CN102455185B - Flight planning method for airborne synthetic aperture radar - Google Patents
Flight planning method for airborne synthetic aperture radar Download PDFInfo
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- CN102455185B CN102455185B CN2010105204986A CN201010520498A CN102455185B CN 102455185 B CN102455185 B CN 102455185B CN 2010105204986 A CN2010105204986 A CN 2010105204986A CN 201010520498 A CN201010520498 A CN 201010520498A CN 102455185 B CN102455185 B CN 102455185B
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Abstract
The invention discloses a flight planning method for an airborne synthetic aperture radar. The method comprises the following steps: selecting an azimuth angle corresponding to a mountain shadow image having the smallest shadow as a flight direction; dividing aerial photographic zones according to the range of elevation changes of DEM so as to allow the values of elevation changes of DEM in a same aerial photographic zone to be in a range of 1/6 to 1/4 of flight height; laying flight routes in each aerial photographic zone according to results of the aerial photographic zones. According to the invention, shadows and the phenomenon of layover on an image of the synthetic aperture radar can be maximally reduced, which enables information content of the image of the synthetic aperture radar to be increased and the image to be easier to interpret; flight planning is scientific and reasonable and can effectively reduce cost for aerial photography and enhance efficiency of aerial photography.
Description
Technical field
The present invention relates to the aeroplane mapping technical field, relate in particular to a kind of flight planning method for airborne synthetic aperture radar.
Background technology
Airborne synthetic aperture radar (Synthetic Aperture Radar, SAR) photogrammetric measurement is to utilize the airborne synthetic aperture radar sensor to obtain ground synthetic-aperture radar image, through a series of processing, thereby make DEM, orthophotoquad, topomap etc.Ship's Optimum Route when the airborne synthetic aperture radar flight course planning is the design aerial flight, the flight course planning of science can reduce boat and take the photograph cost, improve production efficiency and product quality.
At present, in photogrammetric measurement flight course planning field, the technology of comparative maturity is that optical photography is measured flight course planning.In the optical photography fields of measurement, through the development of decades, the flight course planning technology is very ripe, has now many flight-line design softwares available.Existing aeroplane photography flight-line design software is divided into frame width formula and two kinds of push-broom type for different purposes, is divided into tailored version and universal from scope is accepted in market, and laser ranging is all the tailored version design software basically.The Tracker32 of the FPES of frame width formula camera tailored version such as come card (Flight Planning and Evaluation Software), the ISMP (ImageStation Mission Planning) of hawk figure, universal WinMP as IGI and Track air etc.
Wherein, Tracker32 is the flight-line design software that Track air company coordinates The Tracker flight control system to release, be integrated in POS system by Applanix after The Tracker system, become a complete boat and fly the platform that designs, controls, measures and process.
Tracker32 comprises six application component: snapXYZ, snapLIM, snapPLAN, snapBASE, snapSHOT, snapPLOT, each assembly is completed the different task that boat is taken the photograph: digitize, design course line, data acquisition, record and file, all tasks can be by common interface from being dynamically connected, also can, by several personal different computer independent operations, can complete fast the flight-line design in band, line, face, irregular type zone.
WinMP is the supporting flight-line design software of the German IGI CCNS4 of company flight control system, and CCNS is the commercial aerial flight control system of first set in the world, and system stability is strong.WinMP has possessed all functions of flight-line design through constantly upgrading, can utilize outside altitude figures and the electronics base map with coordinate to carry out the robotization striplay, particularly can carry out the craft of optional position on-course and insert point, have very strong engineering application.
ISMP (ImageStation Mission Planning) is the supporting flight-line design module of the hawk figure digital boat camera DMC of company, and it is integrated in ImageStation.ISMP has run through from setting up the flight planning prediction scheme, until obtain the whole flow process of final exposure report and index file.A big data quantity processing environment is provided, can have accessed the scanning map for task scheduling, perhaps map vector data, perhaps digital Orthoimages.The common function that this task scheduling system provides comprises: the position angle flight with appointment calculates most economical course line etc. in appointed area.Also can plan and check very convenient, like a cork aerial mission.The analysis part of post-processed can check that real navigation spots position and Aircraft take the photograph the difference between the navigation spots data of acquisition.
But because synthetic-aperture radar is side-looking oblique distance imaging system, its imaging process is: terrain object is upwards to be recorded as picture by the sequential that platform flies in orientation, in distance, is upwards to receive terrain object reflected signal sequencing by radar to be recorded as picture.Upwards be the oblique distance projection imaging in distance, this imaging geometry feature makes synthetic-aperture radar image and common optical image have notable difference.In general, optical image is central projection or the projection of scanning class multicenter.Caused thus the synthetic-aperture radar image to have some geometrical features that are different from optical image, as the oblique distance image, closely compressed, have an X-rayed contraction, folded cover with shade etc.Therefore, can't reduce to greatest extent with ordinary optical flight-line design method the deformation of image that image self imaging characteristics due to airborne synthetic aperture radar causes.
Also do not have at present the airborne synthetic aperture radar technology to be used for the precedent in mapping field on a large scale both at home and abroad, so airborne synthetic aperture radar flight course planning technology is also immature, remains further to be studied.
Summary of the invention
The object of the invention is to propose a kind of flight planning method for airborne synthetic aperture radar, can reduce to greatest extent the shade on the synthetic-aperture radar image and repeatedly cover phenomenon, thereby improve the synthetic-aperture radar image amount of information, make it be easier to interpretation, and flight-line design is scientific and reasonable, can effectively reduce boat and take the photograph cost, improve boat and take the photograph efficiency.
For reaching this purpose, the present invention by the following technical solutions:
A kind of flight planning method for airborne synthetic aperture radar comprises the following steps:
The corresponding position angle of shadow figure, mountain of A, selection shade minimum flies direction as boat;
B, according to the elevation variation range of digital elevation model (Digital Elevation Model, DEM), navigate and take the photograph subregion, make same boat take the photograph in subregion, the elevation changing value of DEM between flying height 1/6 to 1/4 between;
C, take the photograph the result of subregion according to boat, each boat is taken the photograph subregion lay course line;
D, submit the flight course planning result to, comprise initial flight on flight course planning figure, flight line coordinate and flight line and finish the coordinate of flight.
Steps A is further comprising the steps:
A1, setting unlimited distance have a light source irradiation to the DEM surface, and the illumination value that receives by calculating each grid place of DEM calculates mountain shadow figure;
A2, calculating zenith angle, direction of illumination, the gradient and slope aspect, then calculate mountain shadow figure;
A3, calculate the mountain shadow figure of DEM different orientations in air cover by above-mentioned steps, select the corresponding position angle of shadow figure, mountain of shade minimum to fly direction as boat.
Step B is further comprising the steps:
B1, DEM pre-service, namely carry out pre-service according to given graticule mesh size to DEM, and the graticule mesh size arranges according to demand;
B2, boat are taken the photograph just subregion, namely according to DEM elevation in air cover, change and carry out the aerial conductor Preliminary division;
B3, boat are taken the photograph the subregion adjustment, namely according to boat, take the photograph standard and actual landform and navigates and take the photograph the subregion adjustment, and making navigates takes the photograph the partition shapes rule, so that aerial flight.
In step C, take the photograph parameter according to following boat and calculate course line: flying height, i.e. aircraft flight relative height; The reference field height, i.e. air cover reference field height, be made as the dispersed elevation of DEM in air cover; The side-looking angle, i.e. visual angle during radar side-looking imaging, the side-looking angle is between 20 degree are spent to 50; The side-looking direction, namely left side is looked or right side is looked; With the mapping bandwidth, the mapping bandwidth is determined by beam angle and flying height.
Adopted technical scheme of the present invention, complete flight course planning scheme can be proposed, determine that according to mountain shadow figure boat flies the method for direction, can reduce to greatest extent the shade on the synthetic-aperture radar image and repeatedly cover phenomenon, thereby improve the synthetic-aperture radar image amount of information, make it be easier to interpretation, and flight-line design is scientific and reasonable, can effectively reduce boat and take the photograph cost, improve boat and take the photograph efficiency.
Description of drawings
Fig. 1 is the process flow diagram of airborne synthetic aperture radar flight course planning in the specific embodiment of the invention.
Embodiment
Further illustrate technical scheme of the present invention below in conjunction with accompanying drawing and by embodiment.
Because airborne synthetic aperture radar is by side-looking mode transponder pulse, along with carrier aircraft flight, form banded mapping band, the flight course planning technology that before its this imaging mode has determined to indiscriminately imitate, ripe optical photography is measured, and must be on the basis of using for reference optical photography measurement flight course planning, according to the characteristics of airborne synthetic aperture radar self, exploitation is suitable for the flight course planning scheme that the airborne synthetic aperture radar boat is taken the photograph.
Fig. 1 is the process flow diagram of airborne synthetic aperture radar flight course planning in the specific embodiment of the invention.As shown in Figure 1, airborne synthetic aperture radar flight course planning flow process comprises the following steps:
The corresponding position angle of shadow figure, mountain of step 101, selection shade minimum flies direction as boat.
, because radar is the side-looking imaging, have shade and the folded phenomenon of covering on image.In regions with complex terrain, its lineament is that landform is complicated especially, and rises and falls obviously, in such area, shade and folded cover especially serious.How by the design course-and-bearing, to come reduce due to shade and folded covering that landform causes, be to need the problem that solves.Thus, this embodiment has proposed a kind of method that designs course-and-bearing according to mountain shadow figure (hillshade).
At first setting unlimited distance has a light source irradiation to the DEM surface, and the illumination value that receives by calculating each grid place of DEM calculates mountain shadow figure, and mountain shadow figure can improve the display effect on surface greatly, can be used for terrain analysis and image demonstration.First calculate zenith angle, direction of illumination, the gradient and slope aspect, then calculate mountain shadow figure, calculate the mountain shadow figure of DEM different orientations in air cover by above-mentioned steps, position angle is respectively 0 degree, 90 degree, 180 degree and 270 degree, the shade situation of different position angles on the shadow figure of mountain is different, selects the corresponding position angle of shadow figure, mountain of shade minimum to fly direction as boat.
Navigate and take the photograph subregion according to the elevation variation range of DEM, make same boat take the photograph in subregion, the elevation changing value of DEM reaches boat and takes the photograph standard, namely in same boat, take the photograph in subregion, topographical elevation difference change should between flying height 1/6 to 1/4 between.At first DEM pre-service, namely carry out pre-service according to given graticule mesh size to DEM, and the graticule mesh size can be by pressing the demand setting, such as 1: 5 ten thousand topographic sheets size of country; Navigate again and take the photograph just subregion, namely according to DEM elevation in air cover, change and carry out the aerial conductor Preliminary division; Navigate finally and take the photograph the subregion adjustment, namely boat is taken the photograph just and minute the situations such as subregion is too scattered, and region shape is irregular may be occurred, can take the photograph standard and actual landform according to boat and navigate and take the photograph the subregion adjustment, and making navigates takes the photograph the partition shapes rule, so that aerial flight.
Take the photograph parameter according to following boat and calculate course line: flying height, i.e. aircraft flight relative height; The reference field height, i.e. air cover reference field height, be made as the dispersed elevation of DEM in air cover; The side-looking angle, i.e. visual angle during radar side-looking imaging, the side-looking angle is between 20 degree are spent to 50; The side-looking direction, namely left side is looked or right side is looked; With the mapping bandwidth, the mapping bandwidth is determined by beam angle and flying height.
The above; only for the better embodiment of the present invention, but protection scope of the present invention is not limited to this, anyly is familiar with the people of this technology in the disclosed technical scope of the present invention; the variation that can expect easily or replacement, within all should being encompassed in protection scope of the present invention.Therefore, protection scope of the present invention should be as the criterion with the protection domain of claim.
Claims (1)
1. a flight planning method for airborne synthetic aperture radar, is characterized in that, comprises the following steps:
The corresponding position angle of shadow figure, mountain of A, selection shade minimum flies direction as boat, and is further comprising the steps:
A1, setting unlimited distance have a light source irradiation to the DEM surface, and the illumination value that receives by calculating each grid place of DEM calculates mountain shadow figure;
A2, calculating zenith angle, direction of illumination, the gradient and slope aspect, then calculate mountain shadow figure;
A3, calculate the mountain shadow figure of DEM different orientations in air cover by above-mentioned steps, select the corresponding position angle of shadow figure, mountain of shade minimum to fly direction as boat;
B, according to the elevation variation range of DEM, navigate and take the photograph subregion, make same boat take the photograph in subregion, the elevation changing value of DEM between flying height 1/6 to 1/4 between, further comprising the steps:
B1, DEM pre-service, namely carry out pre-service according to given graticule mesh size to DEM, and the graticule mesh size arranges according to demand;
B2, boat are taken the photograph just subregion, namely according to DEM elevation in air cover, change and carry out the aerial conductor Preliminary division;
B3, boat are taken the photograph the subregion adjustment, namely according to boat, take the photograph standard and actual landform and navigates and take the photograph the subregion adjustment, and making navigates takes the photograph the partition shapes rule, so that aerial flight;
C, take the photograph the result of subregion according to boat, each boat is taken the photograph subregion lay course line, wherein, take the photograph parameter according to following boat and calculate course line: flying height, i.e. aircraft flight relative height; The reference field height, i.e. air cover reference field height, be made as the dispersed elevation of DEM in air cover; The side-looking angle, i.e. visual angle during radar side-looking imaging, the side-looking angle is between 20 degree are spent to 50; The side-looking direction, namely left side is looked or right side is looked; With the mapping bandwidth, the mapping bandwidth is determined by beam angle and flying height;
D, submit the flight course planning result to, comprise initial flight on flight course planning figure, flight line coordinate and flight line and finish the coordinate of flight.
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| CN102707284B (en) * | 2012-06-25 | 2014-03-26 | 西安煤航信息产业有限公司 | Ground control and measurement stationing method based on onboard interferometric synthetic aperture radar (InSAR) |
| US20140207365A1 (en) * | 2013-01-18 | 2014-07-24 | Ge Aviation Systems Llc | Methods for determining a flight path |
| CN103134490B (en) * | 2013-03-28 | 2014-02-19 | 中国科学院电子学研究所 | Airborne interference synthetic aperture radar (SAR) shadow estimate and plane route design method |
| CN103644916B (en) * | 2013-11-28 | 2016-01-06 | 江西洪都航空工业集团有限责任公司 | A kind of Route planner of stealth aircraft |
| AU2016201867B2 (en) * | 2015-03-27 | 2017-09-28 | Konica Minolta Laboratory U.S.A., Inc. | Method and system to avoid plant shadows for vegetation and soil imaging |
| CN105549619B (en) * | 2016-02-03 | 2020-11-03 | 武汉大势智慧科技有限公司 | Multi-take-off and landing point route planning method for cruising ability of unmanned aerial vehicle |
| CN106774406B (en) * | 2016-12-30 | 2023-06-23 | 武汉大势智慧科技有限公司 | Unmanned aerial vehicle image automatic acquisition system and method |
| CN108802730A (en) * | 2018-06-15 | 2018-11-13 | 上海卫星工程研究所 | A kind of system and application model based on SAR satellites |
| CN109059849A (en) * | 2018-09-28 | 2018-12-21 | 中国科学院测量与地球物理研究所 | A kind of surface subsidence prediction technique based on InSAR technology in remote sensing |
| CN111693994B (en) * | 2020-04-30 | 2022-06-03 | 中国科学院空天信息创新研究院 | Airborne synthetic aperture radar route laying method, device, equipment and storage medium |
| CN111578905B (en) * | 2020-05-13 | 2022-03-22 | 中测新图(北京)遥感技术有限责任公司 | Inclined camera route laying method and device |
| CN113406970B (en) * | 2021-07-06 | 2022-11-08 | 北京捷翔天地信息技术有限公司 | Method, equipment and storage medium for collecting images by high-efficiency oblique photography |
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