CN103760544B - The scattering centers extraction method and system of radar target - Google Patents
The scattering centers extraction method and system of radar target Download PDFInfo
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- CN103760544B CN103760544B CN201410016438.9A CN201410016438A CN103760544B CN 103760544 B CN103760544 B CN 103760544B CN 201410016438 A CN201410016438 A CN 201410016438A CN 103760544 B CN103760544 B CN 103760544B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention discloses a kind of scattering centers extraction method and system of radar target, described method comprises: be greater than the pixel of setting threshold for the absolute value of each ordinate in the one-dimensional range profile course figure obtaining, calculate the scattering center transverse projection straight line of radar target according to the horizontal stroke of this pixel, ordinate; And determine scattering center transverse projection straight line in horizontal plane irradiation area through grid after, for each grid of determining, the value of element corresponding with this grid in two-dimentional accumulator is added to 1; The value of each element in two-dimentional accumulator is converted to after gray value, obtain the horizontal plane parameter field image of radar target; From horizontal plane parameter field image, determine after peak value pixel, the position according to peak value pixel in horizontal plane parameter field image, determines the scattering center of radar target. Application the present invention, can realize the association to dissimilar scattering center, improves the accuracy of extracting dissimilar scattering center.
Description
Technical field
The present invention relates to Radar Technology, relate in particular to a kind of radar target scattering centers extraction method andSystem.
Background technology
The scattering center of radar target is generally positioned at object edge, flex point and connection place, reflection target essenceClose geometry feature specifically has important function and significance in target identification. Along with radar orderMark reaching its maturity of a peacekeeping two-dimensional scattering center extraction technology, to the three-dimensional imaging of target scattering centerBecome the problem that further solves of needing in radar target automatic identification field, present stage is to radar targetThe extraction at three-dimensional scattering center is carried out in the experiment of electromagnetism environment under indoor controlled attitude conventionally: transmittingSuper bandwidth radar signal, produces burst pulse by the mode of synthetic impulse, thereby obtains one-dimensional distancePicture, the geometric projection relation according to the three-dimensional under radar far field condition to one dimension, utilizes Hough HoughConversion realizes the association to one dimension mapping center, and by analyzing the ability distribution feelings of Hough transform domainCondition estimates the locus of target scattering center.
But the application prerequisite of the extracting method at above-mentioned radar target three-dimensional scattering center is radar targetScattering center is necessary for fixed scattering center, for the sliding-type scattering center of spheroid, cylinder etc.Utilize Hough conversion cannot realize the association to one-dimensional scattering center, be follow-uply also just unable to estimate outThe locus of target scattering center.
As from the foregoing, be necessary to provide a kind of scattering centers extraction method of radar target, can realizeTo the association of fixed scattering center, can realize again the association to sliding-type scattering center, thereby improveExtract the accuracy of scattering center.
Summary of the invention
Goal of the invention of the present invention has been to provide a kind of scattering centers extraction method of radar target and has beenSystem, can realize the association to dissimilar scattering center, improves and extracts dissimilar scattering centerAccuracy.
According to an aspect of the present invention, provide a kind of scattering centers extraction method of radar target,Comprise:
Obtain radar and the radar target under multiple attitude angle is carried out to the one-dimensional range profile obtaining after frequency sweepAfter course figure, be greater than setting threshold for the absolute value of each ordinate in described one-dimensional range profile course figureThe pixel of value, calculates the scattering center transverse projection of radar target according to the horizontal stroke of this pixel, ordinateStraight line; Wherein, the abscissa of described pixel represents the attitude angle of described radar target, this pixel verticalCoordinate represents that described radar target is under this attitude angle, between its scattering center and radar observation sight lineDistance; And
Determine described scattering center transverse projection straight line in horizontal plane irradiation area the grid of processAfter, for each grid of determining, the value of element corresponding with this grid in two-dimentional accumulator is added to 1;Wherein, described horizontal plane irradiation area is that described radar is to the described radar target under multiple attitude angleWhile carrying out frequency sweep, the horizontal zone that the swept-frequency signal of its transmitting covers; Described grid is in advance in instituteState and divide in horizontal plane irradiation area; In described two-dimentional accumulator, each element corresponds respectively to described waterEach grid in plane irradiation area, and initial value is 0;
The value of each element in described two-dimentional accumulator is converted to after gray value, obtain described radar orderTarget horizontal plane parameter field image; From described horizontal plane parameter field image, determine after peak value pixel,Position according to described peak value pixel in described horizontal plane parameter field image, determines described radar orderTarget scattering center.
Further, described in, obtaining radar carries out obtaining after frequency sweep to the radar target under multiple attitude angleOne-dimensional range profile course figure, specifically comprise:
Described radar carries out frequency sweep detection to the described radar target under multiple attitude angle, described in acquisitionThe echo-signal of radar target, obtains frequency sweep data;
The frequency sweep data that obtain are carried out after inverse Fourier transform, obtain described one-dimensional range profile course figure.
Further, in described two-dimentional accumulator, each element corresponds respectively in described horizontal plane irradiation areaEach grid, is specially:
In described horizontal plane irradiation area, m is capable, and the grid of n row, with described two-dimentional accumulator metaThe element that is set to (m, n) is corresponding; Wherein, the natural number that m is 1～M; M is described horizontal plane irradiated regionThe grid sum of dividing along x direction of principal axis in territory; N is the natural number of 1～N; N is that described horizontal plane irradiatesThe grid sum of dividing along y direction of principal axis in region.
Further, in the described scattering that calculates described radar target according to the horizontal stroke of this pixel, ordinateHeart transverse projection straight line, is specially:
The coordinate (x, y) of the scattering center transverse projection Points on Straight Line of described radar target, according to following public affairsFormula calculates:
xcosφj+ysinφj=rk-r0(formula 3)
Wherein, φjFor the abscissa of this pixel; r0For the radial distance at described Radar Target Scatter center;rkFor the ordinate of this pixel.
Further, described radar target is the cylinder with sliding-type scattering center.
A kind of scattering centers extraction system of radar target is also provided according to another aspect of the present invention,System, comprising:
Scattering center transverse projection straight line determination module, for obtaining radar under multiple attitude angleAfter the one-dimensional range profile course figure that radar target carries out obtaining after frequency sweep, go through for described one-dimensional range profileIn journey figure, the absolute value of each ordinate is greater than the pixel of setting threshold, according to the horizontal stroke of this pixel, vertical seatMark calculates the scattering center transverse projection straight line of described radar target; Wherein, the horizontal seat of described pixelMark represents the attitude angle of described radar target, and the ordinate of this pixel represents that described radar target is in this appearanceUnder state angle, the distance between its scattering center and radar observation sight line;
Accumulator element value determination module, for determining mould according to described scattering center transverse projection straight lineThe described scattering center transverse projection straight line that piece is determined, determines this straight line at horizontal plane irradiation areaMiddle through grid after, for each grid of determining, by two-dimentional accumulator with this grid pairThe value of the element of answering adds 1; Wherein, described horizontal plane irradiation area is described radar in multiple attitude angleUnder described radar target while carrying out frequency sweep, the horizontal zone that the swept-frequency signal of its transmitting covers; InstituteState grid divides in advance in described horizontal plane irradiation area; Each element in described two-dimentional accumulatorCorrespond respectively to each grid in described horizontal plane irradiation area, and initial value is 0;
Scattering center determination module, described in determining described accumulator element value determination moduleIn two dimension accumulator, the value of each element converts gray value to, obtains the horizontal plane ginseng of described radar targetNumber field image; And determine after peak value pixel from described horizontal plane parameter field image, according to described peakThe position of value pixel in described horizontal plane parameter field image, determines in the scattering of described radar targetThe heart.
Preferably, described system also comprises:
One-dimensional range profile course figure acquisition module, at described radar to the institute under multiple attitude angleState radar target and carry out, after frequency sweep detection, obtaining the echo-signal of described radar target, obtain frequency sweep numberAccording to; The frequency sweep data that obtain are carried out after inverse Fourier transform, obtain described one-dimensional range profile course figure.
Preferably, in described horizontal plane irradiation area, m is capable, and the grid of n row is tired with described two dimensionAdding device meta, to be set to the element of (m, n) corresponding; Wherein, the natural number that m is 1～M; M is described levelThe grid sum of dividing along x direction of principal axis in face irradiation area; N is the natural number of 1～N; N is described waterThe grid sum of dividing along y direction of principal axis in plane irradiation area.
Preferably, described scattering center transverse projection straight line determination module is specifically for for described one dimensionIn Range Profile course figure, the absolute value of each ordinate is greater than the pixel of setting threshold, according to this pixelHorizontal, ordinate, and the scattering center transverse projection that following formula calculates described radar target is straightThe coordinate (x, y) of putting on line:
xcosφj+ysinφj=rk-r0(formula 3)
Wherein, φjFor the abscissa of this pixel; r0For the radial distance at described Radar Target Scatter center;rkFor the ordinate of this pixel.
Preferably, described radar target is the cylinder with sliding-type scattering center.
As shown from the above technical solution, for each vertical seat in the one-dimensional range profile course figure of radar targetTarget absolute value is greater than the pixel of setting threshold, according to the abscissa of this pixel (attitude of radar targetAngle), (radar target is under this attitude angle, between its scattering center and radar observation sight line for ordinateDistance) calculate the scattering center transverse projection straight line of radar target; And determine this scattering centerTransverse projection straight line horizontal plane irradiation area the grid of process, for each grid of determining,The value of element corresponding with this grid in two-dimentional accumulator is added to 1. Afterwards, by each in two-dimentional accumulatorThe value of element converts gray value to, obtains parameter field image, and according to therefrom determining after peak value pixel,Position according to peak value pixel in this horizontal plane parameter field image, determines scattering center. By realityNo matter checking, be that fixed scattering center or sliding-type scattering center can both realize its association,Thereby improve the accuracy of scattering centers extraction.
Brief description of the drawings
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, below by rightIn embodiment or description of the Prior Art, the accompanying drawing of required use is briefly described. Apparently,Accompanying drawing in below describing is only some embodiments of the present invention, for those of ordinary skill in the art, can also obtain according to these accompanying drawing illustrated embodiments other embodiment and accompanying drawing thereof.
The flow process of the scattering centers extraction method of the radar target that Fig. 1 provides for the embodiment of the present invention is shownIntention;
Fig. 2 a is the horizontal plane parameter field figure that the scattering centers extraction method of existing radar target is obtainedPicture;
The water that the scattering centers extraction method of the radar target that Fig. 2 b provides for the embodiment of the present invention is obtainedPlane parameter area image;
The structure of the scattering centers extraction system of the radar target that Fig. 3 provides for the embodiment of the present invention is shownIntention.
Detailed description of the invention
For making object of the present invention, technical scheme and advantage clearer, referring to accompanying drawing and enumeratePreferred embodiment, the present invention is described in more detail. But, it should be noted that, in description, listMany details be only used to make reader to have a thorough understanding to one or more aspects of the present invention,Even if do not have these specific details can realize these aspects of the present invention yet.
The terms such as " module " used in this application, " system " are intended to comprise the reality relevant to computerBody, such as but not limited to hardware, firmware, combination thereof, software or executory software. ExampleAs, module can be, but be not limited in: the process moved on processor, processor, object,Thread, program and/or the computer of executable program, execution. For instance, on computing equipment, moveApplication program and this computing equipment can be module. One or more modules can be arranged in executionProcess and/or thread in, a module also can be positioned on a computer and/or be distributed in twoBetween platform or more computers.
The present inventor considers, in advance radar is carried out the radar target under multi-pose angleWhen frequency sweep, the horizontal zone that the swept-frequency signal of its transmitting covers carries out grid division; And set up two-dimentionalAccumulator, makes each element in two-dimentional accumulator correspond respectively to each grid in horizontal plane irradiation area, andInitial value is 0. Afterwards, for each ordinate in the one-dimensional range profile course figure of radar target absolutelyValue is greater than to the pixel of setting threshold, according to the abscissa of this pixel (attitude angle of radar target),Ordinate (radar target under this attitude angle, the distance between its scattering center and radar observation sight line)Calculate the scattering center transverse projection straight line of radar target; And determine this scattering center transverse projectionStraight line horizontal plane irradiation area the grid of process, for each grid of determining, two dimension is tiredThe value that adds element corresponding with this grid in device adds 1. Afterwards, by the value of each element in two-dimentional accumulatorConvert gray value to, obtain parameter field image, and according to therefrom determining after peak value pixel, according to peakThe position of value pixel in this horizontal plane parameter field image, determines scattering center. Respectively to thering is cunningThe radar target of the radar target of ejector half scattering center and fixed scattering center is tested, by looseHit heart association results and show, compared with the scattering centers extraction method of existing radar target, thisThe bright extracting method providing can make scattering center converge to a bit, like this, no matter is fixed scatteringCenter or sliding-type scattering center can both realize its association, thus improve in Radar Target ScatterThe accuracy that the heart extracts.
Describe technical scheme of the present invention in detail below in conjunction with accompanying drawing. The radar that the embodiment of the present invention providesThe flow process of the scattering centers extraction method of target, as shown in Figure 1, comprises the steps:
S100: obtain radar and the radar target under multiple attitude angle is carried out to the frequency sweep obtaining after frequency sweepData.
In this step, calculate or realistic model measurement according to Electromagnetic Modeling, adopt azimuth plane scanning simulationRadar carries out frequency sweep detection to the radar target under multiple attitude angle, and (radar is swept radar targetFrequently time, the initial frequency of the swept-frequency signal of transmitting is 8GHz, and termination frequency is 12GHz), and obtainThe echo-signal of radar target; The echo-signal of radar target can be specifically electric field signal, orField signal; Using the phase and magnitude of the echo-signal detecting as radar under multiple attitude angleRadar target carry out the frequency sweep data that obtain after frequency sweep.
Wherein, for each attitude angle of radar target, radar is to the radar target under this attitude angleTranmitting frequency is fiWhen swept-frequency signal, this frequency calculates according to following formula 1:
In formula 1, NfWhile radar target transmitting being carried out to frequency sweep for radar, the swept-frequency signal of its transmittingFrequency sum; I is 1～NfNatural number; Wherein, the frequency interval of the signal between adjacent frequency equates;f0For the initial frequency of this swept-frequency signal; B is the bandwidth of this swept-frequency signal.
S101: the frequency sweep data that obtain are carried out, after inverse Fourier transform, obtaining one-dimensional range profile courseFigure.
In this step, the frequency sweep data that step S100 is obtained carry out, after inverse Fourier transform, obtaining oneDimension Range Profile course figure. How frequency sweep data are carried out to inverse Fourier transform, obtain one-dimensional range profile and go throughThe method of journey figure is well known to those skilled in the art, and repeats no more herein.
For each pixel in one-dimensional range profile course figure, the abscissa of this pixel represents attitude angle, shouldThe ordinate of pixel represents that radar target is under this attitude angle, its scattering center and radar observation sight line itBetween distance; Wherein, the ordinate of above-mentioned pixel calculates according to following formula 2:
In formula 2, NfWhile radar target being carried out to frequency sweep for radar, the frequency of the swept-frequency signal of its transmittingPoint sum; K is 1～NfNatural number; B is radar when radar target is carried out to frequency sweep, the sweeping of its transmittingFrequently the bandwidth of signal; C is radar when radar target is carried out to frequency sweep, and the swept-frequency signal ripple of its transmitting is propagatedSpeed.
S102: be greater than setting threshold for the absolute value of each ordinate in one-dimensional range profile course figurePixel, calculates the scattering center transverse projection straight line of radar target according to the horizontal stroke of this pixel, ordinate.
In this step, the absolute value that selects ordinate from one-dimensional range profile course figure is greater than setting thresholdThe pixel of value, for each pixel selecting, according to the abscissa of this pixel, namely radar orderTarget attitude angle, ordinate, namely radar target under this attitude angle, its scattering center and radarObserve the distance between sight line, calculate the scattering center transverse projection straight line of radar target. Above-mentioned thresholdValue can rule of thumb be set by those skilled in the art.
Particularly, can calculate according to following formula 3 the scattering center radial distance of radar targetThe coordinate (x, y) of Points on Straight Line:
xcosφj+ysinφj=rk-r0(formula 3)
In formula 3, φjFor the abscissa of this pixel; r0For described Radar Target Scatter center radial distance;rkFor the ordinate of this pixel.
S103: determine scattering center transverse projection straight line in horizontal plane irradiation area the net of processAfter lattice, for each grid of determining, by the value of element corresponding with this grid in two-dimentional accumulatorAdd 1.
In this step, the scattering center transverse projection straight line of determining according to step S102, determines thisStraight line in horizontal plane irradiation area through grid after, for each grid of determining, by twoIn dimension accumulator, the value of the element corresponding with this grid adds 1. Wherein, two-dimentional accumulator is set up in advance,In two dimension accumulator, each element corresponds respectively to each grid in horizontal plane irradiation area: horizontal plane irradiated regionIn territory, m is capable, and the grid of n row is corresponding with the element that two-dimentional accumulator meta is set to (m, n); ItsIn, the natural number that m is 1～M; M is that the grid of dividing along x direction of principal axis in horizontal plane irradiation area is totalNumber; N is the natural number of 1～N; N is the grid sum of dividing along y direction of principal axis in horizontal plane irradiation area.Wherein, horizontal plane irradiation area is radar when the radar target under multiple attitude angle is carried out to frequency sweep,The horizontal zone that the swept-frequency signal of its transmitting covers; Grid be wherein those skilled in the art according toExperience is divided in advance in horizontal plane irradiation area.
Like this, be greater than setting threshold for the absolute value of each ordinate in one-dimensional range profile course figurePixel, all can determine the scattering center transverse projection straight line corresponding with this pixel; For every reallyThe scattering center transverse projection straight line of making, determines this straight line and passes through in horizontal plane irradiation areaGrid after, for each grid of determining, by element corresponding with this grid in two-dimentional accumulatorValue add 1.
S104: the value of each element in two-dimentional accumulator is converted to after gray value, obtain radar targetHorizontal plane parameter field image.
In this step, convert the value of each element in two-dimentional accumulator to integer that scope is [0,255]Value, i.e. the gray value of image, obtains the horizontal plane parameter field image of radar target. That is to say,The gray value of the pixel that in horizontal plane parameter field image, coordinate is (e, f) equals position in two-dimentional accumulatorFor the value of the element of (e, f) converts the gray value after the integer that scope is [0,255] to. Wherein, e is largeIn equaling 1, be less than or equal to the sum (horizontal plane of the pixel in horizontal direction in horizontal plane parameter field imageIn irradiation area along x direction of principal axis divide grid sum) natural number; F, for being more than or equal to 1, is less thanEqual the sum of the pixel in vertical direction in horizontal plane parameter field image (in horizontal plane irradiation area along yDirection of principal axis divide grid sum) natural number.
For the cylinder radar target with sliding-type scattering center, the water obtaining by above-mentioned stepsPlane parameter area image (scattering center association results) as shown in Figure 2 a, and adopt prior art obtainHorizontal plane parameter field image (scattering center association results) as shown in Figure 2 b; In Fig. 2 a, looseHit the heart and converge to a bit, in Fig. 2 b, scattering center, for not converging to a bit, is sent out but beLoose state. Obviously, compared with the existing methods, the scattering of the radar target that the embodiment of the present invention providesCenter extraction method can be realized the association to sliding-type scattering center.
Wherein, by the value of each element in two-dimentional accumulator, integer value converts the method for gray value toBe well known to those skilled in the art, repeat no more herein.
S105: from horizontal plane parameter field image, determine after peak value pixel, according to peak value pixel at waterPosition in plane parameter area image, determines the scattering center of described radar target.
In this step, the gray value composition gray value sequence by the pixel of horizontal plane parameter field image: willThe gray value correspondence of the pixel that in horizontal plane parameter field image, coordinate is (e, f) is arranged as in gray value sequenceThe value of (e-1) × M+f element. Wherein, e, for being more than or equal to 1, is less than or equal to horizontal plane parameterThe sum of the pixel in area image in horizontal direction (is divided along x direction of principal axis in horizontal plane irradiation areaGrid sum) natural number; M is the sum of the pixel in horizontal direction in horizontal plane parameter field image;F, for being more than or equal to 1, is less than or equal to the sum of the pixel in vertical direction in horizontal plane parameter field imageThe natural number of (the grid sum of dividing along y direction of principal axis in horizontal plane irradiation area). For gray valueElement a (q) in sequence, if meet a (q)≤a (q+1), a (q) simultaneously > a (q-1), a (q) ≠ 0; A (q)For the peak value of horizontal plane parameter field image, the pixel of its corresponding horizontal plane parameter field image is plane ginsengPeak value pixel in number field image; Wherein, q is greater than 2, is less than element total of this gray value sequenceThe natural number of number. The method of extracting horizontal plane parameter field image peak value is not limited to the method, also canDetermine method to adopt other related peak value in prior art. Afterwards, according to the peak value of determiningThe position of pixel in horizontal plane parameter field image, determines the scattering center of radar target at horizontal planeProjection.
In actual applications, when the parallel detection of radar line of sight (is that radar line of sight is flat with respect to coordinates of targetsFace is parallel) time, radar target can be ignored at the height of z axle (vertically) direction; That is to say,The Radar Target Scatter center of finally determining is in horizontal plane irradiation area. By above-mentioned method stepSuddenly it is loose that radar target just can be regarded as in the projection of horizontal plane in the Radar Target Scatter center of, determiningHit the position of the heart.
The radar target that the embodiment of the present invention is mentioned can be specifically the cylinder with sliding-type scattering centerBody, segment etc., in addition, the scattering centers extraction method of the radar target that the embodiment of the present invention providesAlso be applicable to there is fixed, some typical body of sliding-type scattering center.
The structure of the extraction system of the scattering center of the radar target that the embodiment of the present invention provides, as Fig. 3Shown in, comprising: scattering center transverse projection straight line determination module 301, accumulator element value determination module302, scattering center determination module 303.
Scattering center transverse projection straight line determination module 301 is for obtaining radar under multiple attitude angleThe radar target one-dimensional range profile course figure that carries out obtaining after frequency sweep after, for one-dimensional range profile courseIn figure, the absolute value of each ordinate is greater than the pixel of setting threshold, according to the horizontal stroke of this pixel, ordinateCalculate the scattering center transverse projection straight line of radar target; Wherein, the abscissa of above-mentioned pixel representsThe attitude angle of radar target, the ordinate of this pixel is illustrated in radar target under this attitude angle, radarDistance between the scattering center of target and radar observation sight line.
Accumulator element value determination module 302 is for according to scattering center transverse projection straight line determination moduleThe 301 scattering center transverse projection straight lines of determining, determine this straight line institute in horizontal plane irradiation areaThrough grid after, for each grid of determining, by corresponding with this grid in two-dimentional accumulatorThe value of element adds 1; Wherein, horizontal plane irradiation area is that radar is to the radar target under multiple attitude angleWhile irradiation, the horizontal zone that the swept-frequency signal of its transmitting covers. Grid is in advance at horizontal planeIn irradiation area, divide.
Each grid that accumulator element value determination module 303 is determined for grid determination module 302Point, adds 1 by the value of element corresponding with this grid in two-dimentional accumulator; Wherein, each in two-dimentional accumulatorElement corresponds respectively to each grid in horizontal plane irradiation area: in horizontal plane irradiation area, m is capable, nThe grid of row, corresponding with the element that two-dimentional accumulator meta is set to (m, n); M is the nature of 1～MNumber; M is the grid sum of dividing along x direction of principal axis in horizontal plane irradiation area; N is the nature of 1～NNumber; N is the grid sum of dividing along y direction of principal axis in horizontal plane irradiation area. And each in two-dimentional accumulatorThe initial value of element is 0.
Scattering center determination module 303 for accumulator element value determination module 302 is determined twoIn dimension accumulator, the value of each element converts gray value to, obtains the horizontal plane parameter field figure of radar targetPicture; And from horizontal plane parameter field image, determine after peak value pixel, according to peak value pixel at horizontal planePosition in parameter field image, determines the scattering center of radar target.
The extraction system of the scattering center of the radar target that further, the embodiment of the present invention provides also comprises:One-dimensional range profile course figure acquisition module 304;
One-dimensional range profile course figure acquisition module 304 at radar to the radar under multiple attitude angleTarget is carried out after frequency sweep detection, obtains the echo-signal of radar target, the frequency sweep data that obtain; WillTo frequency sweep data carry out after inverse Fourier transform, obtain one-dimensional range profile course figure.
Further, scattering center transverse projection straight line determination module 301 is for one-dimensional range profile course figureIn the absolute value of each ordinate be greater than the pixel of setting threshold, according to the horizontal stroke of this pixel, ordinate,And above-mentioned formula 3 calculates the coordinate of the scattering center transverse projection Points on Straight Line of radar target(x,y)。
The embodiment of the present invention provides in technical scheme, in the one-dimensional range profile course figure for radar targetThe absolute value of each ordinate is greater than the pixel of setting threshold, according to the abscissa of this pixel (radar orderTarget attitude angle), ordinate (radar target under this attitude angle, its scattering center and radar observationDistance between sight line) calculate the scattering center transverse projection straight line of radar target; And determine thisScattering center transverse projection straight line horizontal plane irradiation area the grid of process, determine for eachGrid, the value of element corresponding with this grid in two-dimentional accumulator is added to 1. Afterwards, two dimension is cumulativeIn device, the value of each element converts gray value to, obtains parameter field image, and according to therefrom determining peakAfter value pixel, the position according to peak value pixel in this horizontal plane parameter field image, determines in scatteringThe heart. No matter checking is by experiment that fixed scattering center or sliding-type scattering center can both be realNow to its association, thereby improve the accuracy of scattering centers extraction.
The foregoing is only preferred embodiment of the present invention, not for limiting the scope of the invention.Within the spirit and principles in the present invention all, any amendment of doing, be equal to and replace and improvement etc.,Within all should being included in protection scope of the present invention.
Claims (8)
1. a scattering centers extraction method for radar target, is characterized in that, comprising:
Obtain after the one-dimensional range profile course figure that radar carries out obtaining after frequency sweep to the radar target under multiple attitude angle, be greater than the pixel of setting threshold for the absolute value of each ordinate in described one-dimensional range profile course figure, calculate the scattering center transverse projection straight line of radar target according to the horizontal stroke of this pixel, ordinate; Wherein, the abscissa of described pixel represents the attitude angle of described radar target, and the ordinate of this pixel represents that described radar target is under this attitude angle, the distance between its scattering center and radar observation sight line;
Determine described scattering center transverse projection straight line in horizontal plane irradiation area through grid after, for each grid of determining, the value of element corresponding with this grid in two-dimentional accumulator is added to 1; Wherein, described horizontal plane irradiation area is described radar when the described radar target under multiple attitude angle is carried out to frequency sweep, the horizontal zone that the swept-frequency signal of its transmitting covers; Described grid is divided in advance in described horizontal plane irradiation area; In described two-dimentional accumulator, each element corresponds respectively to each grid in described horizontal plane irradiation area, and initial value is 0;
The value of each element in described two-dimentional accumulator is converted to after gray value, obtain the horizontal plane parameter field image of described radar target; From described horizontal plane parameter field image, determine after peak value pixel, the position according to described peak value pixel in described horizontal plane parameter field image, determines the scattering center of described radar target;
The described scattering center transverse projection straight line that calculates described radar target according to the horizontal stroke of this pixel, ordinate, is specially:
The coordinate (x, y) of the scattering center transverse projection Points on Straight Line of described radar target, calculates according to following formula:
xcosφj+ysinφj＝rk-r0(formula 3)
Wherein, φjFor the abscissa of this pixel; r0For the radial distance at described Radar Target Scatter center; rkFor the ordinate of this pixel.
2. method according to claim 1, is characterized in that, described in obtain radar and the radar target under multiple attitude angle carried out to the one-dimensional range profile course figure obtaining after frequency sweep, specifically comprise:
Described radar carries out frequency sweep detection to the described radar target under multiple attitude angle, obtains the echo-signal of described radar target, obtains frequency sweep data;
The frequency sweep data that obtain are carried out after inverse Fourier transform, obtain described one-dimensional range profile course figure.
3. method according to claim 1, is characterized in that, in described two-dimentional accumulator, each element corresponds respectively to each grid in described horizontal plane irradiation area, is specially:
In described horizontal plane irradiation area, m is capable, and the grid of n row is corresponding with the element that described two-dimentional accumulator meta is set to (m, n); Wherein, the natural number that m is 1～M; M is the grid sum of dividing along x direction of principal axis in described horizontal plane irradiation area; N is the natural number of 1～N; N is the grid sum of dividing along y direction of principal axis in described horizontal plane irradiation area.
4. according to the method described in claim 1-3 any one, described radar target is the cylinder with sliding-type scattering center.
5. a scattering centers extraction system for radar target, is characterized in that, comprising:
Scattering center transverse projection straight line determination module, for obtaining after the one-dimensional range profile course figure that radar carries out obtaining after frequency sweep to the radar target under multiple attitude angle, be greater than the pixel of setting threshold for the absolute value of each ordinate in described one-dimensional range profile course figure, calculate the scattering center transverse projection straight line of described radar target according to the horizontal stroke of this pixel, ordinate; Wherein, the abscissa of described pixel represents the attitude angle of described radar target, and the ordinate of this pixel represents that described radar target is under this attitude angle, the distance between its scattering center and radar observation sight line;
Accumulator element value determination module, for the described scattering center transverse projection straight line of determining according to described scattering center transverse projection straight line determination module, determine this straight line in horizontal plane irradiation area through grid after, for each grid of determining, the value of element corresponding with this grid in two-dimentional accumulator is added to 1; Wherein, described horizontal plane irradiation area is described radar when the described radar target under multiple attitude angle is carried out to frequency sweep, the horizontal zone that the swept-frequency signal of its transmitting covers, and described grid is divided in advance in described horizontal plane irradiation area; In described two-dimentional accumulator, each element corresponds respectively to each grid in described horizontal plane irradiation area, and initial value is 0;
Scattering center determination module, converts gray value to for the value of the each element of described two-dimentional accumulator that described accumulator element value determination module is determined, obtains the horizontal plane parameter field image of described radar target; And determine after peak value pixel from described horizontal plane parameter field image, the position according to described peak value pixel in described horizontal plane parameter field image, determines the scattering center of described radar target;
Described scattering center transverse projection straight line determination module is specifically for being greater than the pixel of setting threshold for the absolute value of each ordinate in described one-dimensional range profile course figure, according to the horizontal stroke of this pixel, ordinate, and following formula calculates the coordinate (x, y) of the scattering center transverse projection Points on Straight Line of described radar target:
xcosφj+ysinφj＝rk-r0(formula 3)
Wherein, φjFor the abscissa of this pixel; r0For the radial distance at described Radar Target Scatter center; rkFor the ordinate of this pixel.
6. system according to claim 5, is characterized in that, also comprises:
One-dimensional range profile course figure acquisition module, at described radar, the described radar target under multiple attitude angle being carried out, after frequency sweep detection, obtaining the echo-signal of described radar target, obtains frequency sweep data; The frequency sweep data that obtain are carried out after inverse Fourier transform, obtain described one-dimensional range profile course figure.
7. system according to claim 5, is characterized in that, in described horizontal plane irradiation area, m is capable, and the grid of n row is corresponding with the element that described two-dimentional accumulator meta is set to (m, n); Wherein, the natural number that m is 1～M; M is the grid sum of dividing along x direction of principal axis in described horizontal plane irradiation area; N is the natural number of 1～N; N is the grid sum of dividing along y direction of principal axis in described horizontal plane irradiation area.
8. according to the system described in claim 5-7 any one, described radar target is the cylinder with sliding-type scattering center.
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| CN106054184B (en) * | 2016-05-23 | 2018-04-17 | 北京环境特性研究所 | A kind of method for estimating target scattering center location parameter |
| CN106054186B (en) * | 2016-05-23 | 2018-04-17 | 北京环境特性研究所 | A kind of method for the type parameter for being used to estimate scattering center |
| CN108594196B (en) * | 2018-04-28 | 2020-07-03 | 北京环境特性研究所 | Method and device for extracting parameters of target scattering center |
| CN109444843A (en) * | 2019-01-04 | 2019-03-08 | 北京环境特性研究所 | A kind of single-frequency radar imaging method and device |
| CN111474508B (en) * | 2020-04-10 | 2021-06-01 | 南京四十二科技有限公司 | Navigation body motion imaging system and method based on ultra-bandwidth radar |
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