Radar target detection (RTD) is a fundamental but important process of the radar system, which is designed to differentiate and measure targets from a complex background. Deep learning methods have gained great attention currently and have turned out to be feasible solutions in radar signal processing. Compared with the conventional RTD methods, deep learning-based methods can extract features automatically and yield more accurate results. Applying deep learning to RTD is considered as a novel concept. In this paper, we review the applications of deep learning in the field of RTD and summarize the possible limitations. This work is timely due to the increasing number of research works published in recent years. We hope that this survey will provide guidelines for future studies and applications of deep learning in RTD and related areas of radar signal processing.

Polarimetric synthetic aperture radar (PolSAR) image classification has been an important area of research due to its wide range of applications. Traditional machine learning methods were insufficient in achieving satisfactory results before the advent of deep learning. Results have significantly improved with the widespread use of deep learning in PolSAR image classification. However, the challenge of reconciling the complex-valued inputs of PolSAR images with the real-valued models of deep learning remains unsolved. Current complex-valued deep learning models treat complex numbers as two distinct real numbers, providing limited assistance in PolSAR image classification results. This paper proposes a novel, complex-valued deep learning approach for PolSAR image classification to address this issue. The approach includes amplitude-based max pooling, complex-valued nonlinear activation, and a cross-entropy loss function based on complex-valued probability. Amplitude-based max pooling reduces computational effort while preserving the most valuable complex-valued features. Complex-valued nonlinear activation maps feature into a high-dimensional complex-domain space, producing the most discriminative features. The complex-valued cross-entropy loss function computes the classification loss using the complex-valued model output and dataset labels, resulting in more accurate and robust classification results. The proposed method was applied to a shallow CNN, deep CNN, FCN, and SegNet, and its effectiveness was verified on three public datasets. The results showed that the method achieved optimal classification results on any model and dataset.

Millimeter wave (MMW) radar simultaneous localization and mapping (SLAM) technology is an emerging technology in a tunnel vehicle accident rescue scene. It is a powerful tool for statistic-trapped vehicle detection with limited vision caused by darkness, heat, and smoke. A variety of SLAM frameworks have been proven to be able to obtain 3-degree-of-freedom (3-dof) pose estimation results using 2-dimention (2D) MMW radar in open space. In the application of millimeter wave radar for pose estimation and mapping in a closed environment, closed space structures and artificial targets together constitute high-intensity multi-path scattering measurement data, leading to radar false detections. Radar false detections caused by multi-path scattering are generally considered to be detrimental to radar applications, such as multi-target tracking. However, few studies analyze the mechanism of multi-path effects on radar SLAM, especially in closed spaces. In order to address the problem, this paper first presents a radar multi-path scattering theory to study the generation mechanism difference of false and radar true detection and their influences on radar SLAM 2D pose estimation and mapping in tunnel. According to the scattering mechanism differences on SLAM, a radar azimuth scattering angle signature is proposed, which allows distinguishing radar false detections from real ones. This is useful in avoiding using unreliable radar false detections to solve a radar SLAM problem. In addition, two different radar false detection revising methods combined with the CSM (correlative scan matching) algorithm are proposed in this paper. The HTMR-CSM (hard-threshold-multi-path-revised correlative scan matching) algorithm only depends on a hard threshold of radar azimuth scattering angle signature to eliminate all radar false detections as much as possible before CSM. Another idea is the STMR-CSM (soft-threshold-multi-path-revised correlative scan matching) algorithm. All the radar false detections are classified according to the distribution model of radar azimuth accuracy, and part of more reliable radar false detections are retained to estimate a more accurate pose. All the ideas in this paper are validated by using an MMW 2D radar mounted on a rail-guided robot in a tunnel. Two cars on fire were set as the targets. The experimental results show that the STMR-CSM algorithm that keeps the reliable radar false detections improves the positioning accuracy by 20% compared with CSM.