CN102288943A - Single-channel SAR-GMTI (single-channel synthetic aperture radar and ground moving target indication) method based on two visual reality image processing - Google Patents
Single-channel SAR-GMTI (single-channel synthetic aperture radar and ground moving target indication) method based on two visual reality image processing Download PDFInfo
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Abstract
The invention discloses a single-channel synthetic aperture radar moving target detection and positioning method based on two visual reality image processing, which comprises the following steps: (1) calculating an azimuth spectrum; (2) separating sub visual images; (3) restraining ground clutter; (4) detecting moving targets in a constant false alarm detection method; and (5) positioning the moving targets. According to the invention, the single SAR-GMTI (single-channel synthetic aperture radar and ground moving target indication) method is adopted to overcome the defects of complication, high cost and narrow application scope of a multi-channel hardware system, and the invention has the advantages of simple hardware system, low cost and wide application scope. By interference on self-adaption amplitude filtering re-inhibition static clutter of two visual reality images, the defects that a large amount of static clutter surplus exists after the existing single-channel system sub visual images are compensated and only moving target signals outside a clutter main lobe can be detected are overcome. The method has the advantages that the signal-clutter-noise ratio is high, the moving target signals in the clutter main lobe can be detected, the false alarm probability is low, and the moving parameter estimation and positioning precision is high.
Description
Technical field
This invention belongs to the signal processing technology field, further relates to a kind of based on two methods of looking the single-channel synthetic aperture radar moving object detection (SAR-GMTI) of real Flame Image Process in the airborne single channel Radar Technology field.This method can detect moving target effectively and moving target is positioned.
Background technology
The synthetic aperture radar image-forming technology is for the static scene in ground, as long as the track of radar motion platform is known, the relative displacement of radar and target is just accurately known, can be obtained high-resolution SAR image by matched filter processing.Yet, moving target situation to ground is just different, because the movable information of moving target does not in most of the cases have the knowledge of priori, if estimate that with static target the Doppler parameter that obtains carries out matched filter processing, moving target is coherent accumulation effectively, can occur that target defocuses and orientation dislocation, even moving target can be submerged in the land clutter, can't detection and Identification.
The single-channel synthetic aperture radar hardware system is simple, but the motion of Texas tower makes radar change for the instantaneous cone angle of static atural object, reduce the background return correlation between signals, cause the clutter deleterious that disappears mutually, make that moving target is difficult to detect.
The patented technology that Tsing-Hua University has " based on looking the right single-channel synthetic aperture radar moving target detection method of subimage " (notification number 100470255 more, a kind of method of synthetic-aperture radar single channel moving object detection is disclosed Granted publication day 2009.3.18).To form the subimage of a plurality of symmetries right more with the imaging of looking of data of synthetic aperture radar for this method, by right the offseting mutually of subimage, with all offset the result along the orientation to the distance unite accumulation to carrying out two dimension, adopt the CFAR technology to finish motion target detection then.The deficiency that this method exists is, in measured data, different each sub-view picture constantly are to existing certain otherness, subimage is to still having a large amount of static clutter residues after directly offseting, this method does not adopt effective false alarm rate control measure, cause the letter miscellaneous noise ratio low, the false-alarm probability height, kinematic parameter estimation and locating accuracy are low.
University Of Chongqing is at patent document " a kind of moving target detection method that decomposes based on single-channel synthetic aperture radar (SAR) image sequence characteristic the value " (publication number 101609151 of its application, a kind of method of synthetic-aperture radar single channel moving object detection is disclosed application number 200910104363, applying date 2009.7.17).This method is based on the SAR complex pattern and obtains subimage in the division of orientation frequency spectrum, in conjunction with the two-dimensional adaptive method error on amplitude and phase place between different subimages is proofreaied and correct, utilize eigenwert after covariance matrix between adjacent sub-images decomposes and the relation between moving target at last, realize the detection of target by second eigenwert.The deficiency of this method existence is that the radar that obtains different subimage correspondences receives the moment difference of echo, target and radar line of sight angle existence variation in the different scenes constantly.Because each resolution element in the synthetic aperture radar image-forming scene all is made up of some scattering points, when target and radar line of sight angle change, the phase place of different scattering point correspondences is fast changes, cause the phase difference between different subimages big like this, therefore, can't be by the method that adopts two-dimensional adaptive to handle, utilize enough spatial domain degree of freedom, effectively suppress land clutter, improve the moving object detection ability, so this method will be restricted in measured data is handled.
Summary of the invention
The objective of the invention is to overcome the deficiencies in the prior art, propose a kind of based on the two single-channel SAR-GMTI methods of looking real Flame Image Process.This method is fully recognized that single-channel SAR-GMTI system does not have the sufficient spatial domain degree of freedom information of hyperchannel SAR-GMTI system, and different imaging target echo constantly is decoherence, therefore, can't directly carry out effective clutter in the complex pattern territory and suppress.Look gradual characteristics of amplitude in the subimage but make full use of target at two of SAR, look real image area two and carry out the amplitude auto adapted filtering, carrying out effectively, clutter suppresses, and by estimating the position offset of moving target doppler spectral with respect to the static target doppler spectral, when moving target is carried out accurately locating, further reduce the motion target detection false-alarm probability, can suppress the interference of land clutter effectively, reduce false-alarm probability, kinematic parameter is estimated and the locating accuracy height.
The basic ideas that realize the object of the invention are: at first isolate two width of cloth and look real image according to the azimuth spectrum of echo data, then two width of cloth are looked real image adaptive amplitude filtering after, suppress the interference of static clutter again, be detected as the moving target in the image field scape.Detected moving target is taken out in windowing in the SAR complex pattern at last, does the doppler spectral that orientation FFT obtains moving target, estimates the side-play amount of moving target doppler spectral with respect to static clutter spectrum, realizes moving target is positioned.
The concrete steps that realize the object of the invention are as follows:
(1) computer azimuth spectrum
1a) echo data is done distance compression, range migration correction;
1b) do the orientation Fourier transform and obtain azimuth spectrum;
(2) segregant is looked real image
Be boundary's separated into two parts with the Doppler center 2a) with azimuth spectrum;
2b), obtain two width of cloth and look real image two parts imaging respectively;
(3) suppress static clutter
3a) determine that two width of cloth look the position correlative of real image,, finish image registration with the number that the position correlative of determining is looked real image circle displacement as second width of cloth;
3b) utilize following formula to calculate self-adaptation amplitude registration weights:
Wherein, c (k
1, k
2) be self-adaptation amplitude registration weights, s
1(k
1, k
2) be that first width of cloth that need to detect is looked real any pixel in the image, s
2(k
1, k
2) be that second width of cloth that need to detect is looked real in the image and looked real the corresponding pixel of image, k with first width of cloth
1Be the range coordinate that two width of cloth are looked real pixel position in the image, k
2Be the azimuthal coordinates that two width of cloth are looked real pixel position in the image, ∑ be the summation number, a is the number (a=1～4) of protected location, k
iBe that two width of cloth are looked real k in the image
2-a is listed as to k
2+ a row, k
jBe that two width of cloth are looked real k in the image
1-a walks to k
1+ a is capable;
3c) utilize following formula to suppress static clutter:
d(k
1，k
2)＝c(k
1，k
2)×s
1(k
1，k
2)-s
2(k
1，k
2)
Wherein, d (k
1, k
2) be the signal after static clutter suppresses, c (k
1, k
2) be self-adaptation amplitude registration weights, s
1(k
1, k
2) be that first width of cloth that need to detect is looked real any pixel in the image, s
2(k
1, k
2) look real corresponding pixel points in the image, k for second width of cloth that need to detect
1Be the range coordinate that two width of cloth are looked real pixel position in the image, k
2It is the azimuthal coordinates that two width of cloth are looked real pixel position in the image;
(4) utilize the CFAR detection method to detect moving target
(5) moving target location
5a) extract the signal of detected moving target to windowing along the orientation in SAR complex pattern territory;
5b) signal of moving target is done the doppler spectral that the orientation Fourier transform obtains moving target;
5c) doppler spectral of moving target and the doppler spectral of static target are done coherent detection, determine the Doppler shift amount of moving target;
5d) calculate the radial velocity of moving target by following formula:
Wherein, v
rBe the radial velocity of moving target, λ is the wavelength that transmits, f
dIt is the Doppler shift amount of moving target;
5e) moving target is located according to following formula:
Wherein, x
dBe orientation behind the moving target location to position coordinates, v
rBe the radial velocity of moving target, V is the speed of carrier platform, R
mThe distance that is moving target is to position coordinates.
The present invention compared with prior art has the following advantages:
1) the present invention has overcome hyperchannel hardware system complexity, cost height, the narrow shortcoming of range of application by adopting the method for single-channel SAR-GMTI, and it is simple to have a hardware system, and cost is low, the advantage of applied range.
2) the present invention is by looking real image adaptive amplitude filtering to two, handle the shortcoming that effectively suppresses land clutter when having overcome existing single channel system and can't utilize enough spatial domain degree of freedom to carry out sky, has moving object detection ability height, advantage that can practical application.
3) the present invention is by after looking real image adaptive amplitude filtering to two, suppress the interference of static clutter again, overcome and still had a large amount of static clutter residues after the sub-view of existing single channel system looks like to offset, can only detect the shortcoming of the outer moving-target signal of clutter main lobe, has letter miscellaneous noise ratio height, can detect the moving-target signal in the clutter main lobe, false-alarm probability is low, and kinematic parameter is estimated and the high advantage of locating accuracy.
Description of drawings
Fig. 1 is a process flow diagram of the present invention;
Fig. 2 is an analogous diagram of the present invention.
Embodiment
Be described in further detail below in conjunction with 1 pair of step of the present invention of accompanying drawing.
Step 1. computer azimuth spectrum
1a) echo data is done distance compression, range migration correction, the distance compression proofread and correct adopt distance-Doppler imaging method apart from compression method, the range migration correction method in the range migration correction employing distance-Doppler imaging method;
1b) do the orientation Fourier transform and obtain azimuth spectrum;
Step 2. segregant is looked real image
Be boundary's separated into two parts with the Doppler center 2a) with azimuth spectrum;
2b) to two parts imaging respectively, obtain two width of cloth and look real image, formation method adopts distance-Doppler imaging method;
Step 3. suppresses static clutter
3a) determine that two width of cloth look the position correlative of real image, look the number of real image circle displacement as second width of cloth with the position correlative of determining, finish image registration, the method of determining the position correlative is, first row of first width of cloth being looked real image carry out related calculation with each row that second width of cloth is looked real image; From all related operation results, select maximal value; The columns of second width of cloth of maximal value correspondence being looked real image is defined as the position correlative that two sons are looked real image;
3b) utilize following formula to calculate self-adaptation amplitude registration weights:
Wherein, c (k
1, k
2) be self-adaptation amplitude registration weights, s
1(k
1, k
2) be that first width of cloth that need to detect is looked real any pixel in the image, s
2(k
1, k
2) be that second width of cloth that need to detect is looked real in the image and looked real the corresponding pixel of image, k with first width of cloth
1Be the range coordinate that two width of cloth are looked real pixel position in the image, k
2Be the azimuthal coordinates that two width of cloth are looked real pixel position in the image, ∑ be the summation number, a is the number (a=1～4) of protected location, k
iBe that two width of cloth are looked real k in the image
2-a is listed as to k
2+ a row, k
jBe that two width of cloth are looked real k in the image
1-a walks to k
1+ a is capable;
3c) utilize following formula to suppress static clutter:
d(k
1，k
2)＝c(k
1，k
2)×s
1(k
1，k
2)-s
2(k
1，k
2)
Wherein, d (k
1, k
2) be the signal after static clutter suppresses, c (k
1, k
2) be self-adaptation amplitude registration weights, s
1(k
1, k
2) be that first width of cloth that need to detect is looked real any pixel in the image, s
2(k
1, k
2) look real corresponding pixel points in the image, k for second width of cloth that need to detect
1Be the range coordinate that two width of cloth are looked real pixel position in the image, k
2It is the azimuthal coordinates that two width of cloth are looked real pixel position in the image;
Step 4. utilizes the CFAR detection method to detect moving target
Step 5. moving target location
5a) extract the signal of detected moving target to windowing along the orientation in SAR complex pattern territory;
5b) signal of moving target is done the doppler spectral that the orientation Fourier transform obtains moving target;
5c) doppler spectral of moving target and the doppler spectral of static target are done coherent detection, determine the Doppler shift amount of moving target, the method of coherent detection is that first row of moving target doppler spectral and each row of static target doppler spectral are carried out related calculation, from all related operation results, select maximal value, the columns of the static target doppler spectral of maximal value correspondence is defined as the Doppler shift amount of moving target;
5d) calculate the radial velocity of moving target by following formula:
Wherein, v
rBe the radial velocity of moving target, λ is the wavelength that transmits, f
dIt is the Doppler shift amount of moving target;
5e) moving target is located according to following formula:
Wherein, x
dBe orientation behind the moving target location to position coordinates, v
rBe the radial velocity of moving target, V is the speed of carrier platform, R
mThe distance that is moving target is to position coordinates.
Be described further below in conjunction with 2 pairs of effects of the present invention of accompanying drawing.
This emulation CPU be core2 2.4GHZ, in save as in 2G, the WINDOWS XP system and to use MATLAB to carry out data processing.
This simulation parameter is provided with as follows: pulse width 6us, transmitted bandwidth 160MHz, sample frequency 160MHz, carrier aircraft speed 100m/s, repetition frequency 500Hz, wavelength 0.03m.1500 static targets on the same distance and position of simulating scenes, have been placed as clutter, the orientation spacing of each scattering point is 0.5m, and their envelope obey average be 0.2 and variance be 0.32 rayleigh distributed, placed an amplitude at scene centre coordinate place and be 0.6, radial velocity is the moving target of 0.75m/s.
Fig. 2 (a) is the imaging results figure of this emulation.Wherein, the dotted line among Fig. 2 (a) is the clutter orientation picture after the range unit direct imaging of moving target place, and the solid line among Fig. 2 (a) is the orientation picture that the method for employing this patent obtains.By the solid line among Fig. 2 (a) and the comparison of dotted line, as can be known in the dashed line view of direct imaging, because the amplitude of moving target is less than the amplitude of static clutter, moving target is submerged in the static clutter, so can't detect moving target.After the method that adopts this patent proposition, the amplitude of land clutter disappear mutually the back than direct imaging low-18.5dB, and the static clutter 29.5dB of the image height of moving target after disappearing mutually, as seen believe that miscellaneous noise ratio obviously improves, and can utilize the CFAR detection method to detect the interior moving-target signal of clutter main lobe easily.
Fig. 2 (b) is the normalization Doppler frequency spectrum figure of this emulation.Wherein, in the SAR complex pattern moving target that is detected being carried out 10 sampled points in orientation (about each 5) windowing extracts and handles, and be and obtain the moving target normalization Doppler frequency spectrum shown in the dotted line among Fig. 2 (b) behind the orientation FFT, the solid line among Fig. 2 (b) is the normalization Doppler frequency spectrum of any one rest point target of extracting of above-mentioned similar approach.When the radial velocity of moving target was 0.75m/s, its frequency shift amount was 50Hz.Utilize the moving target frequency spectrum among Fig. 2 (b) and the frequency spectrum of static target to do relevant treatment, determine the radial velocity of moving target, again according to step 5e) side-play amount of trying to achieve moving target is-112m, detected moving target position matches among the result who draws and Fig. 3 (a), shows moving target locating accuracy height.
Claims (6)
1. based on the two single-channel SAR-GMTI methods of looking real Flame Image Process, comprise the steps:
(1) computer azimuth spectrum
1a) echo data is done distance compression, range migration correction;
1b) do the orientation Fourier transform and obtain azimuth spectrum;
(2) segregant is looked real image
Be boundary's separated into two parts with the Doppler center 2a) with azimuth spectrum;
2b), obtain two width of cloth and look real image two parts imaging respectively;
(3) suppress static clutter
3a) determine that two width of cloth look the position correlative of real image,, finish image registration with the number that the position correlative of determining is looked real image circle displacement as second width of cloth;
3b) utilize following formula to calculate self-adaptation amplitude registration weights:
Wherein, c (k
1, k
2) be self-adaptation amplitude registration weights, s
1(k
1, k
2) be that first width of cloth that need to detect is looked real any pixel in the image, s
2(k
1, k
2) be that second width of cloth that need to detect is looked real in the image and looked real the corresponding pixel of image, k with first width of cloth
1Be the range coordinate that two width of cloth are looked real pixel position in the image, k
2Be the azimuthal coordinates that two width of cloth are looked real pixel position in the image, ∑ be the summation number, a is the number (a=1～4) of protected location, k
iBe that two width of cloth are looked real k in the image
2-a is listed as to k
2+ a row, k
jBe that two width of cloth are looked real k in the image
1-a walks to k
1+ a is capable;
3c) utilize following formula to suppress static clutter:
d(k
1，k
2)＝c(k
1，k
2)×s
1(k
1，k
2)-s
2(k
1，k
2)
Wherein, d (k
1, k
2) be the signal after static clutter suppresses, c (k
1, k
2) be self-adaptation amplitude registration weights, s
1(k
1, k
2) be that first width of cloth that need to detect is looked real any pixel in the image, s
2(k
1, k
2) look real corresponding pixel points in the image, k for second width of cloth that need to detect
1Be the range coordinate that two width of cloth are looked real pixel position in the image, k
2It is the azimuthal coordinates that two width of cloth are looked real pixel position in the image;
(4) utilize the CFAR detection method to detect moving target
(5) moving target location
5a) extract the signal of detected moving target to windowing along the orientation in SAR complex pattern territory;
5b) signal of moving target is done the doppler spectral that the orientation Fourier transform obtains moving target;
5c) doppler spectral of moving target and the doppler spectral of static target are done coherent detection, determine the Doppler shift amount of moving target;
5d) calculate the radial velocity of moving target by following formula:
Wherein, v
rBe the radial velocity of moving target, λ is the wavelength that transmits, f
dIt is the Doppler shift amount of moving target;
5e) moving target is located according to following formula:
Wherein, x
dBe orientation behind the moving target location to position coordinates, v
rBe the radial velocity of moving target, V is the speed of carrier platform, R
mThe distance that is moving target is to position coordinates.
2. require describedly according to right 1, it is characterized in that step 1a based on the two single-channel SAR-GMTI methods of looking real Flame Image Process) described distance compression proofread and correct adopt distance-Doppler imaging method apart from compression method.
3. requiring describedly according to right 1, it is characterized in that step 1a based on the two single-channel SAR-GMTI methods of looking real Flame Image Process) described range migration correction adopts the range migration correction method in the distance-Doppler imaging method.
4. requiring describedly according to right 1, it is characterized in that step 2b based on the two single-channel SAR-GMTI methods of looking real Flame Image Process) described formation method adopts distance-Doppler imaging method.
5. require described based on the two single-channel SAR-GMTI methods of looking real Flame Image Process according to right 1, it is characterized in that, step 3a) method of described definite position correlative is, first row of first width of cloth being looked real image carry out related calculation with each row that second width of cloth is looked real image; From all related operation results, select maximal value; The columns of second width of cloth of maximal value correspondence being looked real image is defined as the position correlative that two sons are looked real image.
6. require described based on the two single-channel SAR-GMTI methods of looking real Flame Image Process according to right 1, it is characterized in that, step 5c) method of described coherent detection is that first row of moving target doppler spectral and each row of static target doppler spectral are carried out related calculation, from all related operation results, select maximal value, the columns of the static target doppler spectral of maximal value correspondence is defined as the Doppler shift amount of moving target.
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