Xin et al.

EURASIP Journal on Advances

EURASIP Journal on Advances in Signal Processing (2022) 2022:99
https://doi.org/10.1186/s13634-022-00932-w in Signal Processing

RESEARCH Open Access

Adaptable waveform design for radar

and jammer for multi‑target using game
theoretic strategies
Fengming Xin1, Yan Wang1* , Jiawen Sun1 and Yilin Huang2

*Correspondence:
[email protected] Abstract
1
School of Computer In the environment of electronic warfare, the countermeasure between radar and
and Communication jammer has become a hot issue. Finding the solution to optimal waveforms between
Engineering, Northeastern them is very great significance. Aiming at the problem of multi-target detection in clut-
University at Qinhuangdao,
Qinhuangdao, China ter environment, the authors propose the waveform optimization method based on
2
Qinhuangdao Reliable Science signal-to-interference-plus-noise ratio (SINR) criterion for radar and jammer, respec-
and Technology Co., Ltd, tively. When radar is the dominant player, the maxmin strategy is used to establish
Qinhuangdao, China
the optimization model to optimize the radar transmission waveform. When jammer
is the dominant player, the minmax strategy is used to establish the optimization
model to optimize the jammer waveform. When dealing with random multi-target,
the authors also propose an adaptive weight method to solve the problem of summa-
tion of weighted multiple targets. Then, an improved method combined with Jensen’s
inequality for radar and jammer is proposed, respectively, which could improve the
detection performance of the radar system and reduce the computational complex-
ity of maximum SINR-based method. The simulation results show that the proposed
maximum SINR-based methods could adaptively allocate the transmission energy to
improve the performance of the radar. The energy allocation of radar and jammer is
slightly different under maxmin strategy and minmax strategy. The proposed improved
methods could output the higher SINR than the maximum SINR-based methods. Both
of the proposed methods could improve the performance of radar detecting targets.
Keywords: Electronic warfare, Multi-target, Waveform optimization, SINR

1 Introduction
Cognitive radar (CR) is a new concept for the operation of radar systems. It can adap-
tively adjust the radar transmission waveform according to the prior information such
as environment, which greatly improves the performance of radar system [1–3]. Bell [4]
first proposed a water-filling method combining with information theory, which pro-
vides a new idea for waveform optimization. Two waveform design problems of deter-
ministic target impulse response and random target impulse response were proposed
and solved. Based on the water-filling method, matched signal design in the presence
of clutter and noise has been treated in [5, 6], respectively. Moreover, they also summa-
rized the main theoretical content of matched waveform design and derived the optimal

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Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 2 of 25

waveforms based on SINR criterion and mutual information (MI) criterion in detail. In
[7–9], the optimal waveforms of orthogonal frequency division multiplexing (OFDM)
signal were designed according to the MI criterion for random extended target. The
solution to waveforms was found by an iterative algorithm, and a good target recogni-
tion effect was obtained. The proposed adaptive structure uses the reflected interference
to design OFDM signal. Improved Kalman particle filtering algorithms were proposed
in [10, 11] for target tracking and target estimation. The proposed Kalman filter-based
method could optimize the transmission waveform directly and improve the radar esti-
mation performance. The improved algorithm was proposed on the basis of the target
feature expression model and the target probability model. As for the angular uncer-
tainty for range-extended targets, [12] introduced the static multi-model approach and
the exponential correlation model and then derived the optimization waveform based
on MI, which improve the performance of target recognition.
For the target detection, a joint optimization approach to transmission waveform and
receiver filter for cognitive radar was proposed in [13]. The signal processing model
in [13] is modeled in Fourier domain rather than in the time domain, which greatly
decreases the computing complexity. In addition, Xiong Naixue [14–16] has studied the
problems of target location. A diffusion Gauss–Newton (GN) algorithm for range-based
target localization was proposed in [14], and it balanced the unbalance noise distribu-
tion over the wireless sensor networks. As for the treatment of noise, [15] was embedded
with a noise evidence filter in fuzzy probability Bayesian network, and the filter reduces
the impact caused by system faults. In automatic identification system (AIS) network
[16], an improved density-based spatial clustering of applications with noise algorithm
was proposed, and the proposed algorithm has high accuracy and a good clustering per-
formance for trajectory data mining. In addition, as for moving target detection [17, 18],
Anthony Martone proposed a spectrum sharing technology to waveform design for tar-
get detection. Satyabrata Sen proposed a space-time adaptive processing (STAP) algo-
rithm using an OFDM signal, and thus, the signal increases the frequency diversity of the
system and improves the performance of target detection. In [19], the authors presented
the algorithm to optimize the radar transmission waveform using the detection proba-
bility as the performance parameter. It solved the objective function in combination with
Jensen’s inequality. Aiming at the problem of hypothesis testing in radar detecting target,
Danilo Orlando [20–23] designed several detectors for radar system. The generalized
likelihood ratio test (GLRT) detector could evaluate the direction of arrival of target, and
the derived finite-sum expression based on GLRT could realize the performance evalua-
tion of radar system. Adaptive GLRT detector solved the problem of anomaly detection
in hyperspectral imagery. For the problem of hypothesis testing under multiple alter-
native hypotheses in radar system, [21] proposed a decision framework relying on the
Kullback–Leibler information criterion, which provided a theoretical solution for GLRT
dealing with multiple alternative hypotheses. On the basis of [21, 22] analyzed the prac-
tical problems of real aperture radar and synthetic aperture radar, such as radar detect-
ing range-spread targets with unknown location information and multiple point-like
targets with unknown number and so on. [24–26] combined expectation–maximization
algorithm with cyclic estimation procedures to deal with the problem of clutter return
clustering. Besides, the expectation–maximization algorithm realized target detection in
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 3 of 25

heterogeneous Gaussian environments and reduced the energy loss in the detection pro-
cess, and the cyclic estimation procedures solved the problem of radar system detecting
noise-like jammers (NLJ). Different from the previous monostatic radar system, Kay [27]
designed the optimal transmission signal for multi-static radar with the derived Ney-
man–Pearson criterion, and the author proposed the maximum marginal allocation
algorithm which is guaranteed to maximize the divergence and is easy to implement.
In the condition of uncertainty on the knowledge of the noise or clutter environment,
Rossetti et al. [28–30] proposed robust waveform design approaches for multi-static
cognitive radars, and the proposed approaches could achieve the desired performance
of radar system. In the actual environment, we need to consider the uncertainties of
some parameters, because the characteristics of parameters cannot be accurately evalu-
ated by radar system. Based on the consideration above, Akcakaya et al. [31–33] pro-
posed proper methods for target detection in uncertain environments. The proposed
data-driven method could adaptively update the detection algorithm with the changed
environment and could improve the performance of detection. The proposed robust
constant false alarm rate (CFAR) method could be applied to different clutter conditions
such as sea clutter. In view of the error in the estimation of the target impulse response
in the actual environment, [34] designed the robust transmission waveform and receiv-
ing filter banks in the deterministic model and random model.
The researches on waveform optimization above do not take into account the exist-
ence of jammer. The influence of jammer is difficult to be eliminated in the actual
battlefield environment. Besides, all the above studies are based on the single target
assumption; however, the multi-target situation is also common in practice. Based
on the above problems, this paper mainly studies the optimal transmission waveform
design in radar and jammer game for multiple targets. It takes SINR as the optimi-
zation criterion to design transmission waveform of radar and jammer, respectively.
Radar and jammer are like a pair of game opponents. When radar is dominant, we
adopt maxmin strategy to establish the optimization model to design the radar trans-
mission waveform. When jammer is dominant, the minmax strategy is used to estab-
lish the optimization model to design the jammer waveform. The two-order Lagrange
multiplier method is adopted to solve optimization models to obtain the maximum
SINR-based waveforms and improved maximum SINR-based waveforms.
The main innovations of our work can be described as follows:

(1) The maximum SINR-based waveform design approach in radar and jammer is pro-
posed for multiple targets. Based on the target characteristics obtained, the optimal
radar transmission waveform and jamming waveform under the maxmin and min-
max strategies are designed.
(2) We also develop an improved approach, which combines maximum SINR-based
waveform design approach with Jensen’s inequality for multiple targets. We derive
a strict lower bound of SINR and optimize the improved waveform by taking the
lower bound as objective function. The improved approach could improve the per-
formance of radar and jammer on the basis of maximum SINR-based waveform
performance.
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 4 of 25

(3) We propose an adaptive weight method to solve the problems of summations of

weighted multiple targets in the maximum SINR-based waveform design approach
and the improved maximum SINR-based waveform design approach.

This paper is organized as follows. We give more work related with radar and jammer in
Sect. 2. In Sect. 3, the signal models for multi-target are presented and the output SINR
is derived. Maximum SINR-based waveform design method and improved SINR-based
waveform design method are also proposed. In Sect. 4, we discuss the simulation results
and the final conclusions and the future work are drawn in Sect. 5.
Notations: Throughout this paper, the time domain signals are represented by lower-
case letters, the frequency domain signals are represented by uppercase letters, and all
signals are represented by no vectors or matrices.

2 The related work

There are some other work which considers the existence of jammer. In view of the exist-
ence of interference, Wang Yuxi et al. [35] designed the transmission waveform in the
electronic warfare environment and proposed three different countermeasure models:
smart radar and dumb target, dumb radar and smart target, and smart radar and smart
target. They added the target as an interference into the signal model and optimized the
transmission waveform based on the SINR criterion. For the detection problem, Bach-
mann [36] proposed an interference spectrum design based on a non-cooperative two-
person zero-sum (TPZS) game between radar and jammer. The results indicate that the
game analysis of radar and jammer can be used to identify the conditions of jammer
self-protection and radar detecting targets. Chen Yuzhong [37] proposed a multi-player
game theory algorithm by analyzing the competitive and cooperative relationships
among sensor nodes. A utility function to achieve efficient intra-cluster data aggrega-
tion was also proposed and extensive experiments confirm the accuracy of the proposed
algorithm. In [38, 39], Li Kang et al. proposed the egalitarian game strategy and Stack-
elberg game strategy as technological solutions for the countermeasure between radar
and jammer. The work above all investigates the existence condition of Nash equilibrium
(NE). A contribution for the presence of interference in OFDM radar waveform is [40],
which proposed a radar waveform design method using compressed sensing. The pro-
posed method could achieve the robust signal evaluation in the presence of interference
without degradation of target detection performance. Besides, [41] proposed an elec-
tronic countermeasure (ECM) system for OFDM-based passive radars and investigated
in detail how the system generates and transmits multiple false target echoes for mov-
ing targets. In [42], the authors proposed transmit-adaptive jammer nulling waveforms
for cognitive radar and introduced knowledge-based noise jammers in the electronic
warfare. The simulation results indicate that the proposed transmit-adaptive waveforms
have inhibitory effect on knowledge-based noise jammers.
Radar electronic countermeasure (ECM) and electronic counter-countermeasure
(ECCM) are a hot topic for radar waveform optimization. The ECM systems aim at
preventing the enemy’s radar from working correctly, while the ECCM systems aim at
protecting the radar from being jammed [38]. In ECM environment, the jammer can
generate false targets and false target ranges to confuse the radar [43, 44]. The jamming
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 5 of 25

signal generated by interrupted-sampling repeater jamming (ISRJ) forms multiple

false targets to jam radar, which reduces the detection performance of radar. Besides,
the authors proposed smart NLJ, which generates a pulse of noise to hide the true tar-
get range. In ECCM environment, [45] proposed a dynamic scheme based on jammer
parameter estimation and transmitted signal design. The authors firstly transmitted the
linear frequency-modulated (LFM) signal to estimate the main jamming parameters and
then designed parameter-adjusted coded signal on the basis of estimated parameters.
Besides, [46] designed a novel two-step estimation procedure for the problem of target
detection and reduced the sensitivity of jammer. The estimation procedure considers
two scenarios where the radar system is under the noise-like interferers and where the
coherent jammers are in existence. Andrey Garnaev [47] has taken the uncertainty of the
jammer’s location into account and solved the game between the joint radar and com-
munication system and jammer with Bayesian game.

3 Materials and methods

3.1 Problem formulation
The main purpose of this paper is to design optimal waveforms for radar and jammer in
the environment of electronic warfare. The radar and jammer can adaptively allocate the
transmission energy. Without loss of integrality, we introduce the signal models of deter-
ministic multi-target and random multi-target in this subsection.
For the completeness of this paper, we first introduce the signal model for determin-
istic or random single target, as depicted in Fig. 1. x(t) is the transmission waveform of
the radar system and its Fourier transform is X(f). n(t) is a zero-mean additive Gauss-
ian noise process with power spectral density (PSD) Snn (f ). c(t) is a zero-mean Gaussian
random process with PSD Scc (f ). j(t) is the jamming signal that is generated by the jam-
mer, and its PSD is Pj (f ). r(t) is the ideal low-pass filter, and its Fourier transform is R(f).
y(t) is the received signal, and Y(f) is transformed into the frequency domain. hD1 (t) is
the deterministic target impulse response of target 1, and its spectral response is HD1 (f ).
hR1 (t) is the random target impulse response of target 1, and its spectral response is
HR1 (f ).
For the deterministic single target, its PSD can be used to describe target characteris-
tic because hD1 (t) is a Gaussian stationary process. For the random single target, hR1 (t)
is generated randomly, which can be obtained by hR1 (t) = a(t)g1 (t). Among a(t) is a
rectangular window function with duration Th and g1 (t) is a generalized stationary ran-
dom process; therefore, hR1 (t) is a generalized stationary stochastic process with finite
duration. Since hR1 (t) is an energy limited and not a real Gaussian stationary random

Fig. 1 Signal model for deterministic/random single target

Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 6 of 25

Fig. 2 Multiple targets in the same beam

Fig. 3 Signal model for deterministic/random multi-target

process, its PSD cannot be used to describe target characteristic. The target energy spec-
tral density (ESD) can be used to describe target characteristic, and ESD is defined as

2
ξh1 (f ) = E HR1 (f ) (1)

where E[•] is the expectation, and HR1 (f ) is the spectral response of hR1 (t). The target
energy spectrum variance (ESV) is
 2 
σh21 (f ) = E HR1 (f ) − µh1 (f ) (2)

where µh1 (f ) is the mean of HR1 (f ). In order to simplify the computation, µh1 (f ) is
assumed to be zero. In this way, the result that ESV is equal to ESD can be obtained.
Consequently, the target characteristic can be described by using σh21 (f ).
On the basis of deterministic or random single target, we assume that all targets are
in the same beam, as shown in Fig. 2. We can get that the proposed signal model for
deterministic multi-target or random multi-target is depicted in Fig. 3, and the meaning
of each part in Fig. 3 is the same as that in the signal model for deterministic or random
single target. In addition, M is the number of targets and si is the weight value of ith tar-
get. hD (t) is the total target impulse response after weighting the impulse responses of
multiple deterministic targets, and its spectral response is HD (f ). hR (t) is the total target
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 7 of 25

impulse response after weighting the impulse responses of multiple random targets, and
its spectral response is HR (f ).
For deterministic multi-target, the output received signal is

y(t) = x(t) ∗ hD (t) ∗ r(t) + r(t) ∗ (x(t) ∗ c(t) + n(t) + j(t)) (3)

where ∗ is convolution symbol. Equation (3) is expressed in the frequency domain as

Y (f ) = X(f )HD (f )R(f ) + R(f )(X(f )Scc (f ) + Snn (f ) + Pj (f )) (4)

The derived output SINR is

X(f )2 HD (f )2

    
SINR =  2 df (5)
w Scc (f )X(f ) + Snn (f ) + Pj (f )

where w is the bandwidth of the spectrum responses of the transmission signal and the
jammer signal.
For random multi-target, hR (t) is generated randomly, and it represents the summa-
tion of weighted multiple random targets. Since hR (t) is not a real Gaussian stationary
random process, we use its ESD to describe target characteristics, and ESD is defined as
 2 
ξH (f ) = E HR (f ) (6)

where HR (f ) is the spectral response of hR (t). The target ESV is

 2 
σ 2 (f ) = E HR (f ) − µH (f )
H (7)

where µH (f ) is the mean of HR (f ). In order to simplify the computation, µH (f ) is

assumed to be zero. In this way, the result that ESV is equal to ESD can be obtained.
Consequently, the target characteristics can be described by using σH2 (f ). The output
SINR can be approximately as

X(f )2 σ 2 (f )
  
H
SINR =  2 df (8)
w Scc (f )X(f ) + Snn (f ) + Pj (f )

Different from the SINR expression of Eq. (5), the target impulse response hR (t) is a
2
random process with finite duration, and HD (f ) is replaced by σH2 (f ). σH2 (f ) is the total


spectral response after summation of weighted multiple target spectral responses. We

use adaptive weight method to get it. Assuming that there are M targets that are distin-
guishable in range within the same beam. As for ith target, σH2 (f ) contains the character-
istics of all targets in the same frequency band. However, at each frequency point, the
characteristic of every target is different. Therefore, each target should be weighted in
order to highlight the target with strong characteristic and weaken the target with weak
characteristic. The weight value is

σh2i (f )
si = M 2 (9)
j=1 σhj (f )
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 8 of 25

The weight value si represents the proportion of the ith target characteristic in all target
characteristics. The total spectral response σH2 (f ) can be expressed as
M
σH2 (f ) = sj σh2j (f ) (10)
j=1

where j = 1, 2, ..., M.

3.2 Waveform optimization design methods

Since the optimal waveform design method for random target is similar to that of deter-
ministic target, the waveform optimization method of random target is discussed here.
The conclusions obtained are also applicable to deterministic target. In the electronic
warfare environment, since the jammer cannot be ignored, the radar transmission
waveform and jamming waveform need to be designed at the same time. The waveform
design is mainly divided into two cases, the first one is the waveform design with the
maxmin strategy when the radar is dominant. It can design the radar transmission wave-
form according to the jamming signal transmitted by the jammer, so as to reduce the
interference of jammer. The other one is the waveform design with the minmax strategy
when the jammer is dominant. The jammer can transmit jamming signal according to
the radar transmission waveform to degrade the performance of radar detecting targets.

3.2.1 Maximum SINR‑based waveform design with maxmin strategy

Radar is the leader, which indicates that the radar designs the transmission waveform
according to the target spectrum and the jamming waveform. The waveform optimiza-
tion strategy selected by radar and jammer is as follows
 |X(f )|2 σH2 (f )
max min w 2 df
|X(f )| 2 Pj (f ) Scc (f )|X(f )| +Snn (f )+Pj (f )
(11)
   2
s.t. w Pj (f )df = P, w X(f ) df = Ex

where P is the transmission power of jammer, and Ex is the transmission energy of radar.
σH2 (f ) is the total target spectrum after summation of weighted multiple random targets.
The optimal radar transmission waveform and jamming waveform obtained by two-
order Lagrange multiplier method are as follows
 � �
σH2 (f ) 1 Scc (f )σH2 (f )
 Pj (f ) = max |22 | + − Snn (f ), 0


422
�
2
� (12)
� � 2  σ (f )
 �X(f )� = max − 1 4H2 , 0


2

where 1 and 2 are Lagrange multipliers. Their values are determined by w Pj (f )df = P

2
and w X(f ) df = Ex , respectively. We use iterative search approach to find the solu-
 

tion of Lagrange multipliers, which mainly includes the following steps:

(1) Obtain the maximum values of Lagrange multipliers according to the constraint
conditions, and set the iterative threshold β.
(2) Iteratively search Lagrange multipliers within the range, and substitute the searched
2
values into w Pj (f )df = P and w X(f ) df = Ex.
  
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 9 of 25

(3) Stop iteration when the error between Pj (f ) and setting value is less than threshold
2
β, or when the error between X(f ) and setting value is less than threshold β. Get


the values of Lagrange multipliers.

The optimal transmission waveform spectrum can be obtained according to Eq.

(12).

 roof For the solution to the optimal radar transmission waveform and jammer
P
waveform in Eq. (12), first the jammer waveform is found by solving the constrained
optimization problem
 |X(f )|2 σH2 (f )
min w 2 df
Pj (f ) Scc (f )|X(f )| +Snn (f )+Pj (f ) (13)
s.t. w Pj (f )df = P

Making use of Lagrangian multiplier, we seek to minimize

X(f )2 σ 2 (f )
   
H
Ŵ(Pj (f )) =  2 df + 1 (P − Pj (f )df ) (14)
w Scc (f )X(f ) + Snn (f ) + Pj (f ) w

We can equivalently minimize

X(f )2 σ 2 (f )
 
H
ϕ(Pj (f )) =  2 − 1 Pj (f ) (15)
Scc (f )X(f ) + Snn (f ) + Pj (f )

Since the second derivative with respect to Pj (f ) in Eq. (15) is positive, ϕ(Pj (f )) is a
convex function, and there is a minimum point. The first derivative with respect to Pj (f )
in Eq. (15) is

X(f )2 σ 2 (f )
 
′ H
ϕ (Pj (f )) = −   2 2 − 1 (16)
Scc (f ) X(f ) + Snn (f ) + Pj (f )
 

By equating (16) to zero, the jammer waveform is


X(f )2 σ 2 (f )

(17)
H
 2
Pj (f ) = − Scc (f )X(f ) − Snn (f )
−1

Next the transmission waveform of the radar is found by solving the constrained optimi-
zation problem
 |X(f )|2 σH2 (f )
max w 2 df
Scc (f )|X(f )| +Snn (f )+Pj (f )
|X(f )|2
  2 (18)
s.t. w X(f ) df = Ex

Making use of Lagrangian multiplier, we seek to maximize

Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 10 of 25

X(f )2 σ 2 (f )
   
2 H X(f )2 df )
  
K(X(f ) ) =  2 df + 2 (Ex − (19)
w Scc (f )X(f ) + Snn (f ) + Pj (f ) w

We can equivalently maximize

X(f )2 σ 2 (f )
 
 2 H
 2
κ(X(f ) ) =  2 − 2 X(f ) (20)
Scc (f )X(f ) + Snn (f ) + Pj (f )

Substitute Eq. (17) into Eq. (20)

X(f )2 σ 2 (f )
 
 2 H
 2
κ( X(f ) ) =  − 2 X(f )
(21)
 
|X(f )|2 σH2 (f )
−1

2 2
Since the second derivative with respect to X(f ) in Eq. (21) is negative, κ(X(f ) ) is
 

a concave function, and there is a maximum point. The first derivative with respect to
X(f )2 in Eq. (21) is
 


1 2 2
 
2 −1 X(f ) σH (f )

2
′  (22)
 
κ ( X(f ) ) =
 − 2
X(f )2
 

By equating (22) to zero, the transmission waveform of the radar is

X(f )2 = − 1 σ 2 (f )
 
H (23)
422

Substitute Eq. (23) into Eq. (17) to obtain Eq. (12). 

3.2.2 Maximum SINR‑based waveform design with minmax strategy

The jammer is the leader, indicating that the jammer can design jamming waveform accord-
ing to the waveform spectrum of the target and the transmission waveform of the radar.
The waveform optimization strategy selected by the radar and jammer is
 |X(f )|2 σH2 (f )
min max w 2 df
Scc (f )|X(f )| +Snn (f )+Pj (f )
Pj (f ) |X(f )|2
  2  (24)
s.t. w X(f ) df = Ex , w Pj (f )df = P

The optimal radar transmission waveform and jamming waveform obtained by using
the two-order Lagrange multiplier method are as follows
� � 2 2 � �
 �X(f )�2 = max 21 σH (f ) − 32σH (f ) , 0
� �
2
� Scc (f ) 4 44�Scc (f )
(25)
 Pj (f ) = max 3 σH2 (f ) − Snn (f ), 0
42 S 2 (f ) 4 cc

where 3 and 4 are Lagrange multipliers. Their values are determined by

2
w X(f ) df = Ex and w Pj (f )df = P , respectively. We still use iterative search
  
 
approach to find the values of 3 and 4 , and the specific solution steps are the same as
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 11 of 25

those for 1 and 2. When the target spectrum, clutter spectrum, and noise are obtained,
the optimal transmission waveforms of radar and jammer can be solved.

 roof For the solution to the optimal radar transmission waveform and jammer
P
waveform in Eq. (25), first the transmission waveform of the radar is found by solving
the constrained optimization problem
 |X(f )|2 σH2 (f )
max w df
|X(f )|2 Scc (f )| )|2 +Snn (f )+Pj (f )
X(f
(26)
  2
s.t. w X(f ) df = Ex

Making use of Lagrangian multiplier, we seek to maximize

X(f )2 σ 2 (f )
   
2 H X(f )2 df )
  
Ŵ(X(f ) ) =  2 df + 3 (Ex − (27)
w Scc (f )X(f ) + Snn (f ) + Pj (f ) w

We can equivalently maximize

X(f )2 σ 2 (f )
 
 2 H
 2
ϕ(X(f ) ) =  2 − 3 X(f ) (28)
Scc (f )X(f ) + Snn (f ) + Pj (f )
2 2
Since the second derivative with respect to X(f ) in Eq. (28) is negative, ϕ(X(f ) )
 

is a concave function, and there is a maximum point. The first derivative with respect to
X(f )2 in Eq. (28) is
 

σH2 (f ) Snn (f ) + Pj (f )
 
′
 2
ϕ (X(f ) ) =   2 2 − 3 (29)
Scc (f )X(f ) + Snn (f ) + Pj (f )

By equating (29) to zero, the transmission waveform of the radar is

� 
2 (f ) P (f ) + S (f )
� �
� �2 1 σH j nn
�X(f )� =  − Pj (f ) − Snn (f ) (30)
Scc (f ) 3

Next the jammer waveform is found by solving the constrained optimization problem
 |X(f )|2 σH2 (f )
min w 2 df
Pj (f ) Scc (f )|X(f )| +Snn (f )+Pj (f ) (31)
s.t. w Pj (f )df = P

Making use of Lagrangian multiplier, we seek to minimize

X(f )2 σ 2 (f )
   
H
K(Pj (f )) =  2 df + 4 (P − Pj (f )df ) (32)
w Scc (f )X(f ) + Snn (f ) + Pj (f ) w
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 12 of 25

We can equivalently minimize

X(f )2 σ 2 (f )
 
H
κ(Pj (f )) =  2 − 4 Pj (f ) (33)
Scc (f ) X(f ) + Snn (f ) + Pj (f )
 

Substitute Eq. (30) into Eq. (33)


3 σH2 (f ) Snn (f ) + Pj (f )
 
σH2 (f ) (34)
κ(Pj (f )) = − − 4 Pj (f )
Scc (f ) Scc (f )

Since the second derivative with respect to Pj (f ) in Eq.(34) is positive, κ(Pj (f )) is a

convex function, and there is a minimum point. The first derivative with respect to Pj (f )
in Eq. (34) is

−3 σH2 (f )
κ ′ (Pj (f )) =   − 4 (35)
3 σH2 (f ) Snn (f ) + Pj (f )

2Scc (f )

By equating (35) to zero, the jammer waveform is

3 σH2 (f )
Pj (f ) = − Snn (f ) (36)
424 Scc
2 (f )

Substitute Eq. (36) into Eq. (30) to obtain Eq. (25). 

3.2.3 Improved maximum SINR‑based waveform design

In [19], Goodman proposed a waveform design algorithm by deriving a strict lower
bound of MI based on ESV and designed the enhanced waveform by maximizing the
lower bound. Inspired by this algorithm, we propose an improved waveform design
method which derives a strict lower bound of SINR based on ESV. Based on hypothesis
test theorem, the relationship between the weight values of targets and the ESV of the
multiple random targets is [19]
M
SR (f ) = si σh2i (f ) (37)
i=1

where M is the number of targets. si is the weight value of ith target. σh2i (f ) is ESV of ith
target. The SINR can be obtained as

�X(f )�2 SR (f )
� � �
SINR = � �2 df
w Scc (f )�X(f )� + Snn (f ) + Pj (f )
� � �
�X(f )�2 �M si σ 2 (f )
�
�
i=1 hi
= � �2 df (38)
w Scc (f )�X(f )� + Snn (f ) + Pj (f )
� � �
�X(f )�2 σ 2 (f )
  � 
� �
M hi
 
=  si 2
df
i=1  S (f )�X(f )� + S (f ) + P (f ) 
� �
w cc nn j
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 13 of 25

According to Jensen’s inequality, if f(x) is a concave function on an interval (a, b), there
is f ( ni=1 i xi ) ≥ ni=1 i f (xi ) for any x1 , x2 , x3 , ..., xn ∈ (a, b), i > 0(i = 1, 2, 3, ..., n),
 

and ni=1 i = 1.


Assume that the total weight value of all targets is 1, that is M i=1 si = 1. We can obtain


Eq. (39) by using Jensen’s inequality

  
X(f )2 σ 2 (f )

M 
hi
SINR ≥ si 2 df (39)
i=1

w Scc (f ) X(f ) + Snn (f ) + Pj (f )
 

Therefore, the objective function and constraints of the optimized waveform are

|X(f )|2 σh2i (f )

max min M
 
i=1 si w 2 df
Scc (f )|X(f )| +Snn (f )+Pj (f ) (40)
|X(f )|2 Pj (f )
   2
s.t. w Pj (f )df = P, w X(f ) df = Ex

Making use of Lagrangian multiplier method, we can obtain

� �M 2 ′ 1 Scc (f ) M 2
 � �
i=1 si σhi (f ) i=1 si σhi (f )
 Pj (f ) = max

+ − Snn (f ), 0
|2′ 2 | 2
4(2 ′ ) �
2
� ′
(41)
X(f )� = max −  1′ 2 M 2
� � �
i=1 si σhi (f ), 0
�

4(2 )

The value of ′1 is determined by Pj (f )df = P, and the value of ′2 is determined by

w
X(f )2 df = Ex.
  
w
The objective function in the case of jammer is the dominant player which can be
obtained as

M  |X(f )|2 σh2i (f )

min max i=1 si w 2 df
Pj (f ) |X(f )|2 Scc (f )|X(f )| +Snn (f )+Pj (f ) (42)
  2 
s.t. w X(f ) df = Ex , w Pj (f )df = P

The optimal transmission waveform is

� �M 2 ′ 3 M 2
 � � � �
� �2 1 i=1 si σhi (f ) i=1 si σhi (f )
 X(f ) = max S 2 (f ) − ,0

 � �
2′ 4 2
4(4 ′ ) Scc (f )
� ′ �ccM 2
� (43)
 3 i=1 si σh (f )
i
 Pj (f ) = max − Snn (f ), 0


′ 2 2
4(4 ) Scc (f )

The value of ′3 is determined by 2

w X(f ) df = Ex , and the value of 4 is determined
   ′

by w Pj (f )df = P.


4 Results and discussion

In order to demonstrate the effectiveness of the proposed optimal radar transmission
waveform and jamming waveform, the corresponding simulation results and perfor-
mance analysis are made in this section.
Under the premise of known clutter and noise PSD, the maxmin strategy and minmax
strategy in the case of random multi-target are verified and analyzed. The main simula-
tion parameters are shown in Table 1.
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 14 of 25

Fig. 4 Energy spectrum allocation of two random targets

Fig. 5 Allocation of total target spectrum and clutter spectrum

It is assumed that there are two random targets, which are independent of each other
and are randomly generated. Figure 4 shows the energy allocation of the two targets. In
Fig. 4, each target is independently distributed and has no influence on each other, which
has advantages for target recognition. When the weight value of each target is found, the
total target spectrum can be obtained by summation of weighted multiple targets. Fig-
ure 5 shows the distribution of the total target spectrum and clutter spectrum.

4.1 Maximum SINR‑based waveform with maxmin strategy

In this subsection, the energy allocation of radar transmission waveform and jamming
waveform is analyzed. The total target spectrum and clutter spectrum are shown in
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 15 of 25

Table 1 Main simulation parameters

Parameter Value

Target number M=2

Target duration 0.5s
Reference threshold β = 1 ∗ 10− 6
Sampling frequency 2kHz
Sampling points 128
Normalized signal frequency f ∈ (0, 1)
Noise PSD Snn (f ) = 0.01
Clutter PSD
 
 0.2(cos(0.3π(f + 0.45)))+ 
Scc (f ) =   + 0.05
0.4(sin(0.5π(f + 0.5))) − 0.15 

Fig. 6 Total target spectrum and clutter spectrum adopted with maxmin strategy

Fig. 6. The power spectrum of jamming waveform is shown in Fig. 7, it includes the max-
imum SINR-based waveform and the improved maximum SINR-based waveform, and
the SINR-based waveform is a compared waveform [48].
Figure 7 shows that the jammer designs the jamming waveform according to the
target spectrum and clutter spectrum with the maxmin strategy. The main character-
istics of maximum SINR-based jamming waveform are as follows:

(1) Since the jammer hopes to reduce the SINR of radar receiver in order to degrade
the radar performance, jammer allocates the energy according to the target energy
spectrum to jam the radar. The jammer allocates more energy to the place with
strong target energy spectrum. Comparing between Figs. 6 and 7, the energy spec-
trum of the target is higher in the frequency bands around 0.3 and 0.45. Therefore,
the jammer allocates the main energy in these two frequency bands.
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 16 of 25

Fig. 7 Jamming waveform spectrum of jammer with maxmin strategy

(2) The jammer allocates more energy in the frequency bands with a larger product of
the target spectrum and clutter spectrum according to Eq. (12). For example, jam-
mer allocates more energy in the frequency band around 0.3 than in the frequency
band around 0.7. The jammer and clutter could jam the radar jointly according to
the target spectrum, which further reduce the radar received SINR.

The main characteristics of improved maximum SINR-based jamming waveform are as

follows:

(1) Improved maximum SINR-based jamming waveform has the same characteristics
as maximum SINR-based jamming waveform.
(2) In the frequency bands with a large product of the target spectrum and clutter
spectrum, the improved maximum SINR-based jamming waveform could allocate
more energy than maximum SINR-based jamming waveform, which is determined
by the property of Jensen’s inequality, which further degrades the radar received
SINR.

When jammer transmits the jamming waveform, the radar could adjust the transmis-
sion waveform according to the comprehensive analysis of the target spectrum, clut-
ter spectrum, and the jamming waveform. The energy spectrum of radar transmission
waveform is shown in Fig. 8, it includes the maximum SINR-based waveform and the
improved maximum SINR-based waveform, and the SINR-based waveform is a com-
pared waveform.
The main characteristics of maximum SINR-based radar waveform are as follows: The
radar allocates less energy in the frequency bands with strong interference and more
energy in the frequency bands with strong target energy spectrum; however, the radar
mainly designs the transmission waveform according to the target spectrum when both
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 17 of 25

Fig. 8 Transmission waveform spectrum of radar with maxmin strategy

target spectrum and interference are strong. As shown in Fig. 8, the radar allocates much
energy in the frequency band around 0.3 because the target spectrum is strong in the
frequency band around 0.3 even the interference is strong. The radar reduces the loss of
target energy, in this way, the radar can obtain more useful information about the targets
and compensate the loss of target information caused by jamming waveform.
Figure 8 also shows that improved maximum SINR-based radar waveform. The
improved transmission waveform has a certain improvement in energy allocation com-
pared with the maximum SINR-based radar transmission waveform. The improved
waveform allocates more energy in frequency bands where the target has larger spec-
trum value. The energy allocated in other frequency bands is reduced because the trans-
mission energy is fixed.

4.2 Maximum SINR‑based waveform with minmax strategy

According to Eq. (25), when the random multi-target spectrum is shown in Fig. 9, the
energy spectrum of radar transmission waveform is shown in Fig. 10, it includes the
maximum SINR-based waveform and the improved maximum SINR-based waveform,
and the SINR-based waveform is a compared waveform.
In Fig. 10, the radar firstly designs the optimal transmission waveform according to the
prior information with the minmax strategy. The radar allocates most of the energy in
the frequency bands where the target has larger spectrum value and clutter has smaller
spectrum value. As can be seen from Figs. 9 and 10, the radar allocates more transmis-
sion energy in the frequency band around 0.8 than in the frequency band around 0.2,
because the clutter spectrum is smaller in the frequency band around 0.8 even though
the target spectrum is roughly the same in the frequency bands. In this way, the radar
could avoid some interference and get more information about targets, while less energy
is allocated in where the clutter is strong, so as to avoid the loss of output SINR of radar
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 18 of 25

Fig. 9 Total target spectrum and clutter spectrum adopted with minmax strategy

Fig. 10 Transmission waveform spectrum of radar with minmax strategy

and improve the performance of the radar system. In addition, Fig. 10 shows that the
improved optimization method allocates more energy in the frequency bands with less
clutter. It can further improve the radar received SINR.
The power spectrum of jamming waveform is shown in Fig. 11, it includes the maxi-
mum SINR-based waveform and the improved maximum SINR-based waveform, and
the SINR-based waveform is a compared waveform. Figure 11 shows the jammer trans-
mits the jamming waveform according to radar transmission waveform and target
energy spectrum. The main characteristics of maximum SINR-based jamming waveform
are as follows:
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 19 of 25

Fig. 11 Jamming waveform spectrum of jammer with minmax strategy

(1) The jammer allocates much energy in the frequency bands where the ratio of target
energy spectrum to the clutter spectrum is large, which results in the decrease in
the received SINR. For example, the energy spectrum of the target is roughly the
same in the frequency bands around 0.2 and 0.8 in Fig. 9. However, the clutter spec-
trums are different in these frequency bands, and the jammer could allocate more
energy in the frequency band around 0.8. In this way, although the radar allocates
more energy in the frequency band around 0.8, the jammer also allocates more
energy in this frequency band in order to degrade the radar received SINR.
(2) The jammer allocates more energy in the frequency band where the radar has
stronger transmission waveform spectrum. As shown in Fig. 11, the jammer allo-
cates more energy in the frequency band around 0.6 than in the frequency band
around 0.2, because the radar transmission waveform spectrum is stronger in the
frequency band around 0.6 even though the ratio of target spectrum to the clutter
spectrum is larger in the frequency band around 0.2. The improved jamming wave-
form allocates more energy in the frequency bands where the radar transmission
waveform spectrum is strong and the ratio of target energy spectrum to the clutter
spectrum is large, which has better jamming effect on radar.

4.3 Performance analysis of improved maximum SINR‑based waveform optimization

method
In this subsection, the improved maximum output SINR with two strategies for multi-
target is given. The output SINR curves of proposed maximum SINR-based waveform
and improved maximum SINR-based waveform with maxmin strategy are shown in
Fig. 12. The output SINR curves of proposed maximum SINR-based waveform and
improved maximum SINR-based waveform with minmax strategy are shown in Fig. 13.
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 20 of 25

Fig. 12 Output SINR of different waveforms with maxmin strategy

Fig. 13 Output SINR of different waveforms with minmax strategy

In the proposed waveform optimization approaches, the total spectral response is

obtained by proposed adaptive weight method. Besides, Figs. 12 and 13 also include
output SINR curves of SINR-based waveform [48] for comparison with the proposed
waveforms.

(1) Figures 12 and 13 show that the output SINR of improved maximum SINR-based
waveform is significantly improved compared with other waveforms. Because the
radar could accurately design transmission waveform according to the target char-
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 21 of 25

Fig. 14 Percentage of correct detection of different waveforms with maxmin strategy

Fig. 15 Percentage of correct detection of different waveforms with minmax strategy

acteristics in the proposed optimization methods, thus the radar could obtain more
useful information of the target.
(2) Figures 12 and 13 also show that the proposed maximum SINR-based waveform
has a slight difference with SINR-based waveform. The performance of maximum
SINR-based waveform is slightly superior to SINR-based waveform. The perfor-
mance of the proposed improved waveform which has combined with Jensen’s ine-
quality is better than the maximum SINR-based waveform.
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 22 of 25

Fig. 16 Change in expressions of maximum SINR and improved maximum SINR

Table 2 The output SINR and average time for solving Lagrange multipliers
Waveform type SINR(energy=5) Average time/s

Improved maximum SINR waveform 9.5123 0.3379

Maximum SINR waveform 8.9278 0.3650

The probability of radar correctly detecting targets under maxmin strategy and
minmax strategy is shown in Figs. 14 and 15, respectively. Figures 14 and 15 contain
proposed maximum SINR waveform and improved maximum SINR waveform, and
SINR waveform is a compared waveform.

(1) The performance of proposed optimization waveforms is better than the perfor-
mance of SINR waveform, and the optimal waveform methods achieve the effect of
radar waveform optimization.
(2) The improved waveform has better target detection and recognition performance.
The maximum SINR-based optimization waveform and improved maximum SINR-
based optimization waveform could improve the detection performance of the
radar.

In the maximum SINR expression, the integral calculation will increase the compu-
tational complexity of the weighting coefficient. Thus in the improved maximum SINR
expression, we combine Jensen’s inequality to take the weighting coefficient out of the
integral. The specific change is shown in Fig. 16. The improved maximum SINR expres-
sion could reduce the computational complexity of the maximum SINR expression and
further reduce the algorithm complexity. At the same time, since the weighting within
the integral belongs to indirect weighting, and the weighting outside the integral belongs
to direct weighting. Therefore, the change will optimize the calculation results of the
maximum SINR expression and further optimize the results of algorithm.
The specific results are shown in Table 2. Table 2 contains output SINR value and the
average time of the iterative procedure for solving Lagrange multipliers of improved
maximum SINR waveform and maximum SINR waveform. As shown in Table 2, the
improved maximum SINR waveform could output higher SINR, which confirms that the
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 23 of 25

change will optimize the calculation results. Besides, the procedure for solving Lagrange
multipliers of improved maximum SINR waveform needs less time, which could indi-
rectly confirm that the change could reduce the computational complexity of the maxi-
mum SINR waveform.

5 Conclusions and the future work

In this paper, the optimal waveform methods of radar transmission waveform and jam-
ming waveform based on SINR criterion are proposed. The solutions to radar dominated
and jammer dominated strategies are carried out for the case of random multi-target.
When dealing with random multi-target, we propose an adaptive weight method to
solve the problem of summation of weighted multiple targets. The conclusions are also
applicable to the case of deterministic multi-target. In addition, an improved maximum
SINR-based waveform optimization method is proposed according to the maximum
SINR-based waveform optimization method. The optimization waveform with multi-
target ESV is analyzed, which leads to a good performance of radar system. The simula-
tion results show that the waveform optimization methods proposed in this paper could
effectively improve the overall performance of the radar system. The proposed meth-
ods are based on SINR criterion with maxmin strategy and minmax strategy, and they
can adaptively allocate the transmission energy. The improved method has higher out-
put SINR than the maximum SINR-based waveform. With improving the radar detec-
tion performance and obtaining more target information, the improved method can also
reduce the computational complexity of maximum SINR-based waveform and improve
the efficiency of computing Lagrange multipliers.
The future work will study the waveform optimization problems for joint radar and
communication system when jammer exists. We will design the transmission waveforms
for radar and jammer when the communication signal is considered as useful energy for
radar. In addition, the performance of radar system will also be investigated in the joint
radar and communication system.

Abbreviations
AIS Automatic identification system
CFAR Constant false alarm rate
CR Cognitive radar
ECM Electronic countermeasure
ECCM Electronic counter-countermeasure
ESD Energy spectral density
ESV Energy spectrum variance
GLRT Generalized likelihood ratio test
GN Gauss–Newton
ISRJ Interrupted-sampling repeater jamming
LFM Linear frequency-modulated
MI Mutual information
NE Nash equilibrium
NLJ Noise-like jammers
OFDM Orthogonal frequency division multiplexing
PSD Power spectral density
SINR Signal-to-interference-plus-noise ratio
STAP Space-time adaptive processing
TPZS Two-person zero-sum

Acknowledgements
Not applicable.
Xin et al. EURASIP Journal on Advances in Signal Processing (2022) 2022:99 Page 24 of 25

Author contributions
All authors read and approved the final manuscript.

Funding
This work was supported by the National Natural Science Foundation of China (No. 61601109, 61973069) and the Funda-
mental Research Funds for the Central Universities (No. N182304022).

Availability of data and materials

Data sharing is not applicable to this article as no datasets were generated or analyzed during the current study.

Declarations
Competing interests
The authors declare that they have no competing interests.

Received: 6 May 2022 Accepted: 11 October 2022

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