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1.

INTRODUCTION

Modern radars generally incorporate pulse


General Forms and Properties compression waveforms to obtain the desired range
resolution while avoiding pulses having large peak
of Zero Cross-Correlation Radar powers. Pulse compression waveforms are exemplified
by the Barker, pseudorandom shift register, chirp,
Waveforms and the polyphase codes [l-31. New waveforms are
described here which have been recently investigated
for use in radar systems. Of particular interest
are multiple dissimilar waveforms having very low
sidelobes after processing. Low sidelobes are desired
KARL GERLACH, Member, IEEE to prevent the masking of weak targets in the sidelobes
FRANK R KREKSCHMER, JR, Fellow, IEEE of strong targets or clutter returns. The multiple
Naval Research Laboratory waveforms (whose number we set equal to M )are
processed by individually matched filtering, time
aligning, and summing the results.
The multiple waveforms considered here
General forns for both UW complementary and are derived from either complementary or
mneompkmentory zero croes-correlationwaveform sets are noncomplementary waveforms. Complementary
developed. Various propertks of these codes and their relatiomhip waveforms [4-91 are coded sequences (complex
(0 aero sidelobe periodk codes arc stated and proved. Also, some numbers in general) having autocorrelation functions
radar applications and prsctkal a d d e r a t i o m of using these (ACFs) (or equivalently the outputs of pulse
d e s are briefly discussed. compressors consisting of filters matched to the
coded sequences) which when time aligned and added
together, sum to zero everywhere except at the match
point. This is illustrated in Fig. 1 for M = 2.

ACF
CODE 1

ACF
CODE 2

-5

SUM
5

-0 5 10 15 M
SAMPLE NUMBER

Fig. 1. Complementary code example.

Manuscript rea5ved January 11,1990;revised March 6,1991. In [2 and 31, new multiple waveforms were
IEEE Log No. 9103621. discussed which when filtered by filters matched
to a different waveform of the set, have zero
Authors’ address: Naval Research Laboratory, Radar Division, Code
5341,Washington, DC 20375. cross-correlation response after combination of the
individual responses. These waveforms have potential
U.S.Government work not protected by U.S. copyright. applications in cancelling stationary clutter from
ambiguous ranges in a medium or high pulse-repetition
0018-9251/ws3.00@ 1992 IEEE filter (PRF) radar, and/or in reducing mutual

98 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 28, NO. 1 JANUARY 1992

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interference between radars in proximity to each other with respect to the code order and drop the mod N
that are operating in the same frequency band. notation from the subscript, thus U N + ~= U i .
This paper is an extension of that work presented Define the vectors, hk, k = O,.. . , N - 1 as
in [2, 31. Here we give general forms for both
the complementary and noncomplementary zero ho = (ao,%...,Q-i)
cross-correlation waveform sets. In addition, various hi =(~1,~2,...,a~-i,ao)
properties of these codes and their relationship to
zero sidelobe periodic codes are stated and proved. h2 = ( a 2 , a o , . . . , a ~ - i , a 0 , a i ) (5)
Also, a radar application of using these codes is
presented.
hN-1 = (aN-l,aO,al,...,aN-2)

It. DEFINITIONS where these vectors are the circular rotations of a.


Equation (4) can be rewritten as
In this section we define our nomenclature and
review the concept of periodic coded waveforms. A r,(k)=lq;hz, k = 0 , 1 , ...,N - 1 (6)
code word a is defined as a vector of length N and where T denotes the vector transpose operation.
A zero sidelobe periodic code (ZSPC) has the
a = (aO,al,---,aN-l)
property that
where a,, n = 0,1,. .. , N - 1 are the elements of
the code word. This code word modulates a carrier r p ( k )= h;hT = 0, for k # 0. (7)
frequency and is match filtered at baseband upon
If all the code elements of a ZSPC have unit
reception. The aperiodic ACF of a is given by the
amplitude, then the code is called a perfect periodic
expressions
code [l, 21.
N-1-k We now consider multiple waveforms. Define the
r,(k) = UfUi+k, k = 0,1, ..., N - 1 code matrix C as an M x N matrix of code words:
i=O

ra(-k) =
N-1-k

i=O
af+kai, k = 1,2,...,N - 1
coo
c10
CO1

c11
.”
...
c0,N-1

C1.N-1 1
where * in the superscript denotes complex
conjugation. The k = 0 ialue of r,(k) corresponds to
the match point and the k # 0 values correspond to
the right and left sidelobes of the compressed pulse.
A periodic code is one that repeats the code Let there be M code words of length N where the
word a indefinitely. Hence, if aPcis the periodic code mth code word (rn = O,l, ...,M - 1) is defined by the
associated with a then +
m lth row of C or
aPc= a o a o a ...
cm = (~rnO,~ml,~..,~m,N-l). (9)
where the symbol “0” denotes concatenation. On
We define the aperiodic cross-correlation vector (CCV)
reception, a periodic code is match filtered with its
between c, and c, as
code word. The output of the correlation process is
also periodic with a period N . Hence, the matched (mn)
ch 2, = (r-(N-i), r-(N-q,
(mn)
) (,m*n*) * ,
, r ~ m n ) , r ~ n rN-1)
peak response repeats every N unit time delays as
does the sidelobe response. We define the N point (10)
periodic ACF as
where the bold asterisk * denotes the linear
N- 1
of the sequence c, and
-
convolution operation, denotes the time reversal
r p ( k ) = xa;a(j+k)mdN, k =O,I,...,N-I.
i =O

+
Note that the i k subscript is taken modulo N . Thus
we are computing the residue of i + k with respect to
the number of subpulses contained in the code word.
For our,development, we always compute the subscript

GERLACH & KRETSCHMER GENERAL FORMS AND PROPERTIES O F ZERO CROSS-CORRELATION WAVEFORMS 99

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Using (13) we know that

m -0

m =O
Note that qi,, = 0 because riy)
= 0 for all m,n. It
is instructive to write (18) out for successive values of 1
We note that if using (19)
Nth position (1)
1 GhT = 4 1(0) + 4-(N-1) =0
M-1
C: ..,I,40,. ,o>
e m = (0~0,. (14) * T-
hoh2 - 4 2(0) + L (1)
(N-2) =0
m =O

then the code words of C form a complementary code


set. If Iqifil = lqf)l, then the summed CCV is called
"magnitude symmetric" Furthermore, if
M-1
Cc:Lem+l =o, 1#O (15)
m=O

where 0 is a vector of 2 N - 1zeros, then we call the


code words of C a zero cross-correlation code (ZCC).
In the following sections we consider codes which
are formed by concatenating the M rows of C. Thus a
code word a is formed as

111. PROPERTIES O F ZCC COMPLEMENTARY


WAVEFORMS

There is a relationship between ZCC


complementary codes and their associated periodic
code which is stated in the following theorem.
We note that every Nth equation of (20) is of the
THEOREM
1. Ifthe rows of C form a ZSPC, are +
form, hihTN = 4 C - l ) q t ) = 0, n = 1,2,...,N - 1.
a complementary code, and the summed CCV is since q 2 - l ) = o it follows that 4:) = o for n =
magnitude symmetric, then the rows of C form a ZCC ..
1,2,. ,N - 1. It is Seen that if the code words of C
Code.
are complementary then qy) = 0 for j # 0. Thus using

PROOF. Let us form the periodic code associated the first N - 1equations of (20) imply that q$ = 0 for
j = 1,2,. ..,N - 1. If the summed CCV is magnitude
with C
.
symmetric then 47) = 0 for j = 1,2,. .,N - 1. Hence
+
using the (N 1)th through (2N - 1)th equation of
(20), it follows that qi? = 0. This argument can be
Cl,N-I,C20,. ..,CM-l,N-l). (17) repeated to show that 47) = 0 for all i, j except for
The circular rotations of h~ are defined by (5). when i = j = 0. Hence the theorem follows.
Let 1 = 11N +l* where 05 12 < N and set ri?) = 0 The following two theorems can be shown using
for all m,n. It is straightforward to show that for a the same arguments:
ZSPC, 1 # 0
THEOREM 2. If C is a ZCC code and complementary
M-1 M-1
qhT = rl(zm~m+zl) + (m m + l l + l )
r-(k-j2) = 0 (18)
then C is also a ZSPC.
m =O m =O
THEOREM 3. If C is a ZCC code and a ZSPC then C
where m + 11 and m + 11 + 1 are taken modulo M. is complementary.

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Next, consider the following matrix Thus if we set n = m + I , then
K zems N-l-k
M'li
dT+ldi+k+lWN
cm CO1 cm ... C0,N-l oo...0 i=O
**. C1,N-l oo...0 (26)
c10 c11 c12
N-l-k

caug =
r(m,m+l)
-k
-
- AlW-M'mk
N di+ld7+k+lWf'1i* (27)
. ... i =O

From these equations, it can be shown that

(21)
where K is an arbitrary positive integer. This Caug
N-1-C
matrix is merely the original C matrix augmented
with an M x K block of zeros. We show the following
theorem.
THEOREM 4. If C is a ZCC code and complementary
then Caugis a ZSPC.

PROOF. It is elementary to show that if C is a ZCC N-l-k

code and complementary then Caugis a ZCC code and X d;+ld;+k+1Wf'". (29)
complementary. Hence using Theorem 2 the theorem i=O

follows Since
N-1

IV. GENERAL FORM OF ZCC COMPLEMENTARY


m =O
WAVEFORMS
for M' relatively prime to N and k # 0, it follows that
Consider the following N x N code matrix C where q t ) = q1f)k = 0 for k , l # 0. For k = 0 and 1 # 0, the
an element of C is defined by second summation in both (28) and (29) is of the same
cm;= Xmd;+lWf'mi, m, i = 0,1, ...,N - 1 (22) form as (30). Thus q f ) = qi-') = 0 for k = 0 and 1 # 0.
Hence the theorem is proven.
We note that for X = dl = d 2 . .. = d N = M' = 1
that the general form reduces to the Frank matrix
which was shown in [2] to be a ZCC complementary
d l , d2,. .., d ~ - are
l arbitrary complex numbers, and waveform. In addition, if the Lewis-Kretschmer P4
M' is an integer relatively prime to N . We show the code [l]has a length that is a square integer N 2 , and
following theorem. the elements of this code are put into square matrix
form where the concatenation of the rows generate the
THEOREM 5. The matrix C as defined by (22) is a P4 code, then it is straightforward to show that this
ZCC complementary code. code also fits the general form given by (22) and hence
is a ZCC complementary code.

V. ZCC NONCOMPLEMENTARY WAVEFORMS

In this section the following theorem is proved.


6. If C has the form
THEOREM

I
aobo
alba
aobl
albl
...
...
aObN-1
albN-1
1
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I- PRlp
b I
I--.4 ZEROS

Fig. 2 ’hnsmitted multiple codel.

and a = (ao,al,..., a ~ - l is
) a ZSPC,then the rows of C discussed. Only codes that are unit amplitude or zero
form a ZCC code. (if the code element is turned off) are considered.
These codes have the practical advantage that they
We call the code given by (31) an inner-outer code,
are energy efficient on transmit. Thus for the general
because a given inner code of subpulses represented by
form of the ZCC complementary code given by (22),
..
bo,bl,. ,b N - 1 is modulated on a pulse-to-pulse basis
we stipulate that d l , d2,. .., d ~ - must
l be on the unit
by an outer code given by aO,al,. ..,a M - 1 . circle.
PROOF. The individual code elements are given by Most radar waveforms do not have 100 percent
duty cycles but have off-times which are used to listen
cmi=ambi, m, i = O , l , ...,N - 1 . (32) for or receive the waveform. Hence the actual pulse
Using (11) and (12), it follows that train associated with the matrix C may look as shown
in Fig. 2. Here each row of C forms a pulse (or group
N-1-k
of subpulses). We define the code of the mth subpulse
(33) associated with the m + 1 row or pulse as
i=O
N-1-k cm = (cmO,Cml,...,~m,N-l)~ (37)
k > 0. Each pulse is separated by a given pulse-repetition
i=O interval (PRI,) where there are Os transmitted
Thus setting n = m + I between the end of one pulse and the next. Normally
this “off” time is greater than the pulse “on?’time. All
of the code words are transmitted in PRI, seconds.
Thereafter, they may be repeated with a period PRI,
for multiple burst processing.
k 2 0, (35) One application of the ZCC complementary
codes, which was first presented in [2 and 31 and
is also applicable to ZCC inner-outer codes, is in
removing ambiguous range radar returns for medium
or high PRF radars. An example of this for a single
burst is shown in Fig. 3 for N = 4. The waveforms
Since a is a ZSPC, are transmitted as shown in Fig. 3 according to the
rows in C,but the return signals are processed only
M-1
during the indicated processing interval in multiple
for I f0.
channels having filters matched to the indicated codes
m =O
in each PRI. That is, after transmitting CO in the
Hence q t ) and q(1i are equal to zero and the theorem processing interval, all received signals are processed
follows by filters matched to CO, c3, c2, and c1 in channels 0
to 3 respectively, and so on. The result is that channel
We note that the advantage that the 0 is matched to the first unambiguous range interval
noncomplementary ZCC waveforms have over the and rejects stationary returns (those that have almost
complementary ZCC waveforms is that the code zero Doppler shift) from the 2nd, 3rd, and 4th time
matrix does not necessarily have to be square, i.e. around range intervals. Likewise, channels 1, 2, and
M f N . Hence, there is inherently more flexibility in 3 are matched to the 2nd, 3rd, and 4th time around
transmitting and receiving these waveforms. returns and reject stationary clutter from the other
range intervals. If the waveforms are complementary,
VI. RADAR APPLICATION EXAMPLE stationary targets in the matched intervals have no
sidelobes. Note that the fill pulses c1, c2, and c3 are
In this section a radar application using the necessary for this processing scheme (as they would
complementary or inner-outer waveforms described be for any ambiguous range radar). However, if
with elements in the previous sections is briefly multiple bursts were used in a particular look direction

102 IEEE TRANSACTIONS ON AEROSPACE AND ELECTRONIC SYSTEMS VOL. 28,NO. 1 JANUARY 1992

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XMT PULSES having zero sidelobe ACFs. These ideal periodic codes
are important in themselves because the underlying
aperiodic codes usually have useful attributes such as
low sidelobes and/or good Doppler tolerance. This is
MATCH TO exemplified by the Frank, P4,and shift register codes.
CHANNEL 0 CO C, c2 C,
1 c, CO c, c,
Two general forms of the ZCCs were described.
2 c2 c, CO c, The first form consists of a sequence of dissimilar
3 c, c, c3 CO
waveforms that have the additional property of being
Fig. 3. Example of orthogonal waveform processing for N = 4. complementary. The second form consists of a
sequence of identically coded waveforms except for
N2 y MATCH POINT
an outer code that results in a different phase being
associated with each repetitive waveform.
A processing scheme using multiple waveforms
was described that utilizes the ZCCs to eliminate zero
ZERO SIDELOBES
t
Doppler ambiguous range clutter that might occur in a
+
medium or high PRF radar. For clutter having a small
~~~~ ~

Fig. 4. ACF for ZCC complementary waveforms spectral spread about zero Doppler, the nonambiguous
range clutter is reduced in a manner similar to MTI
MATCH POINl
processing. A detailed assessment of the tradeoffs, and
the ability to resolve the true range of a target is the
MN
subject of future work.
~ I D E L O Y S OF b

-
REFERENCES
ZERO SIDELOBES

4 [l] Lewis, B. L., Kretschmer, E E, Jr., and Shelton, W. W. (1986)


-(N-1) N-l Aspects of Radar Signal Processing.
Fig. 5 . ACF for noncomplementary ZCC waveforms. Norwood, MA: Artech House, 1986.
[2] Kretschmer, E E, Jr., and Gerlach, K. (1991)
Low sidelobe radar waveforms derived from orthogonal
then these fill pulses would be unnecessary for the matrices.
succeeding bursts, because the preceding single burst IEEE Transactions on Aerospace and Electronic Systems,
would provide the fill pulses for the current burst. AES-27, 1 (Jan. 1991).
For example, the matched filter response for a [3] Kretschmer, E E, Jr., and Gerlach, K. (1988)
New radar pulse compression waveforms.
single burst of ZCC complementary waveforms is Presented at the National Radar Conference, 1988.
shown in Fig. 4 and for noncomplementary ZCC [4] Golay, M. J. E. (1%1)
waveforms, in Fig. 5. From Fig. 4, we see that there Complementary series.
are no sidelobes for the ZCC complementary IRE Tranractions on Information lheory, IT-17 (Apr.
1%1),82-87.
waveforms. From Fig. 5, we observe that the sidelobes
[SI Tseng, C. C., and Liu, C. L. (1972)
are non-zero only in the first N - 1 near-in right Complementary sets of sequences.
and left sidelobes about the match point for the IEEE Transactions on Information lheory, 11-18,5 (Sept.
noncomplementary ZCC waveforms. In fact, these 1972), 644-651.
sidelobes correspond to the sidelobes of the ACF of [6] Sivaswami, R. (1978)
Multiphase complementary codes.
the codeword b times M where the sidelobes level IEEE Transactions on Information lheory, IT-24,5 (Sept.
is measured relative to the match point gain M N . 1978), 546552.
Finally, we note that for clutter having a small spectral [7] Weathers, G., and Holiday, E. M.(1983)
spread about zero Doppler, the nonambiguous range Group-complementary array coding for radar clutter
clutter can be reduced using multiple target indicator rejection.
IEEE Transactions on Aerospace and Electronic Systems,
(MTI) processing. The PRI of the MTI canceler would AES-19,3 (May 1983), 369-379.
equal PRI,. [8] Frank, R. L. (1980)
Polyphase complementary codes.
IEEE Transactions on Information lheory, IT-26 (1980),
VII. SUMMARY 641-647.
[9] Sivaswami, R. (1978)
In this paper we have described the properties Digital and analog subcomplementary sequences for pulse
of zero cross-correlation waveform codes, i.e., the compression.
cross-correlation responses sum to zero everywhere. IEEE Transactions on Aerospace and Electronic System,
AES-14, 2 (Mar. 1978), 343-350.
These codes, in turn, are related to periodic codes

GERLACH & KRETSCHMER: GENERAL FORMS AND PROPEHTIES OF ZERO CROSS-CORRELATION WAVEFORMS 103

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Karl Gerlach (M81) was born in Chicago, IL. He received his B.S. in 1972 from
the University of Illinois, Urbana, and his M.S. and D.Sc. from George Washington
University, Washington, DC, in 1975 and 1981, respectively. All degrees are in
electrical engineering.
Since 1972, he has been employed by the Naval Research Laboratory in
Washington, DC. From 1972 to 1976, he worked on experimental submarine
communications systems and from 1976 to the present he has been with the
Radar Division where his research interests include adaptive signal processing and
space-based radar.
Dr. Gerlach was the 1986 recipient of the Radar Systems Panel award.

Frank E Kretschmer, Jr. (M’64-SM77-FS8) was born in Philadelphia, PA. He


received the B.S. degree in 1957 from the Pennsylvania State University, University
Park, the M.S. degree in 1%1from Drexel Institute of Technology, Philadelphia,
PA, and the Ph.D. degree in 1970 from The Johns Hopkins University, Baltimore,
MD, all in electrical engineering.
He was employed by the Burroughs Corporation, Paoli, PA, from 1957 to 1958.
From 1958 to 1964 he was employed by Bendix Radio in ?bwson, MD, where
he was engaged in radar systems work. From 1964 to 1970 he was a Research
Associate at The Johns Hopkins University. Since 1970 he has been with the
Naval Research Laboratory, Washington, DC, where his research interests include
adaptive signal processing, clutter processing, and waveform coding.
Dr. Kretschmer is a member of Sigma Xi.

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