CN105044692B - A kind of positive forward sight double-base SAR framing error acquisition methods - Google Patents
A kind of positive forward sight double-base SAR framing error acquisition methods Download PDFInfo
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- CN105044692B CN105044692B CN201510348817.2A CN201510348817A CN105044692B CN 105044692 B CN105044692 B CN 105044692B CN 201510348817 A CN201510348817 A CN 201510348817A CN 105044692 B CN105044692 B CN 105044692B
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Abstract
The invention discloses the present invention a kind of positive forward sight double-base SAR framing error acquisition methods, specially：Step 1: being established according to the platform of double-base SAR and target velocity, position relationship along the rectangular coordinate system under the positive forward sight double-base SAR model of winged pattern, the position coordinates and velocity vector of starting zero moment sending and receiving platform are obtained；Step 2: given transmit-receive platform site error and velocity error, position of platform coordinate and velocity vector after obtaining there are error；Step 3: according to the equidistant and grade doppler principles in SAR imaging processes, Range-Doppler equations group is established, the physical location of each target point is then obtained using Newton iteration method, and then obtain the position error of target；The present invention does not take approximation operation, and obtained position error result is more accurate；The present invention can effectively analyze the influence of the flat pad of double-base SAR and the kinematic error of receiving platform to framing error respectively.
Description
Technical field
The present invention relates to Radar Technology fields, are that a kind of positive forward sight double-base SAR framing error obtains specifically
Method.
Background technology
Synthetic aperture radar has targeting capability.In Military Application, the geometry location technology of carried SAR is in military affairs
Target reconnaissance, coastwise military deployment, Missile Terminal Guidance etc. play a crucial role；As map is surveyed in civilian
Paint, offshore drilling positioning, geological prospecting, flood Natural Disaster Evaluation etc., target positioning is also key link therein.
In real process, transmitting and receiving platform kinematic error have important shadow to the geometry location of positive forward sight double-base SAR image
It rings.Accurate kinematic error positioning analysis and calculating effectively can provide quantitative platform parameters for double-base SAR system design
Constraint has important project reference value.In airborne double-base SAR system, since transmit-receive platform is split, kinematic error is come
Source is increased, and the influence of the kinematic error of platform to framing error becomes more complicated, therefore is produced for along winged pattern
Under positive forward sight double-base SAR image carry out analysis of Positioning Error method.
Conventional analysis of Positioning Error method is generally divided into two steps, discusses position of platform error and velocity error to more first
The general influence for strangling parameter, secondly discusses image geometric error according to Doppler parameter.However for positive forward sight double-base SAR system
For, transmit-receive platform is split so that systematic error source increases, if still analyzed at this time using conventional analysis of Positioning Error,
It will be so that analytic process becomes sufficiently complex.Therefore one kind is needed to be concisely and efficiently framing error analysis method to come accurately
Reflect the influence of position of platform error and velocity error to SAR image geometry location.
Invention content
The purpose of the present invention is to solve the difficulty that multi-platform kinematic error obtains framing error, given zero
Under conditions of the initial position of moment transmit-receive platform, speed and kinematic error, doppler principles directly are waited from equidistant,
Using Newton iteration method, the physical location of SAR image after geometric correction is obtained, and then obtains the several of SAR image after geometric correction
What position error, so as to fulfill a kind of new positive forward sight double-base SAR framing error acquisition methods.
A kind of positive forward sight double-base SAR framing error acquisition methods of the present invention, specially：
Step 1: it is established according to the platform of double-base SAR and target velocity, position relationship bistatic along the positive forward sight of winged pattern
Rectangular coordinate system under SAR models obtains the position coordinates and velocity vector of starting zero moment sending and receiving platform；
Step 2: given transmit-receive platform site error and velocity error, position of platform coordinate after obtaining there are error and
Velocity vector；
Step 3: according to the equidistant and grade doppler principles in SAR imaging processes, Range-Doppler equations group is established,
Then the physical location of each target point is obtained using Newton iteration method, and then obtains the position error of target；
The advantage of the invention is that：
(1) method provided by the invention does not take approximation operation in processing procedure, and obtained position error result is more
It is accurate；
(2) method provided by the invention can effectively analyze the flat pad and receiving platform of double-base SAR respectively
Influence of the kinematic error to framing error.
Description of the drawings
Fig. 1 is the present invention along the positive forward sight double-base SAR geometrical relationship schematic diagram of winged pattern；
Fig. 2 is the present invention along the positive forward sight double-base SAR analysis of Positioning Error geometrical model of winged pattern；
Fig. 3 is flow chart of the method for the present invention.
Specific embodiment
Below in conjunction with drawings and examples, the present invention is described in further detail.
The present invention is a kind of positive forward sight double-base SAR framing error acquisition methods, as shown in figure 3, specifically including：
Step 1: it is established according to the platform of double-base SAR and target velocity, position relationship bistatic along the positive forward sight of winged pattern
Rectangular coordinate system under SAR models obtains the position coordinates and velocity vector of starting zero moment sending and receiving platform.
(a) it is established according to the platform of double-base SAR and target velocity, position relationship along the positive forward sight double-base SAR of winged pattern
Rectangular coordinate system under model；
Using the plane where target as XOY plane in the spatial model along the positive forward sight of winged pattern, the height side of transmitter
Rectangular coordinate system is established to for Z axis, target area is located at the front of receiver at this time, as shown in Figure 1.
(b) position coordinates and velocity vector of transmit-receive platform are obtained respectively.
Assuming that flat pad and receiving platform in imaging process always along Y direction uniform motion, when giving starting zero
The position for carving flat pad T is (xT,yT,zT), velocity vector is [0, VT, 0], the position of receiving platform R is (xR,yR,zR), speed
It is [0, V to spend vectorR, 0], the coordinate of target point P is (X0,Y0,0)。
Step 2: given transmit-receive platform site error and velocity error, position of platform coordinate after obtaining there are error and
Velocity vector；
Provide existence position error and velocity error when geometrical relationship figure, exist as shown in Fig. 2, T' is flat pad
Position coordinates after error, VT' it is flat pad there are the speed after velocity error, there are the positions after error for receiving platform by R'
It puts, VR' it is flat pad there are the speed after velocity error, point P' is that platform kinematic error leads to the position after target offset.
Step 3: according to the equidistant and grade doppler principles in SAR imaging processes, Range-Doppler equations group is established,
Then the physical location of each target point is obtained using Newton iteration method, and then obtains the position error of target.
(a) according to the analysis of Positioning Error geometrical relationship of double-base SAR, doppler principles is waited using equidistant, are deposited
Platform error and there is no error in the case of distance and Doppler relational expression：
Wherein, λ is radar wavelength,Represent initial time flat pad to target oblique distance,Represent initial time
Receiving platform to target oblique distance,Represent add in error after initial time flat pad to target oblique distance,Table
Show add in error after initial time receiving platform to target oblique distance.
(b) it is sent out after error being added in the flat pad in step 1 and the position of receiving platform and speed and step 2
The position and speed for penetrating platform and receiving platform are substituted into formula (1) and (2), are obtained the Range-Doppler equations group of SAR, are utilized
Newton iteration method solves the Nonlinear System of Equations, obtains the position (X', Y') of target point, and platform there is no kinematic error when
The position P for waiting target point is (X0,Y0), then target point is represented by the position error of X-direction and Y-direction：
Δ X=X'-X0
Δ Y=Y'-Y0
Embodiment：
Step 1: it is established according to the platform of double-base SAR and target velocity, position relationship bistatic along the positive forward sight of winged pattern
Rectangular coordinate system under SAR models obtains the position coordinates and velocity vector of starting zero moment sending and receiving platform.
(a) it establishes along the rectangular coordinate system under the positive forward sight double-base SAR model of winged pattern
Identical according to transmitting, receiving platform directional velocity, rectangular co-ordinate is established in the requirement that target is located at immediately ahead of receiver
System；
(b) position coordinates and velocity vector of transmit-receive platform are obtained respectively.
The position coordinates T of initial time flat pad is (0,0,6000), and velocity vector isIt receives flat
The position coordinates R of platform is (20000, -1000,6000), and velocity vector isThe coordinate of target point P is
(20000,0,0)。
Step 2: after given transmit-receive platform site error and velocity error, the position of platform coordinate after obtaining there are error
And velocity vector；
(a) position of platform error and velocity error are set, obtains site error and velocity error there are error rear platform；
If the site error of flat pad is (0, -5,5), velocity error dVt=[0,0.3,0], the position of receiving platform
Error be (0, -5,5), velocity error dVr=[0,0.5,0], then there are flat pad position T' corresponding after error for (0 ,-
5,6005), velocity vector isReceiving platform position R' is (20000, -1005,6005), and velocity vector isThe position P' of target point is (X', Y').
Step 3: according to the equidistant and grade doppler principles in SAR imaging processes, Range-Doppler equations group is established,
Then the physical location of each target point is obtained using Newton iteration method, and then obtains the position error of target.
(a) according to the analysis of Positioning Error geometrical relationship of double-base SAR, doppler principles is waited using equidistant, are deposited
Platform error and there is no error in the case of distance and Doppler relational expression, as shown in expression formula (1), (2)；
(b) it according to the position of platform and speed given in step 1 and step 2, substitutes into expression formula (1), (2), obtains
The Range-Doppler equations group of SAR, the Nonlinear System of Equations is solved using Newton iteration method, and the position for obtaining target point is
(19993.72, -7.18), then the position error of target point X-direction and Y-direction be represented by：
Δ X=-6.28m Δs Y=-7.18m
Simulating, verifying：
In order to preferably verify method proposed by the invention, the primary condition that is given using present case passes through multiple spot mesh
It marks echo simulation and imaging and position assessment, obtained position error measured result is：
Δ X=-6.36m Δs Y=-6.66m
By comparison it can be found that under the conditions of given error originated from input, the image position offsets amount that is calculated with from imaging
Handling result measured value result is preferably coincide.Location error calculating value when table 1 gives several groups of input different motion errors and
Imaging measured value, result can preferably coincide, and the analysis of Positioning Error method for showing the present invention is correct.
The placement error value that 1 different motion error of table generates
There are multiple platform kinematic errors in main needle double-base SAR of the invention, put down by giving initial transmitting
The conditions such as the position and speed of platform and receiving platform and kinematic error, it is former using the equidistant grade Doppler in imaging process
Reason obtains the position error of SAR image using Newton iteration method, realizes that one kind is concisely and efficiently for double along the positive forward sight of winged pattern
The analysis of Positioning Error method of base SAR image, and pass through instance analysis, specific implementation process has been further elaborated on,
And the measured value by being obtained with simulation analysis compares, and demonstrates the correctness of the present invention.
Claims (1)
1. a kind of positive forward sight double-base SAR framing error acquisition methods, specifically include：
Step 1: it is established according to the platform of double-base SAR and target velocity, position relationship along the positive forward sight double-base SAR of winged pattern
Rectangular coordinate system under model obtains the position coordinates and velocity vector of starting zero moment sending and receiving platform；
(a) it is established according to the platform of double-base SAR and target velocity, position relationship along the positive forward sight double-base SAR model of winged pattern
Under rectangular coordinate system；
Using the plane where target as XOY plane in the spatial model along the positive forward sight of winged pattern, the short transverse of transmitter is Z
Axis establishes rectangular coordinate system, and target area is located at the front of receiver at this time；
(b) position coordinates and velocity vector of transmit-receive platform are obtained respectively；
Assuming that flat pad and receiving platform in imaging process always along Y direction uniform motion, give starting zero moment hair
The position for penetrating platform T is (xT,yT,zT), velocity vector is [0, VT, 0], the position of receiving platform R is (xR,yR,zR), speed arrow
Measure is [0, VR, 0], the coordinate of target point P is (X0,Y0,0)；
Step 2: given transmit-receive platform site error and velocity error, position of platform coordinate and speed after obtaining there are error
Vector；
If T' is flat pad, there are the position coordinates after error, VT' for flat pad there are the speed after velocity error, R' is
There are the position after error, V for receiving platformR' it is flat pad there are the speed after velocity error, point P' is platform kinematic error
Lead to the position after target offset；It is assumed that the velocity error of X and Z-direction is all not present in transmit-receive platform, if the position of flat pad
Error is put as dst=[dxt dyt dzt], the site error of receiving platform is dsr=[dxr dyr dzr], flat pad velocity error
ForFlat pad velocity error isWherein, dxt、dyt、dztRepresent that transmitting is flat respectively
The site error of platform in three directions, dVytRepresent the velocity error of flat pad in the Y direction, dxr、dyr、dzrIt represents respectively
The site error of receiving platform in three directions, dVyrRepresent the velocity error of receiving platform in the Y direction；Then there are errors
The position coordinates T' of flat pad is (d afterwardsxt,yT+dyt,zT+dzt), the position coordinates R' of receiving platform is (xR+dxr,yR+dyr,
zR+dzr), the position P' of the target point after offset is (X', Y'), and transmitting and the velocity vector of receiving platform are expressed as：
Step 3: according to the equidistant and grade doppler principles in SAR imaging processes, Range-Doppler equations group is established, then
The physical location of each target point is obtained using Newton iteration method, and then obtains the position error of target；
(a) according to the analysis of Positioning Error geometrical relationship of double-base SAR, doppler principles is waited using equidistant, obtain existing flat
Platform error and there is no error in the case of distance and Doppler relational expression：
Wherein, λ is radar wavelength,Represent initial time flat pad to target oblique distance,Represent that initial time receives
Platform to target oblique distance,Represent add in error after initial time flat pad to target oblique distance,It represents to add
Enter after error initial time receiving platform to the oblique distance of target；
(b) transmitting is flat after error being added in the flat pad in step 1 and the position of receiving platform and speed and step 2
The position and speed of platform and receiving platform are substituted into formula (1) and (2), are obtained the Range-Doppler equations group of SAR, are utilized newton
The solution by iterative method Doppler equation group obtains the position (X', Y') of target point, and there is no mesh when kinematic error for platform
The position P of punctuate is (X0,Y0), then target point is in the position error of X-direction and Y-direction：
Δ X=X'-X0
Δ Y=Y'-Y0。
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| CN106990396B (en) * | 2017-05-25 | 2021-03-16 | 电子科技大学 | Bistatic synthetic aperture radar positioning error calculation method |
| CN115856856A (en) * | 2023-01-28 | 2023-03-28 | 中国人民解放军国防科技大学 | Airborne SAR positioning method based on elevation constraint and normalized RD equation |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102890276A (en) * | 2012-07-20 | 2013-01-23 | 北京航空航天大学 | Location method for missile-borne SAR (synthetic aperture radar) motion error image |
| CN103245948A (en) * | 2012-02-09 | 2013-08-14 | 中国科学院电子学研究所 | Image match navigation method for double-area image formation synthetic aperture radars |
| CN103616684A (en) * | 2013-12-03 | 2014-03-05 | 安文韬 | SAR satellite positioning error compensation method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103245948A (en) * | 2012-02-09 | 2013-08-14 | 中国科学院电子学研究所 | Image match navigation method for double-area image formation synthetic aperture radars |
| CN102890276A (en) * | 2012-07-20 | 2013-01-23 | 北京航空航天大学 | Location method for missile-borne SAR (synthetic aperture radar) motion error image |
| CN103616684A (en) * | 2013-12-03 | 2014-03-05 | 安文韬 | SAR satellite positioning error compensation method |
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