The regular algorithms of target detection and tracking in image domain are very sensitive to the false alarm rate, and the real time performance of target detection and tracking is limited with high false alarm rate. In order to reduce the false alarm rate of original target detection and improve the real time performance, an algorithm of low-speed moving target detection of single frame image based on Doppler shift estimation is proposed. Through transmitting LFM plus pair signal which is non-sensitive to the Doppler shift, the influence on image by Doppler shift can be ignored. But during the detection in image domain, the Doppler shift of target echo is used to remove static targets and clutter highlights. The false alarm rate of moving target detection is reduced based on single frame data, the moving target detection is achieved through a single frame image to make a good foundation for target tracking later. First, the CFAR determination in image domain is carried out in the algorithm. Then, the Doppler shift of the beamforming signal at the highlights detected is estimated through time-domain broadband beamforming and complex correlation frequency measurement. The static targets and clutter highlights are removed effectively through single frame image. In order to improve the performance of time-domain broadband beamforming, the filter coefficients are designed by second order cone programming. The 0.01 times sampling point of the fractional delay is achieved by a 9-order FIR filter and the estimation accuracy of the Doppler shift is improved. The validity of the proposed method is verified by the computer simulation and pool experiment.
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