneuvering ships. This paper proposes a new method to assess the tracking algorithm for a high-maneuvering ship. The absence of a high-maneuvering plot in the AIS data and existing analytical models are replaced by the MMG model run on MANSIM software. The linear, turning, and zigzag motions are generated and used to evaluate the tracking algorithms. The Monte Carlo simulation was conducted regarding the degradation of spatial resolution in the higher radial range. The tracking performance was analyzed by calculating the RMSE of four parameters, i.e., absolute position, radial range, bearing angle, and speed. For a trial case, four tracking algorithms were evaluated, i.e., Kalman filter (KF), extended Kalman filter (EKF), unscented Kalman filter (UKF), and particle filter (PF). The evaluation results showed that the EKF tracker had a minor error for the linear track with RMSE of absolute position, radial range, bearing angle, and speed being 1.368 km, 0.526 km, 1.550°, and 0.005 m/s, respectively. Otherwise, the UKF performed slightly better than EKF for the high maneuver targets. The RMSE of absolute position, radial range, bearing angle, and speed were 1.649 km, 0.639 km, 1.919°, and 0.165 m/s, respectively. The results also ensure the applicability of the MMG model to evaluate the tracking algorithm’s performance in HFSWR.