CN102269813A - Interference processing technology of airborne non-vertical dual-antenna InSAR system - Google Patents
Interference processing technology of airborne non-vertical dual-antenna InSAR system Download PDFInfo
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Abstract
The invention relates to an interference processing technology of an airborne non-vertical dual-antenna InSAR system. According to the invention, because airborne double antennas also make back-forth displacements besides left-right placements and up-down placements, a plurality of creative algorithms are provided by taken the above-mentioned situations into consideration, so that problems that precise data and inversion of elevation of the InSAR system can be solved. More particularly, the interference processing technology comprises the following parts that: (1), a local refined registration algorithm is provided, so that a problem that a registration accuracy of main and auxiliary images is difficult to reach a sub pixel level of refined registration can be solved, wherein the problem is caused by pre-and post-arrangements of the antennas; besides, noise is substantially reduced and thus quality of an interference pattern is improved; (2), a plat-earth phase and baseline distance algorithm, wherein the plat-earth phase and baseline distance algorithm are estimated on the basis of inertial navigation data and a main/auxiliary antenna three-dimensional dynamic imaging model, so that a problem that the plat-earth phase is difficult to be eliminated is solved and residual errors of the interferometric phase can be reduced, wherein the problem is caused by an attitude change of a carrier aircraft; (3), an elevation calibration model, which taking a residual phase and a baseline error into consideration, is established; and elevation calibration is completed on the basis of ground control points. According to the invention, airborne non-vertical dual-antenna InSAR system is utilized and a terrain mapping demand is met.
Description
Technical field
The present invention is a kind of interference data treatment technology that is applied to airborne non-perpendicular double antenna interference SAR (synthetic-aperture radar) system, this technology helps promoting the development of airborne interference SAR system, and the forest cover vertical stratification parametric inversion of interfering for high accuracy number elevation model (DEM) inverting, based on complete polarization simultaneously, professional application such as topographic mapping provides powerful guarantee on a large scale.
Background technology
Interference SAR is handled inverting face of land elevation from the same area two width of cloth SAR images of the two sensors irradiation of parallel orbit.Basic procedure (as shown in Figure 1) comprises that thick registration, smart registration, level land phase calculation, coherence map calculating, interferogram calculate and go level land phase place, phase filtering, phase unwrapping, phase place to elevation calculating and geocoding etc.
Since the ERS-1 satellite of C-band SAR was carried in emission in 1991, the research that utilizes the satellite-borne SAR data to carry out the repeat track interference had entered a brand-new situation from European Space Agency (ESA).After the nineteen ninety-five emission ERS-2 satellite, be one day priority interval time of two stars, can produce high-quality DEM.In the satellite remote sensing development in Europe, Japan emission in 1992 JERS-1 satellite, the RADARSAT-1 satellite of Canada's nineteen ninety-five emission all provides a large amount of high-quality SAR images.In recent years, launched many high-resolution Spaceborne SAR System successively again, as PALSAR, RADARSAT-2, Terra-SAR etc.The emission of these Spaceborne SAR System progressively moves to maturity spaceborne interference treatment technology.
Except a large amount of interference SAR images that satellite-borne SAR provided, NASA is in the flight earth observation test of shuttle Endeavour in 1994, two radars of the SIR-C/X-SAR that carries have all been obtained a large amount of observation datas, have also obtained successful interference test findings.2000, the SRTM plan of NASA is first spaceborne double antenna interference SAR system, two groups that utilize space shuttle to carry are positioned at the long telescopic arm two ends SIR-C/X-SAR radar of 60m, the land of observation between north latitude 60 and south latitude 60, to some areas repeated measures also, its spatial resolution is 30m, and the relative altitude precision is 10m.The area coverage of this twice flight observation is big, precision height, multiband in observation process, multi-mode, multipolarization, its result can be in research Global climate change, ocean, ecology, the hydrology is used in disaster and the military affairs, thereby has caused the extensive concern of countries in the world.
In addition, airborne interference SAR has also obtained huge development, many in the world countries have all dropped into strength the airborne Interference radar have been studied, nineteen ninety, Canadian CCRS utilizes the C/X-SAR that is installed in Convair 580 just to carry out the interference demonstration test of repeat track, and the movement compensating algorithm and the temporal coherence of interfering test have been done further research.The AIRSAR of the NASA/JPL of the U.S. is installed in the feature that has multiband (C/L/P) multipolarization on the DC-8 aircraft.At the TOPSAR interferometer radar by the AIRSAR repacking in 1991, be first double antenna radar mapping system, be operated in C-band, its result space resolution is 10 meters, vertical accuracy has reached 2-3 rice.The data of TOPSAR are further assessed and detailed processing, and the measurement area acquisition square error after the processing is 2 meters DEM.It is to carry out near Bern of Switzerland of 1994 that first airborne double antenna of Europe is interfered test, and the horizontal resolution of DO-SAR system is 0.8 meter, and the absolute elevation precision is a 2-5 rice.1998, people from Germany such as Wimmer utilize be operated in the airborne double antenna radar of the high-resolution AeS-1 of X-band to the northern Wadden area of Germany smooth, vegetation is rare, topographic mapping is carried out in relatively drier area, seabeach, the horizontal resolution of the DEM that generates is 2.5 meters, and vertical accuracy is 5 centimetres.
Generally, external interference SAR is the level that system or data processing technique all reach comparative maturity.Comparatively speaking, domestic development of technologies is backward relatively.At first be data processing technique, because the data source of domestic shortage oneself, so on the basis of commercial abroad satellite-borne SAR data, carried out the research of spaceborne interference treatment technology, and progressively catch up with world level.Next is a system development, and is domestic lag behind aspect the development of spaceborne interference SAR system abroad always, does not also have operating spaceborne interference SAR system at present.Aspect airborne interference SAR system, several families possess SAR system development Research on ability mechanism and have dropped into a large amount of energy, and obtained effect preferably, developed the L-band airborne interference SAR system as Chinese Academy of Sciences electron institute in 2000, the Chinese electric section 38 X-band airborne interference SAR system of having developed in 2005.In recent years, all there was the airborne interference SAR system of development New System in how tame unit.
Summary of the invention
The objective of the invention is:
At present, both at home and abroad the antenna configuration that adopts of dual airborne interferometric SAR generally be double antenna on horizontal cross-section perpendicular to fuselage, this is more satisfactory configuration design, and to the later stage imaging algorithm and interfere Processing Algorithm require relatively low, can easier obtain high-quality interferogram, and then the inverting landform altitude.But, at double antenna on horizontal cross-section and be not orthogonal to the interference system of the configuration of fuselage, domestic and international rare development and corresponding Processing Algorithm.The present invention just be based on domestic certain overlap non-perpendicular double antenna single-emission and double-receiving interference SAR system, smart registration in handling at interference data, level land phase estimation, baseline are apart from difficult points such as estimations, proposed corresponding innovative technology, made the interference data of obtaining to generate high-quality DEM.
The technical solution that the present invention taked is as follows:
The said a kind of airborne non-perpendicular double antenna interference SAR system interference treatment technology of the present invention comprises: local smart registration Algorithm, level land phase place and baseline be apart from algorithm for estimating, the elevation calibration model.
Local smart registration Algorithm
The present invention is directed to major-minor image in the airborne non-perpendicular double antenna interference SAR system and be difficult to the difficult problem of smart registration, proposed the local smart registration Algorithm of interference data.Because aspect constantly changes, the view data that the dual airborne interferometric SAR system of this configuration obtains is not unified translation relation in entire image, but have local deformation relationship, the characteristics of this deformation be in distance to almost consistent, in the orientation to there are differences.Can't adopt unified model to carry out overall smart registration between the major-minor image that this local deformation characteristics cause interfering, adopt the smart registration Algorithm in more accurate part and need make progress in the orientation.Local smart registration Algorithm has at first been set up equally distributed grid points, such as 16*16 or 32*32 etc. on the basis of thick registration; Then on the point of crossing of each graticule mesh, utilize window-related coefficient method or coefficient of coherence method to estimate the make progress registration skew of inferior picture dot level of orientation, generally be accurate to 1/8 or 1/10 picture dot; In each graticule mesh, the registration migration parameter of angle point around utilizing adopts bilinear interpolation or three cubes of interpolation that the registration parameter of each pixel is estimated then; Can adopt the most contiguous method to obtain registration parameter for the pixel in the graticule mesh of image periphery; When estimating each pixel registration parameter, finish smart registration operation to auxilliary image.
The formula of coefficient of coherence is as follows:
Wherein,
With
Represent two width of cloth interference complex pattern,
NAround the expression center pixel
NIndividual neighborhood pixels.
(2)
Level land phase place and baseline are apart from algorithm for estimating
The present invention is directed to level land phase place in the airborne non-perpendicular double antenna interference SAR system and be difficult to the difficult problem accurately estimated, proposed based on the level land phase place of inertial navigation data and antenna three-dimensional model and baseline apart from algorithm for estimating.In imaging process, do not take into full account the situation that the inertial navigation data are carried out the motion compensation of same relatively flight path at major-minor image, accurately estimate baseline distance phase place pacifically based on inertial navigation data and antenna three-dimensional model.At first, according to the high precision actual measurement coordinate of two antennas in the fuselage coordinate system, set up the antenna three-dimensional model; Secondly, set up the Three-Dimensional Dynamic model of antenna according to real-time inertial navigation data; And estimate the different positions constantly of two antennas of ground same point correspondence according to this model; At last, accurately estimate level land phase place and baseline distance.
As shown in Figure 2, A is a main antenna, is that coordinate origin is set up carrier aircraft platform coordinate system A-X1Y1Z1 with A, and heading is the X1 axle, and the fuselage right side is the Y1 axle, and vertical fuselage is downwards the Z1 axle.Set up course line reference frame O-XYZ simultaneously, working direction is an X-axis, and Z axially down, sets up right-handed system, and this coordinate system is consistent with the reference frame of Inertial Measurement Unit (IMU).Auxilliary antenna B is that (z), the discrepancy in elevation of gps antenna and main antenna is Zg for x, y under the carrier aircraft platform coordinate; P is a ground point.
If a certain moment, three attitude angle roll angles, the angle of pitch, crab angles of platform are respectively:
Then by the rotation matrix that platform coordinate system transfers the course line reference frame to be with antenna B:
(2)
Because under the single-emission and double-receiving pattern, the phase center of B antenna is at the central point C of AB.Major-minor antenna is exactly from the positive side of A P to be imaged onto the positive side of C to the time interval between the P imaging to the mistiming of ground same point P imaging, this time interval also corresponding the pixel-shift that makes progress in the orientation of major-minor image.Promptly under positive side-looking assumed condition, t1 constantly, A is to the imaging of P point, t2=t1+ Δ t constantly, C is to the P imaging, the pixel-shift Δ that mistiming Δ t between the two and major-minor image make progress in the orientation
lRelevant, that is,
During to the imaging of P point, the baseline of major-minor image is apart from being t1 moment A position and the t2 distance of C position constantly.
The level land phase estimation is the difficult point during airborne InSAR handles, and also is the key point that guarantees the DEM inversion accuracy.The level land phase estimation is inaccurate, not only can't eliminate the level land phase place fully, and may introduce the extra error phase place.Under airborne condition, the level land phase estimation must have high-precision carrier aircraft inertial navigation data.From the inertial navigation attitude data, we can determine the instantaneous position relation of two antennas, and then derivation level land phase place.From the inertial navigation data, we can obtain height function H_sensor (t), roll angle function angle_r (t), angle of pitch function angle_p (t), the crab angle function angle_h (t) in time of antenna A.
The idiographic flow of level land phase estimation:
(1) ground P point corresponding row time in master image is t1.According to known oblique distance R1 and height H _ sensor (t1), calculate the distance Rg1 that P is ordered;
(2) the azimuth deviation parameter of ordering at P according to major-minor image is determined P point corresponding row time t2 in auxilliary image;
(3) according to t2 platform attitude constantly, determine the coordinate of the picture of antenna B under reference frame, and then determine the coordinate of equivalent center C with respect to A for A;
(4), determine the t2 positive side-looking distance Rg2 of A antenna constantly according to the height H _ sensor (t2) of t2 moment A antenna;
(5) coordinate of C with respect to ground point P determined apart from Rg1, Rg2 and height H _ sensor (t1), H_sensor (t2) in the base area, and then calculates the oblique distance R2 that auxilliary antenna is ordered with respect to P;
(6) the oblique distance difference is transformed into the level land phase place;
(7) can estimate instantaneous baseline distance simultaneously.
Above-mentioned flow process is applied to each pixel, both can obtains the level land phase place.When practical operation, need carry out suitable The disposal of gentle filter to the inertial navigation data.
(3)
The elevation calibration model
The present invention is directed to the accurate inverse problem of elevation in the airborne non-perpendicular double antenna interference SAR system, set up the multinomial model of elevation calibration.This model takes into full account the error of interfering in the treatment scheme, comprises the control of the vertical error that residual error and lubber line error are caused in the model.
It is to utilize ground control point to carry out the process of overall adjustment that elevation is corrected, and it is as follows to correct model:
Wherein,
Be the actual elevation in reference mark,
For estimating elevation, x is the row coordinate, and y is a row-coordinate,
,
,
,
It is parameter to be estimated.This model has comprised remaining level land phase place vertical error and baseline apart from the vertical error that causes.4 unknown numbers are arranged in the model, therefore need 4 ground control points could eliminate the process errors in systematic error and early stage at least.Because the influence of inertial navigation data filtering degree, orientation, image upper edge is to there being the vertical error that rises and falls.Can carry out vertical error and eliminate with reference to the zone, level land on the topomap.Another part level land phase error elevation then is whole linear error, and this part need utilize the reference mark elevation to carry out match and correct.
The invention effect
The present invention is directed to airborne non-perpendicular double antenna interference SAR system, proposed a kind of interference treatment technology, emphasis has solved because the smart registration problems of the major-minor image that particular configuration causes, level land phase place and baseline are calibrated problem apart from estimation problem, elevation.This technology makes the airborne interference SAR system of this configuration be able to practicality, satisfies the needs of topographic mapping.
Description of drawings
Fig. 1 interferes processing flow chart for the airborne non-perpendicular double antenna interference SAR system of the present invention.
Fig. 2 for the airborne non-perpendicular double antenna interference SAR system antenna coordinate of the present invention is.
Fig. 3 is coefficient of coherence figure before and after the smart registration of the major-minor image of the present invention.
Fig. 4 is a 6*16 grid points azimuth deviation parameter of the present invention.
Fig. 5 compares for coefficient of coherence histogram before and after the smart registration of the present invention.
Fig. 6 is an inertial navigation data and curves of the present invention.
Fig. 7 changes elevation for phase place of the present invention.
Fig. 8 is elevation calibration of the present invention zone.
Embodiment
Below in conjunction with accompanying drawing the present invention is made further implementation.
For dual airborne interferometric SAR, major-minor image both can reach thick registration accuracy through after the simple translation.Fig. 3 (a) is the coefficient of coherence figure of major-minor image after the thick registration of process.From figure, we can see along the orientation to, many low coherences' zone appears.These zones just in time corresponding the moment that parameter suddenly changes in the aircraft inertial navigation data.
The overall offset of major-minor image is about 1 picture dot behind the thick registration, and regional area (mainly being in the different orientation time) is because the aircraft shake causes the registration skew bigger.So need accurately estimate registration parameter this time at regional area.According to the smart registration Algorithm in part, select 16*16 grid points, we obtain the result (as Fig. 3 (b)) behind the smart registration.Fig. 4 has provided the azimuth deviation parameter on the grid points, and the coefficient of coherence histogram relatively before and after Fig. 5 had provided smart registration.
The height function H_sensor of antenna A (t), roll angle function angle_r (t), angle of pitch function angle_p (t), crab angle function angle_h (t) are illustrated in fig. 6 shown below.Utilize level land phase estimation algorithm, can obtain the level land phase place.
Through the past level land, phase filtering, phase unwrapping, phase place is changeed after the elevation processing, obtains uncertain target altitude figures, as shown in Figure 7.
We have selected zone as shown in Figure 8 to carry out the height correction.According to the correction model of this paper, we have selected equally distributed 4 reference mark and 1 commanding elevation on the level land, carry out resolving of model parameter with them.Utilize all the other some checking elevations to correct precision simultaneously.As shown in table 1.
From error result, the method for the invention can effectively reach the purpose of high accuracy DEM inverting.
Table 1 ground control point error analysis (unit: m)
Claims (1)
1. airborne non-perpendicular double antenna interference SAR system interference treatment technology, it is characterized in that: described a kind of airborne non-perpendicular double antenna interference SAR system interference treatment technology comprises: local smart registration Algorithm, level land phase place and baseline be apart from algorithm for estimating, the elevation calibration model;
(1), local smart registration Algorithm
Local smart registration Algorithm designs at the interference data of airborne non-perpendicular double antenna interference SAR system specially; Because aspect constantly changes, the view data that the dual airborne interferometric SAR system of this configuration obtains is not unified translation relation in entire image, but have local deformation relationship, the characteristics of this deformation be in distance to almost consistent, in the orientation to there are differences; Can't adopt unified model to carry out overall smart registration between the major-minor image that this local deformation characteristics cause interfering, adopt the smart registration Algorithm in more accurate part and need make progress in the orientation; Local smart registration Algorithm has at first been set up equally distributed grid points, such as 16*16 or 32*32 etc. on the basis of thick registration; Then on the point of crossing of each graticule mesh, utilize window-related coefficient method or coefficient of coherence method to estimate the make progress registration skew of inferior picture dot level of orientation, generally be accurate to 1/8 or 1/10 picture dot; In each graticule mesh, the registration migration parameter of angle point around utilizing adopts bilinear interpolation or three cubes of interpolation that the registration parameter of each pixel is estimated then; Can adopt the most contiguous method to obtain registration parameter for the pixel in the graticule mesh of image periphery; When estimating each pixel registration parameter, finish smart registration operation to auxilliary image;
(2), level land phase place and baseline are apart from algorithm for estimating
In imaging process, do not take into full account the situation that the inertial navigation data are carried out the motion compensation of same relatively flight path at major-minor image, accurately estimate baseline distance phase place pacifically based on inertial navigation data and antenna three-dimensional model; At first, according to the high precision actual measurement coordinate of two antennas in the fuselage coordinate system, set up the antenna three-dimensional model; Secondly, set up the Three-Dimensional Dynamic model of antenna according to real-time inertial navigation data; And estimate the different positions constantly of two antennas of ground same point correspondence according to this model; At last, accurately estimate level land phase place and baseline distance;
The idiographic flow of level land phase estimation:
Ground P point corresponding row time in master image is t1; According to known oblique distance R1 and height H _ sensor (t1), calculate the distance Rg1 that P is ordered;
According to the azimuth deviation parameter that major-minor image is ordered at P, determine P point corresponding row time t2 in auxilliary image;
According to t2 platform attitude constantly, determine the coordinate of the picture of antenna B under reference frame, and then determine the coordinate of equivalent center C with respect to A for A;
According to the height H _ sensor (t2) of t2 moment A antenna, determine the t2 positive side-looking distance Rg2 of A antenna constantly;
The coordinate of C with respect to ground point P determined apart from Rg1, Rg2 and height H _ sensor (t1), H_sensor (t2) in the base area, and then calculates the oblique distance R2 that auxilliary antenna is ordered with respect to P;
The oblique distance difference is transformed into the level land phase place;
Simultaneously can estimate instantaneous baseline distance;
Above-mentioned flow process is applied to each pixel, both can obtains the level land phase place; When practical operation, need carry out suitable The disposal of gentle filter to the inertial navigation data;
(3), elevation calibration model
Take into full account the error of interfering in the treatment scheme, under ground control point is supported, set up the multinomial model of elevation calibration, comprise the control of the vertical error that residual error and lubber line error are caused in the model;
It is to utilize ground control point to carry out the process of overall adjustment that elevation is corrected, and it is as follows to correct model:
Wherein,
Be the actual elevation in reference mark,
For estimating elevation, x is the row coordinate, and y is a row-coordinate,
,
,
,
It is parameter to be estimated; This model has comprised remaining level land phase place vertical error and baseline apart from the vertical error that causes; 4 unknown numbers are arranged in the model, therefore need 4 ground control points could eliminate the process errors in systematic error and early stage at least; Because the influence of inertial navigation data filtering degree, orientation, image upper edge is to there being the vertical error that rises and falls; Can carry out vertical error and eliminate with reference to the zone, level land on the topomap; Another part level land phase error elevation then is whole linear error, and this part need utilize the reference mark elevation to carry out match and correct.
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