Radar technology was developed to detect distant targets.The missile-borne radar processes echo signals to achieve the speed measurement and ranging of moving targets.The “long distance,low observable and high speed maneuvering” of weak moving targets make it difficult for traditional detection methods to identify,detect and track them.In order to improve the detection ability of such targets,signals are often be integrated.However,due to the movement of the target,the across range unit effect and Doppler frequency migration effect will be produced in the long-time integration of signal.The echo model construction of rectilinearly moving targets with uniform velocity and acceleration is studied,and the items that cause the ARU (across range unit) effect are analyzed.To analyzed the effect of the range walk compensation,the simulation of first-order and second-order Keystone algorithm is compared.The CZT-IFFT (Chirp-Z transformation-inverse fast fourier transform) method is selected to realize the second-order Keystone algorithm,correcting the range curvature and range walking,and the signal-to-noise ratio gain of different correction methods are compared.

In indoor anti-terrorism combats,a single-mode unmanned aerial vehicle (UAV) cannot adapt to complex terrain and is easily destroyed.Aiming at this problem,a small UAV which can bounce on the ground-Scyther, is proposed.The composition,structure and main parameters are firstly given.Then,the main algorithms are explained,and the feasibility of the scheme is analyzed.A combination of coaxial twin-rotor and jumping UAV are used on Scyther.When approaching the target,the coaxial twin-rotor pops up from the main body and sticks to the high position.The camera mounted on it provides a monitoring field of view.The attitude of UAV is controlled through the momentum wheel,whose path is planned using improved ant colony algorithm.Using distributed context-aware algorithm,the UAV’s trajectory will be difficult to predict within the enemy’s visible range,thereby increasing the probability of getting close to the target.Compared with traditional UAVs,Scyther can adapt to a variety of complex terrains,can be controlled remotely, and has the advantages of small size,fast speed,low power consumption,and strong maneuverability.It is suitable for both single and cluster combats,thus is very beneficial for indoor anti-terrorism combats.In addition,Scyther can be equipped with a variety of warheads for different mission requirements,and is applicable for extensive scenarios.