CN109684317B - Data editing method for lunar sounding radar detection data - Google Patents
Data editing method for lunar sounding radar detection data Download PDFInfo
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Abstract
The invention discloses a data editing method of lunar sounding radar detection data, which comprises the following steps: step 1, preprocessing lunar radar detection data and auxiliary telemetering data; step 2, inserting the telemetering data into the lunar sounding radar detection data according to time, and then selecting the lunar sounding radar detection data in a walking state according to position information in the lunar sounding radar detection data; and 3, carrying out data alignment and distance scale consistency processing on the selected lunar sounding radar detection data to obtain a final processing result. The data editing method of the lunar sounding radar detection data provided by the invention is used for processing and editing the lunar sounding radar detection data by combining the telemetering data to obtain the lunar sounding radar detection data processing result with consistent distance scale, and is beneficial to effectively identifying the target and the horizon by combining the lunar sounding radar detection data at the later stage.
Description
Technical Field
The invention relates to a data editing method of lunar sounding radar detection data, which is used for realizing data editing work of the lunar sounding radar detection data by combining telemetering data.
Background
The Chang' e No. three satellite is successfully launched in the West Chang satellite launching center in 2013, 12 months and 2 days, lands in the northern region of the lunar sea in 12 months and 14 days, and the patrol instrument lunar vehicle is successfully separated from the lander, so that detection work is respectively carried out. The lunar ranging radar is used as an important scientific load on the Chang 'e' III 'rabbit' lunar rover, and the total effective detection mileage is larger than 100m during lunar surface detection.
The lunar radar works on the lunar surface in three stages, the first stage is detection work in the first lunar day time, a lunar vehicle travels from a navigation point N0101 to a navigation point N0108, the lunar radar is mainly in an on-orbit testing stage, a test is carried out on several important parameters of two channels of the lunar radar, such as a time window, accumulation times, repetition frequency of pulse emission, a receiver signal gain mode and attenuation setting, and finally parameters of a better working state of the radar are determined. The second phase is a detection operation in the second month day, the lunar vehicle travels from the navigation point N0201 to the navigation point N209, and the radar basically operates under a fixed parameter to perform detection. The third stage is the working stage of the third month day and later, and the lunar radar carries out fixed point detection at the navigation point N0209. The center frequency of the first channel of the lunar ranging radar is 60MHz, the corresponding bandwidth is 40MHz-80MHz, the center frequency of the second channel of the lunar ranging radar is 500MHz, and the corresponding bandwidth is 250MHz-750 MHz.
The lunar radar has the following characteristics in the working of the lunar surface: firstly, the lunar rover is not continuously detected on the lunar surface, and is stopped when the lunar rover moves, so that a large amount of fixed-point repeated data exist; secondly, the traveling speeds of different areas are different, so that the problem of inconsistent scale exists after the radar data are spliced; thirdly, when the lunar rover is started up every time, due to the fact that the space environment and the lunar rover are different in posture, the initial sampling points of the data are different, and the phenomenon of misalignment exists after the data are spliced; fourthly, the position information of the track head in the radar data is too little, and is updated about every minute, so that the usability is not high no matter in early data screening or later data processing and summarizing. In order to better interpret the lunar radar detection data later, data editing needs to be carried out on the original radar data by combining the telemetering data.
At present, the existing data editing work mostly adopts a subjective data editing method, radar data is checked manually, and operations such as deleting, supplementing and the like are carried out on original radar detection data through data characteristics, so that an effective reference basis is lacked. The methods have the disadvantages of no accuracy and reference, and the common processing result is multi-solution. Therefore, an effective data editing method for lunar sounding radar sounding data is expected.
Disclosure of Invention
Technical problem to be solved
In order to overcome the defects in the prior art, the invention provides a data editing method for lunar radar detection data by combining telemetering data.
(II) technical scheme
The invention provides a data editing method of lunar sounding radar detection data, which comprises the following steps: step 1: preprocessing the lunar radar detection data and the auxiliary telemetering data; step 2: inserting the telemetering data into the lunar sounding radar detection data according to time, and then selecting the lunar sounding radar detection data in a walking state according to position information in the lunar sounding radar detection data; and step 3: and carrying out data alignment and distance scale consistency processing on the selected lunar sounding radar detection data.
Preferably, the preprocessing of the lunar radar detection data and the auxiliary telemetry data in step 1 comprises: and carrying out time homogenization correction processing on the lunar radar detection data, and carrying out interpolation processing on the telemetering data.
Preferably, the time-uniformization correction processing of the lunar sounding radar detection data includes: and calculating the total working time of the radar according to the starting time and the ending time of the detection data of the lunar sounding radar in one detection period time in two adjacent lunar sounding radar navigation points, and then averagely inserting the time information into the detection data of the lunar sounding radar in each channel by using the number of radar channels acquired in the area.
Preferably, the interpolation processing of the telemetry data includes: the telemetry data for the original 4 second update position is interpolated to an update position every 0.05 seconds using a linear interpolation method.
Preferably, the step 2 of inserting the telemetry data into the lunar sounding radar detection data according to time comprises: and finding two moments before and after the closest time point in the telemetering data according to the time by using the time of the detection data of each lunar ranging radar, and averaging the corresponding position coordinates of the two moments to obtain the position coordinates of the detection data of the lunar ranging radar.
Preferably, the selecting the lunar sounding radar detection data in the walking state according to the position information in the lunar sounding radar detection data in the step 2 includes: and averaging and storing the lunar sounding radar detection data with the same coordinate (x, y, z) value into a lunar sounding radar detection data by taking the position information (x, y, z) of the lunar sounding radar detection data of each channel as a judgment basis.
Preferably, the data alignment of the selected lunar sounding radar detection data in step 3 includes: and taking the first trough sampling point of the first lunar rover detection data as a calibration point, aligning the first trough point of all the lunar rover detection data with the calibration point, cutting the excessive effective data points, and filling zero in the insufficient effective data points. The number of effective data points of the detection data of the first channel of the lunar sounding radar is 4096, and the number of effective data points of the detection data of the second channel is 2048.
Preferably, the distance scale consistency processing on the selected lunar sounding radar detection data includes: firstly, performing 100-time linear interpolation on lunar ranging radar detection data containing position information; secondly, calculating the path difference between the next path and the previous path from the first path in the newly generated lunar ranging radar detection data, accumulating the path difference, and recording the path difference as the first lunar ranging radar detection data when the accumulated path is larger than a preset scale value; and thirdly, starting from the last month measuring radar detection data, continuing accumulation operation, and repeating the operation in the same way, traversing the whole month measuring radar detection data, and thus obtaining the month measuring radar detection data with the horizontal distance interval as the scale preset value. The scale threshold value of the detection data of the first channel of the lunar rover is 7.053cm, and the scale threshold value of the detection data of the second channel of the lunar rover is 0.045 cm.
(III) advantageous effects
The data editing method of the lunar sounding radar detection data provided by the invention is combined with the lunar sounding radar remote measurement data, realizes effective arrangement and editing work of radar data, and has important significance for carrying out target extraction, horizon identification and data interpretation by utilizing the radar data subsequently.
Drawings
FIG. 1 is a flow chart of a data editing method for lunar sounding radar detection data according to an embodiment of the present invention;
FIG. 2 is a comparison of lunar radar survey data before and after time normalization correction processing according to an embodiment of the present invention;
FIG. 3 is a comparison of lunar radar telemetry data before and after interpolation, in accordance with an embodiment of the present invention;
FIG. 4 is a comparison of lunar sounding radar data before and after travel state data selection according to an embodiment of the present invention;
FIG. 5 is a comparison of lunar radar data before and after data alignment according to an embodiment of the present invention;
fig. 6 is a comparison diagram before and after distance scale consistency processing is performed on lunar radar detection data according to an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to specific embodiments and the accompanying drawings.
Fig. 1 is a flowchart of a data editing method of lunar sounding radar detection data according to an embodiment of the present invention, the method including: step 1: preprocessing the lunar radar detection data and the auxiliary telemetering data, wherein the preprocessing mainly comprises the steps of carrying out time homogenization correction processing on the lunar radar detection data and carrying out interpolation processing on the telemetering data; step 2: inserting the telemetering data into the lunar sounding radar detection data according to time, and then selecting the lunar sounding radar detection data in a walking state according to position information in the lunar sounding radar detection data; and step 3: and carrying out data alignment and distance scale consistency processing on the selected lunar sounding radar detection data so as to obtain a final processing result.
In the embodiment of the present invention, the performing time homogenization correction processing on the lunar radar detection data in step 1 includes: and calculating the total working time of the radar according to the starting time and the ending time of the detection data of the lunar sounding radar in one detection period time in two adjacent lunar sounding radar navigation points, and then averagely inserting the time information into the detection data of the lunar sounding radar in each channel by using the number of radar channels acquired in the area.
Fig. 2 is a comparison of lunar radar detection data before and after time-normalized correction processing according to an embodiment of the present invention. Taking the data of the two channels of the lunar ranging radar as an example, the time difference between the two adjacent channels of data is obtained through theoretical calculation through sampling frequency and accumulated times and is 0.8192 s. In the figure, the left figure is before correction, the time difference of two data before correction is found by comparison to be about 0.8192s, and fluctuation exists; the right graph shows that after correction, the time difference of the two corrected data is consistent at 0.8192s, and the correction result is consistent with the theoretical calculation value.
In this embodiment of the present invention, the interpolating the telemetry data in step 1 includes: the telemetry data for the original 4 second update position is interpolated to an update position every 0.05 seconds using a linear interpolation method.
FIG. 3 is a comparison of lunar radar telemetry data before and after interpolation, in accordance with an embodiment of the present invention. Since the y and z coordinates are in line with the x coordinate trend, only the x coordinate variation curve is listed in the figure. The original position information of the telemetering data is shown in the left graph, the telemetering data is updated every 4 seconds, and it cannot be guaranteed that the telemetering data of the lunar sounding radar (the data interval of the telemetering data of the lunar sounding radar is about 1 s) corresponds to one position, so that the telemetering data is interpolated to be updated every 0.05s, and the interpolated result is shown in the right graph.
In the embodiment of the present invention, the inserting the telemetry data into the lunar sounding radar detection data according to time in step 2 includes: and finding two moments before and after the closest time point in the telemetering data according to the time by using the time of the detection data of each lunar ranging radar, and averaging the corresponding position coordinates of the two moments to obtain the position coordinates of the detection data of the lunar ranging radar.
In the embodiment of the present invention, the selecting the lunar sounding radar detection data in the walking state according to the position information in the lunar sounding radar detection data in step 2 includes: and averaging and storing the lunar sounding radar detection data with the same coordinate (x, y, z) value into a lunar sounding radar detection data by taking the position information (x, y, z) of the lunar sounding radar detection data of each channel as a judgment basis.
Fig. 4 is a comparison graph of lunar sounding radar data before and after walking state data selection according to an embodiment of the invention. Before selecting data, 19934 original lunar sounding radar detection data are shared in the left image; after the detection data of the lunar ranging radar in the walking state are selected and shown in the right graph, 2699 tracks of detection data of the lunar ranging radar are walked after repeated detection data of the lunar ranging radar are removed.
In the embodiment of the present invention, the performing data alignment on the selected lunar sounding radar detection data in step 3 includes: and taking the first trough sampling point of the first lunar rover detection data as a calibration point, aligning the first trough point of all the lunar rover detection data with the calibration point, cutting the excessive effective data points, and filling zero in the insufficient effective data points.
Fig. 5 is a comparison of before and after data alignment of lunar sounding radar data in accordance with an embodiment of the present invention. It is clear that the right image after alignment is significantly more realistic than the left image before alignment, in particular when the surface echoes are at the same horizontal line.
In the embodiment of the present invention, the distance scale consistency processing on the selected lunar radar detection data in step 3 includes: firstly, performing 100-time linear interpolation on lunar ranging radar detection data containing position information; secondly, calculating the path difference between the next path and the previous path from the first path in the newly generated lunar ranging radar detection data, accumulating the path difference, and recording the path difference as the first lunar ranging radar detection data when the accumulated path is larger than a preset scale value; and thirdly, starting from the last month measuring radar detection data, continuing accumulation operation, and repeating the operation in the same way, traversing the whole month measuring radar detection data, and thus obtaining the month measuring radar detection data with the horizontal distance interval as the scale preset value.
Fig. 6 is a comparison diagram before and after distance scale consistency processing is performed on lunar radar detection data according to an embodiment of the invention. In the figure, the radar result of the area marked by the arrow on the left figure is more stretched due to the slower speed of the corresponding lunar vehicle; in the image after the right image correction, the arrow mark area is greatly improved through distance scale consistency processing.
In the embodiment of the invention, firstly, preprocessing the lunar sounding radar detection data and the auxiliary telemetering data, and mainly comprises the steps of carrying out time homogenization and telemetering data interpolation on the lunar sounding radar detection data; secondly, inserting the telemetering data into the lunar sounding radar detection data according to time, and then selecting the lunar sounding radar detection data in a walking state according to position information in the lunar sounding radar detection data; finally, carrying out data alignment and distance scale consistency processing on the selected lunar sounding radar detection data to obtain a final processing result; the work has important significance for carrying out target extraction, horizon identification and data interpretation by utilizing the lunar radar detection data subsequently.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A data editing method for lunar sounding radar detection data is characterized by comprising the following steps:
step 1: preprocessing the lunar radar detection data and the auxiliary telemetering data;
step 2: inserting the telemetering data into the lunar sounding radar detection data according to time, and then selecting the lunar sounding radar detection data in a walking state according to position information in the lunar sounding radar detection data;
and step 3: carrying out data alignment and distance scale consistency processing on the selected lunar sounding radar detection data;
wherein, the step 3 of performing distance scale consistency processing on the selected lunar sounding radar detection data comprises the following steps:
firstly, performing 100-time linear interpolation on lunar ranging radar detection data containing position information;
secondly, calculating the path difference between the next path and the previous path from the first path in the newly generated lunar ranging radar detection data, accumulating the path difference, and recording the path difference as the first lunar ranging radar detection data when the accumulated path is larger than a preset scale value;
and thirdly, starting from the last month measuring radar detection data, continuing accumulation operation, and repeating the operation in the same way, traversing the whole month measuring radar detection data, and obtaining the month measuring radar detection data with the horizontal distance interval as the scale preset value.
2. The method for editing data of lunar radar detection data as claimed in claim 1, wherein the preprocessing of the lunar radar detection data and the auxiliary telemetry data in step 1 comprises:
and carrying out time homogenization correction processing on the lunar radar detection data, and carrying out interpolation processing on the telemetering data.
3. The method for editing data of lunar sounding radar detection data according to claim 2, wherein the performing time-normalization correction processing on the lunar sounding radar detection data includes:
and calculating the total working time of the radar according to the starting time and the ending time of the detection data of the lunar sounding radar in a detection period time in two adjacent lunar sounding radar navigation points, and then averagely inserting the time information into the detection data of the lunar sounding radar in each channel by using the number of radar channels acquired in the detection period time.
4. The method for editing data of sounding data of lunar sounding radar according to claim 2, wherein the interpolating the telemetry data comprises:
the telemetry data for the original 4 second update position is interpolated to an update position every 0.05 seconds using a linear interpolation method.
5. The method for editing data of lunar sounding radar detection data according to claim 1, wherein the inserting telemetry data into the lunar sounding radar detection data according to time in step 2 comprises:
and finding two moments before and after the closest time point in the telemetering data according to the time by using the time of the detection data of each lunar ranging radar, and averaging the corresponding position coordinates of the two moments to obtain the position coordinates of the detection data of the lunar ranging radar.
6. The method for editing data of lunar ranging radar detection data according to claim 1, wherein the step 2 of selecting lunar ranging radar detection data in a walking state according to position information in the lunar ranging radar detection data comprises:
and averaging and storing the lunar sounding radar detection data with the same coordinate (x, y, z) value into a lunar sounding radar detection data by taking the position information (x, y, z) of the lunar sounding radar detection data of each channel as a judgment basis.
7. The method for editing data of lunar sounding radar detection data according to claim 1, wherein the step 3 of performing data alignment on the selected lunar sounding radar detection data includes:
and taking the first trough sampling point of the first lunar rover detection data as a calibration point, aligning the first trough point of all the lunar rover detection data with the calibration point, cutting the part exceeding the number of the effective data points, and filling zero in the part lacking the number of the effective data points.
8. The method for editing data of lunar sounding radar detection data as claimed in claim 7, wherein the number of valid data points of lunar sounding radar for one channel detection data is 4096 and the number of valid data points of two channel detection data is 2048.
9. The method for editing data of lunar radar survey data as claimed in claim 1, wherein the preset value of the first channel scale of the lunar radar is 7.053cm, and the preset value of the second channel scale of the lunar radar is 0.045 cm.
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