CN102147462A - System and method for realizing motion compensation of UAV (unmanned aerial vehicle)-borne synthetic aperture radar - Google Patents
System and method for realizing motion compensation of UAV (unmanned aerial vehicle)-borne synthetic aperture radar Download PDFInfo
- Publication number
- CN102147462A CN102147462A CN2011100325480A CN201110032548A CN102147462A CN 102147462 A CN102147462 A CN 102147462A CN 2011100325480 A CN2011100325480 A CN 2011100325480A CN 201110032548 A CN201110032548 A CN 201110032548A CN 102147462 A CN102147462 A CN 102147462A
- Authority
- CN
- China
- Prior art keywords
- compensation
- attitude
- motion compensation
- aperture radar
- stabilized platform
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a system and method for realizing the motion compensation of a UVA (unmanned aerial vehicle)-borne synthetic aperture radar, which can be used for the motion compensation of a UAV-borne synthetic aperture radar. The system comprises an inertial navigation and gesture measuring unit, an antenna stabilizing platform, a motion compensation parameter processing unit and an imaging processing unit. According the method and the system, the synthetic aperture radar can be continuously imaged with high resolution on the unmanned aerial vehicle by the error extraction and the comprehensive compensation of radar echo data on the basis of the inertial navigation and gesture measuring unit of the unmanned aerial vehicle.
Description
Technical field
The present invention relates to the synthetic aperture radar (SAR) technical field of imaging, relate in particular to a kind of system and method for realizing the motion compensation of unmanned plane borne synthetic aperture radar, be used to realize synthetic-aperture radar high resolving power, continuous imaging on unmanned plane.
Background technology
Synthetic aperture radar (SAR) is a kind of high-resolution microwave imaging radar, can carry out high-resolution detection on a surface target, and has advantage round-the-clock, round-the-clock.From eighties of last century the fifties, since the aperture synthetic method occurs, the SAR system has been loaded in the detection that is used on the flying platforms such as aircraft, satellite, unmanned plane on a surface target in a large number, has obtained in fields such as geographical resource investigation, crops monitoring, marine monitoring, military surveillances using widely.
In order to guarantee the operate as normal of synthetic-aperture radar, precondition is that radar will be installed on the platform of motion.Short radar antenna is installed on the straight-line platform, as satellite, aircraft etc., along with the motion emission detection signal of platform and write down echoed signal, with the echoed signal of the collecting processing that is concerned with, make it be equivalent to a long antenna and transmitting and receiving signal, this method is exactly usually said aperture synthetic method.
By adopting the aperture synthetic method can make radar obtain high orientation to resolution, obtain high distance to resolution in conjunction with impulse compression method, constituted the synthetic-aperture radar method thus.In order to guarantee two dimensional imagings of synthetic-aperture radar, precondition is that radar will be installed on the platform of motion, is that motion platform is done linear uniform motion under the desirable image-forming condition.
With respect to the man-machine platform that wait to carry is arranged, the unmanned plane volume is little, weight, flying speed is slower, is easy to be subjected to the influence of atmospheric turbulence, causes that the unmanned plane body is stronger to jolt and the rapid variation of attitude.Therefore, the motion compensation of unmanned plane synthetic-aperture radar is more complicated.
External unmanned Airborne SAR Motion Information mainly relies on high precision Inertial Measurement Unit combined GPS to realize the measurement and the error compensation of radar kinematic parameter, domestic this type of measurement means precision is not enough, and be mainly used in the flight control of unmanned plane, compensate for reference to radar is not enough, needs other DATA REASONING and processing means to improve the motion compensation effect.
Summary of the invention
Fundamental purpose of the present invention is to provide a kind of system and method for realizing the motion compensation of unmanned plane borne synthetic aperture radar, based on low precision inertial navigation, realizes synthetic-aperture radar high resolving power, continuous imaging on unmanned plane.
For achieving the above object, the system of realization unmanned plane borne synthetic aperture radar provided by the invention motion compensation, this system comprises:
Inertial navigation is used to measure unmanned plane movement velocity, attitude;
Antenna stabilized platform is used for the control antenna beam position, isolates jolting and vibrating antenna stabilized platform attitude measurement unit of aircraft, is used for the attitude of instrumentation radar antenna stabilized platform;
Data processing unit is used for measurement parameter and merges, and echo parameter extracts and merges;
Image forming process unit is used for the synthetic-aperture radar focus-compensating and handles and imaging processing.
Realization provided by the invention flies the method for unmanned plane borne synthetic aperture radar motion compensation, this method is based on above-mentioned system, adopt the compound motion error compensation of compensation of high-precision antenna stable platform and the compensation of imaging and focusing Processing Algorithm, aircraft inertial navigation, platform Inertial Measurement Unit data and echo parameter estimation is combined, measurement Error Compensation and self-focusing processing are combined.
Polynary attitude measurement data fusion method has merged the high precision Inertial Measurement Unit data of inertial navigation data, gps data, radar and from radar return data extract kinematic parameter, has been used for the real time kinematics compensation deals.Utilize aircraft inertial navigation and antenna stabilized platform attitude measurement unit to calculate because the unmanned plane attitude changes caused beam position error.Simultaneously, for improving the platform attitude measurement accuracy, proposed digital clutter locking is carried out fusion treatment with above-mentioned measurement data, the realization antenna stabilized platform is accurately controlled.
Imaging and focusing Processing Algorithm compensate for residual error is utilized antenna stabilized platform and is utilized the Inertial Measurement Unit data to carry out on the basis of error compensation, in imaging processing, combined high precision real time imagery Processing Algorithm, and adopt and do not have the efficient autofocus algorithm that ginseng is estimated, the compensate for residual error improves image quality.
From technique scheme as can be seen, the present invention has following beneficial effect:
1, utilizes the present invention, can remedy the low problem of unmanned plane inertial navigation precision, improve measuring accuracy by data combination.
2, utilize the present invention, can realize synthetic-aperture radar high resolving power, high precision, continuous imaging on unmanned plane.
Description of drawings
Fig. 1 is the structural representation of realization unmanned plane borne synthetic aperture radar motion compensating system provided by the invention;
Fig. 2 is the synoptic diagram of unmanned plane borne synthetic aperture radar attitude error provided by the invention compensation method;
Fig. 3 is the synoptic diagram of unmanned plane borne synthetic aperture radar provided by the invention imaging and motion compensation process.
Fig. 4 is the comparing result of radar image before and after the compensation of obtaining of employing unmanned plane borne synthetic aperture radar motion compensating system of the present invention and technology; Wherein Fig. 4 a is the radar image that does not compensate processing; Fig. 4 b is the radar image that compensates after the processing.
Embodiment
For making the purpose, technical solutions and advantages of the present invention clearer, below in conjunction with specific embodiment, and with reference to accompanying drawing, the present invention is described in more detail.
As shown in Figure 1, Fig. 1 is the structural representation of realization unmanned plane borne synthetic aperture radar motion compensating system provided by the invention, and this system comprises inertial navigation, antenna stabilized platform attitude measurement unit, antenna stabilized platform, attitude error compensation deals unit, image forming process unit.The carrier aircraft motion state information and near the attitude information of radar antenna that utilize inertial navigation and attitude measurement unit to provide, attitude error compensation deals unit extracts parameter and the information that is used for antenna stabilized platform compensation control by signal processing method.
As shown in Figure 2, Fig. 2 is the synoptic diagram of unmanned plane borne synthetic aperture radar motion compensation process provided by the invention, aircraft inertial navigation, platform Inertial Measurement Unit data and echo parameter are estimated combined, adopt the Doppler parameter estimation method, acquisition is used for the parameter of antenna stabilized platform attitude control, improve aircraft inertial navigation and the antenna stabilized platform attitude measurement unit measurement estimated accuracy to the antenna stabilized platform kinematic error, the realization antenna stabilized platform is accurately controlled.
As shown in Figure 3, imaging processing algorithm when Fig. 3 is high-precision real, at first utilizing antenna stabilized platform and Inertial Measurement Unit data to carry out on the basis of preliminary error compensation, further compensate the intrinsic range migration equal error of radar motion, adopt self-focusing Processing Algorithm compensate for residual error approach at last, effectively improve image quality based on PGA.
At home in certain type unmanned plane borne synthetic aperture radar system, the aircraft measurement parameter that is provided based on the homemade inertial navigation of certain type of lower accuracy, comprise unmanned plane during flying speed, flight attitude, the orientation that information such as flying height and the three-axis attitude measuring unit that antenna stabilized platform disposed are provided, pitching, roll attitude measurement result, the data processing unit that utilizes the TS101 digital signal processor to constitute is realized the fusion treatment of the measurement parameter and the echo parameter that extracts, obtained the compensating parameter of control antenna stable platform, and be used for the required motion compensation operational factor of image forming process unit that the TS101 digital signal processor constitutes, finally realize the high resolving power of synthetic-aperture radar on the unmanned plane during flying applicator platform, high precision, continuous imaging.Shown in Fig. 4 b, (Fig. 4 a) compares, and is improved significantly through focusing effect and radar quality after the motion compensation process, has fully verified the validity of the given method of the present invention with the radar image that does not pass through motion compensation process.
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect are further described; institute is understood that; the above only is specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any modification of being made, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. system that realizes the motion compensation of unmanned plane borne synthetic aperture radar mainly comprises:
Inertial navigation is used to measure unmanned plane movement velocity, attitude;
Antenna stabilized platform is used for the control antenna beam position, isolates jolting and vibrating of aircraft;
Antenna stabilized platform attitude measurement unit is used for the attitude of instrumentation radar antenna stabilized platform;
The motion compensation parameters processing unit is used for measurement parameter and merges, and echo parameter extracts and merges;
Image forming process unit is used for the synthetic-aperture radar focus-compensating and handles and imaging processing.
The carrier aircraft motion state information and near the attitude information of antenna stabilized platform that utilize inertial navigation and attitude measurement unit to provide, the motion compensation process unit extracts parameter and the information that is used for antenna stabilized platform compensation control and image forming process unit compensation deals by signal processing method.
2. the method for unmanned plane borne synthetic aperture radar motion compensation, adopt the compound motion error compensation of antenna stabilized platform compensation and the compensation of imaging and focusing Processing Algorithm, aircraft inertial navigation, antenna stabilized platform attitude measurement cell data and radar echo parameter estimation is combined, realize based on the thick motion compensation of attitude measurement and the fine movement compensation of handling based on self-focusing.
3. method according to claim 2, wherein, polynary attitude measurement data fusion method is the multivariate data disposal route that merges aircraft inertial navigation data, platform Inertial Measurement Unit data and echo parameter estimated result, is used for the motion compensation process and the control of unmanned plane borne synthetic aperture radar system.Utilize aircraft inertial navigation and antenna stabilized platform attitude measurement unit to calculate because the unmanned plane attitude changes caused beam position error, above-mentioned measurement data is carried out fusion treatment, by the attitude error backoff algorithm, realize the fine compensation control of antenna stabilized platform orientation angle.
4. method according to claim 2, wherein, realize the thick motion compensation of measurement Error Compensation and the fine movement compensation of handling based on self-focusing, be to utilize Inertial Measurement Unit data and gps data to make up to resolve, obtain the error parameter that the imperfect motion of aircraft is introduced, utilize parameter that raw data is carried out error compensation, eliminate most of kinematic error; On this basis, adopt autofocus algorithm, further the compensate for residual phase error improves image quality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100325480A CN102147462A (en) | 2010-02-09 | 2011-01-27 | System and method for realizing motion compensation of UAV (unmanned aerial vehicle)-borne synthetic aperture radar |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201010106815.X | 2010-02-09 | ||
| CN201010106815 | 2010-02-09 | ||
| CN2011100325480A CN102147462A (en) | 2010-02-09 | 2011-01-27 | System and method for realizing motion compensation of UAV (unmanned aerial vehicle)-borne synthetic aperture radar |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102147462A true CN102147462A (en) | 2011-08-10 |
Family
ID=44421829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100325480A Pending CN102147462A (en) | 2010-02-09 | 2011-01-27 | System and method for realizing motion compensation of UAV (unmanned aerial vehicle)-borne synthetic aperture radar |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102147462A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102901955A (en) * | 2012-09-29 | 2013-01-30 | 北京航空航天大学 | Estimation method of kinematic error range influencing onboard synthetic aperture radar (SAR) imaging quality |
| CN103777201A (en) * | 2012-10-19 | 2014-05-07 | 中国航天科工集团第二研究院二〇七所 | Airborne SAR motion compensation method based on GPS data |
| CN105929400A (en) * | 2016-05-25 | 2016-09-07 | 中国科学院遥感与数字地球研究所 | Accurate measurement-based flight speed variable airborne SAR (synthetic aperture radar) data compensation method under constant PRF (pulse repetition frequency) |
| CN106501784A (en) * | 2016-11-03 | 2017-03-15 | 中国科学院电子学研究所 | A kind of missile borne SAR simulation testing device |
| CN108364304A (en) * | 2018-04-11 | 2018-08-03 | 湖南城市学院 | A kind of system and method for the detection of monocular airborne target |
| CN108445470A (en) * | 2018-03-20 | 2018-08-24 | 山东理工大学 | A kind of method and apparatus of achievable Review for Helicopter laser radar 3 d pose angle compensation |
| CN108469843A (en) * | 2014-12-31 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Mobile object and its antenna automatic aligning method, system |
| CN109581365A (en) * | 2018-12-14 | 2019-04-05 | 湖南华诺星空电子技术有限公司 | A kind of life-detection system based on multi-rotor unmanned aerial vehicle, method |
| CN109752698A (en) * | 2018-12-12 | 2019-05-14 | 北京无线电测量研究所 | A kind of inertial navigation method for estimating error of airborne synthetic aperture radar |
| CN110361032A (en) * | 2019-08-20 | 2019-10-22 | 中国民用航空总局第二研究所 | A kind of Auto-Test System and method of vehicle load measurement civil aviation navigation equipment |
| CN110488233A (en) * | 2019-08-22 | 2019-11-22 | 中国海洋大学 | A kind of boat-carrying X-band pathfinder motion compensation process based on radar fix system |
| CN110780272A (en) * | 2019-10-29 | 2020-02-11 | 西安电子科技大学 | Unparameterized paired echo suppression method for bump platform SAR |
| CN111308470A (en) * | 2019-11-18 | 2020-06-19 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Electronic stabilization method and system for unmanned shipborne radar equipment |
| WO2020140141A1 (en) * | 2018-12-30 | 2020-07-09 | T - Jump Tecnologias Ltda | Radar for cartography and monitoring |
| CN111665873A (en) * | 2020-05-29 | 2020-09-15 | 西安应用光学研究所 | High-precision line-of-sight stabilizing method based on reference light |
| CN111679278A (en) * | 2020-06-19 | 2020-09-18 | 八院云箭(北京)航天技术研究院有限公司 | FPGA-based real-time imaging system of W-waveband unmanned aerial vehicle synthetic aperture radar |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101226392A (en) * | 2007-11-20 | 2008-07-23 | 北京航空航天大学 | Minitype airborne high-precision low cost single-degree-of-freedom photo-electricity stabiliser |
-
2011
- 2011-01-27 CN CN2011100325480A patent/CN102147462A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101226392A (en) * | 2007-11-20 | 2008-07-23 | 北京航空航天大学 | Minitype airborne high-precision low cost single-degree-of-freedom photo-electricity stabiliser |
Non-Patent Citations (2)
| Title |
|---|
| 戴明宇: "雷达天线稳定平台激光测量系统研究", 《中国科学院研究生院硕士学位论文》 * |
| 王岩飞等: "用于地面目标微波特性测量的飞艇SAR系统", 《电子与信息学报》 * |
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102901955A (en) * | 2012-09-29 | 2013-01-30 | 北京航空航天大学 | Estimation method of kinematic error range influencing onboard synthetic aperture radar (SAR) imaging quality |
| CN103777201A (en) * | 2012-10-19 | 2014-05-07 | 中国航天科工集团第二研究院二〇七所 | Airborne SAR motion compensation method based on GPS data |
| CN108469843B (en) * | 2014-12-31 | 2021-03-30 | 深圳市大疆创新科技有限公司 | Moving object and antenna automatic alignment method and system thereof |
| CN108469843A (en) * | 2014-12-31 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Mobile object and its antenna automatic aligning method, system |
| US11057087B2 (en) | 2014-12-31 | 2021-07-06 | SZ DJI Technology Co., Ltd. | Mobile object and antenna automatic alignment method and system thereof |
| CN105929400A (en) * | 2016-05-25 | 2016-09-07 | 中国科学院遥感与数字地球研究所 | Accurate measurement-based flight speed variable airborne SAR (synthetic aperture radar) data compensation method under constant PRF (pulse repetition frequency) |
| CN105929400B (en) * | 2016-05-25 | 2018-10-16 | 中国科学院遥感与数字地球研究所 | Based on change speed of a ship or plane carried SAR compensation data method under the constant PRF accurately measured |
| CN106501784A (en) * | 2016-11-03 | 2017-03-15 | 中国科学院电子学研究所 | A kind of missile borne SAR simulation testing device |
| CN106501784B (en) * | 2016-11-03 | 2019-05-14 | 中国科学院电子学研究所 | A kind of missile borne SAR simulation testing device |
| CN108445470B (en) * | 2018-03-20 | 2023-02-17 | 山东理工大学 | Method and device capable of realizing three-dimensional attitude angle compensation of helicopter-mounted laser radar |
| CN108445470A (en) * | 2018-03-20 | 2018-08-24 | 山东理工大学 | A kind of method and apparatus of achievable Review for Helicopter laser radar 3 d pose angle compensation |
| CN108364304A (en) * | 2018-04-11 | 2018-08-03 | 湖南城市学院 | A kind of system and method for the detection of monocular airborne target |
| CN109752698A (en) * | 2018-12-12 | 2019-05-14 | 北京无线电测量研究所 | A kind of inertial navigation method for estimating error of airborne synthetic aperture radar |
| CN109581365A (en) * | 2018-12-14 | 2019-04-05 | 湖南华诺星空电子技术有限公司 | A kind of life-detection system based on multi-rotor unmanned aerial vehicle, method |
| CN109581365B (en) * | 2018-12-14 | 2022-07-15 | 湖南华诺星空电子技术有限公司 | Life detection system and method based on multi-rotor unmanned aerial vehicle |
| WO2020140141A1 (en) * | 2018-12-30 | 2020-07-09 | T - Jump Tecnologias Ltda | Radar for cartography and monitoring |
| US11874368B2 (en) | 2018-12-30 | 2024-01-16 | T-Jump Tecnologias Ltda | Charting and surveillance radar |
| CN110361032A (en) * | 2019-08-20 | 2019-10-22 | 中国民用航空总局第二研究所 | A kind of Auto-Test System and method of vehicle load measurement civil aviation navigation equipment |
| CN110488233A (en) * | 2019-08-22 | 2019-11-22 | 中国海洋大学 | A kind of boat-carrying X-band pathfinder motion compensation process based on radar fix system |
| CN110780272B (en) * | 2019-10-29 | 2023-06-30 | 西安电子科技大学 | Non-parametric pair echo suppression method for SAR of bumpy platform |
| CN110780272A (en) * | 2019-10-29 | 2020-02-11 | 西安电子科技大学 | Unparameterized paired echo suppression method for bump platform SAR |
| CN111308470A (en) * | 2019-11-18 | 2020-06-19 | 扬州船用电子仪器研究所(中国船舶重工集团公司第七二三研究所) | Electronic stabilization method and system for unmanned shipborne radar equipment |
| CN111665873A (en) * | 2020-05-29 | 2020-09-15 | 西安应用光学研究所 | High-precision line-of-sight stabilizing method based on reference light |
| CN111665873B (en) * | 2020-05-29 | 2022-09-06 | 西安应用光学研究所 | High-precision line-of-sight stabilizing method based on reference light |
| CN111679278A (en) * | 2020-06-19 | 2020-09-18 | 八院云箭(北京)航天技术研究院有限公司 | FPGA-based real-time imaging system of W-waveband unmanned aerial vehicle synthetic aperture radar |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102147462A (en) | System and method for realizing motion compensation of UAV (unmanned aerial vehicle)-borne synthetic aperture radar | |
| EP3264364B1 (en) | Method and apparatus for obtaining range image with uav, and uav | |
| Long et al. | High resolution radar real-time signal and information processing | |
| Pu et al. | Fast factorized backprojection imaging algorithm integrated with motion trajectory estimation for bistatic forward-looking SAR | |
| KR102028324B1 (en) | Synthetic Aperture Radar Image Enhancement Method and Calculating Coordinates Method | |
| CN110220491B (en) | Method for estimating installation error angle of optical pod of unmanned aerial vehicle | |
| CN113253267B (en) | Satellite-borne radar | |
| CN109932718A (en) | The circular path that multi-rotor unmanned aerial vehicle carries looks around SAR full aperture imaging method | |
| CN104330779A (en) | Airborne synthetic aperture radar kinematic error compensating method | |
| CN110954899A (en) | Sea surface ship target imaging method and device under high sea condition | |
| Wang et al. | Motion compensation on baseline oscillations for distributed array SAR by combining interferograms and inertial measurement | |
| CN106569206A (en) | Microwave optical compose-based target detection method | |
| CN109839633B (en) | Multi-frame pre-detection tracking method of airborne early warning radar based on minimum coverage airspace | |
| CN109917373B (en) | Dynamic planning track-before-detect method for motion compensation search of moving platform radar | |
| CN111983577B (en) | Airborne distributed SAR outfield test system and method | |
| CN113670301A (en) | Airborne SAR motion compensation method based on inertial navigation system parameters | |
| KR102028323B1 (en) | Synthetic Aperture Radar Image Enhancement Apparatus and System | |
| CN108562898A (en) | A kind of front side regards the distance and bearing bidimensional space-variant self-focusing method of SAR | |
| KR20230108236A (en) | Drone-borne frequency modulated continuous wave synthetic aperture radar imaging apparatus and method thereof | |
| Fu et al. | A robust yaw and pitch estimation method for mini-InSAR system | |
| Jean-Francois et al. | Sar imaging challenges on uav trajectory restitution study case with sar-light prototype at x-band | |
| Guo et al. | Studying atmospheric turbulence effects on aircraft motion for airborne SAR motion compensation requirements | |
| Klare et al. | Impact of platform attitude disturbances on the 3D imaging quality of the UAV ARTINO | |
| Chen et al. | A DBS image stitching algorithm based on affine transformation | |
| Pan et al. | An fpga implementation of uav sar real-time imaging algorithm |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C12 | Rejection of a patent application after its publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20110810 |