CN105353369B - Method high is surveyed in mountain region high under a kind of radar beam wide - Google Patents
Method high is surveyed in mountain region high under a kind of radar beam wide Download PDFInfo
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- CN105353369B CN105353369B CN201510680184.5A CN201510680184A CN105353369B CN 105353369 B CN105353369 B CN 105353369B CN 201510680184 A CN201510680184 A CN 201510680184A CN 105353369 B CN105353369 B CN 105353369B
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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
- G01S13/882—Radar or analogous systems specially adapted for specific applications for altimeters
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Abstract
Method high is surveyed the present invention relates to mountain region high under a kind of radar beam wide, the method includes：Assuming that under the conditions of ideal flat, tentatively trying to achieve backward energy PreEchoSum and echo effective range center PreEchoCenter；Calculate the thresholding EchoSwitch of detection echo distribution；Calculate the scope of detection echo distribution；Calculate the beginning center DetectCenter of detection echo distribution；The original position DetectStart for asking echo to be distributed；The end position DetectEnd for asking echo to be distributed；Computed altitude value.The present invention is solved under the conditions of mountain region high, radar broad beam, and the echo frontier for causing slows down, distribution broadening, the different problems of Energy distribution and flat mode；The forward position of rectangle is estimated instead of echo amplitude by the scope being distributed using backward energy, and then obtains radar altitude, radar altitude value certainty of measurement is high.
Description
Technical field
Method high is surveyed the present invention relates to mountain region high under SAR radar height-finding techniques field, especially a kind of radar beam wide.
Background technology
SAR is a kind of round-the-clock, round-the-clock, high resolution imaging radar, can be applied to missile-borne, airborne matching and leads
Boat, matching navigation determines that the key parameter of image geometry calibration precision is radar altitude using the SAR image after geometry calibration
Parameter.
When it is flat even region to survey region high, Height-measuring algorithm is obtained high accuracy using deviation of gravity center method (OCOG) and surveyed
Value, its basic thought is that the time domain Distribution Value of echo amplitude in track window is remapped into an equivalent rectangular echo, former
The center of gravity of echo is the center of gravity for being regarded as rectangle echo, before the forward position of rectangle echo is in rising trend with totality in former echo
It is corresponding along part, realize surveying high by tracking the change of the rectangle advanced position.However, in mountain region high area, due to ground
The fluctuating of shape is big, and backward energy distribution slows down with forward position, the distribution of distribution broadening, backward energy is big with specific landform correlation
Feature, deviation of gravity center method (OCOG) model cannot be applicable, and altimetry precision cannot meet requirement.
The content of the invention
It is an object of the invention to provide one kind under the conditions of mountain region high, radar broad beam, it is ensured that radar altitude value is measured
Method high is surveyed in mountain region high under the radar beam wide of high precision.
To achieve the above object, present invention employs following technical scheme：Gao Fang is surveyed in mountain region high under a kind of radar beam wide
Method, the method include following order the step of：
(1) assume under the conditions of ideal flat, tentatively try to achieve backward energy PreEchoSum and echo effective range center
Position PreEchoCenter；
(2) the thresholding EchoSwitch of detection echo distribution is calculated；
(3) scope of detection echo distribution is calculated；
(4) the beginning center DetectCenter of detection echo distribution is calculated；
(5) the original position DetectStart for asking echo to be distributed；
(6) the end position DetectEnd for asking echo to be distributed；
(7) computed altitude value.
Backward energy PreEchoSum and echo effective range center PreEchoCenter in the step (1)
Computational methods are as follows：
A) the points WinLen after the sampled quantization of coverage window is calculated according to radar inertial navigation height and beam angle：
WinLen=2 × (ceil (0.5 × High_ins × (cos (beamwidth) -1)/Runit))
Wherein, High_ins is the radar altitude of inertial navigation input, and beamwidth is beam angle, and Runit is radar sampling
Rate respective distances element length；
B) slided on whole range line by window width of WinLen, calculate window self-energy and obtain window self-energy and sequence；
C) maximum of window self-energy and sequence is the preliminary backward energy and PreEchoSum tried to achieve, window self-energy and sequence
The index of row maximum value position is the echo effective range center PreEchoCenter for tentatively trying to achieve.
The computing formula of the thresholding EchoSwitch of detection echo distribution is as follows in the step (2)：
The thresholding EchoSwitch=(PreEchoSum/WinLen) × 0.4 of detection echo distribution；
Wherein, PreEchoSum is the preliminary backward energy tried to achieve with WinLen is the sampled quantization of beam coverage
Points afterwards.
The computing formula of the scope of detection echo distribution is as follows in the step (3)：
Scope=[PreEchoCenter-6 × WinLen PreEchoCenter+6 × WinLen] of echo distribution；
Wherein, PreEchoCenter is the preliminary echo effective range center tried to achieve, and WinLen is wave cover model
Enclose the points after sampled quantization.
The computational methods of the beginning center DetectCenter of detection echo distribution are as follows in the step (4)：
A) centered on the echo effective range center PreEchoCenter for tentatively trying to achieve, with wave cover model
Enclose in the small window that the points WinLen after sampled quantization is width and seek echo maximum；
B) index position of echo maximum is the beginning center DetectCenter for detecting echo distribution.
The computational methods of the original position DetectStart of echo distribution are in the step (5)：To detect that echo is distributed
Beginning center DetectCenter centered on, to closely moving, after echo occurs continuous 8 does not cross threshold signal
Exit, and it is the original position DetectStart of echo distribution to record current location.
The computational methods of the end position DetectEnd of step (6) echo distribution are：To detect opening for echo distribution
Centered on beginning center DetectCenter, to remote mobile, threshold signal retrogressing is not crossed when echo occurs continuous 8
Go out, and it is the end position DetectEnd of echo distribution to record current location.
The computational methods of height value are as follows in the step (7)：
A) computed altitude value manipulative indexing HighIndex
HighIndex=(DetectStart+DetectEnd)/2.0-WinLen/2；
Wherein, DetectStart is the original position of echo distribution, and DetectEnd is the end position of echo distribution；
B) computed altitude value
Height value=sampling starting distance+HighIndex × distance samples cell size；
Wherein, starting distance of sampling is the initial distance of windowing, and distance samples unit is the corresponding distance of radar sampling rate
Element length.
As shown from the above technical solution, advantages of the present invention is as follows：First, the present invention solves mountain region high, radar ripple wide
Under the conditions of beam, the echo frontier for causing slows down, distribution broadening, the different problems of Energy distribution and flat mode；Second, by adopting
The scope being distributed with backward energy replaces echo amplitude to estimate the forward position of rectangle, and then obtains radar altitude, radar altitude value
Certainty of measurement is high；3rd, by actual data analysis, the more conventional deviation of gravity center method of the Height Estimation method introduced of the invention
(OCOG) error mean brings up to -0.3012 meter from 10.6591 meters, and root-mean-square error brings up to 14.9751, thunder from 41.3402
Significantly improved up to height value certainty of measurement is high.
Brief description of the drawings
Fig. 1 is flow chart of the method for the present invention.
Fig. 2 is practical flight effect diagram.
Specific embodiment
As shown in figure 1, method high is surveyed in mountain region high under a kind of radar beam wide, the step of the method includes following order：
(1) assume under the conditions of ideal flat, tentatively try to achieve backward energy PreEchoSum and echo effective range center
Position PreEchoCenter；
(2) the thresholding EchoSwitch of detection echo distribution is calculated；
(3) scope of detection echo distribution is calculated；
(4) the beginning center DetectCenter of detection echo distribution is calculated；
(5) the original position DetectStart for asking echo to be distributed；
(6) the end position DetectEnd for asking echo to be distributed；
(7) computed altitude value.
Backward energy PreEchoSum and echo effective range center PreEchoCenter in the step (1)
Computational methods are as follows：
A) the points WinLen after the sampled quantization of coverage window is calculated according to radar inertial navigation height and beam angle：
WinLen=2 × (ceil (0.5 × High_ins × (cos (beamwidth) -1)/Runit))
Wherein, High_ins is the radar altitude of inertial navigation input, and beamwidth is beam angle, and Runit is radar sampling
Rate respective distances element length；
B) slided on whole range line by window width of WinLen, calculate window self-energy and, that is, sue for peace, obtain window self-energy
And sequence；It is exactly a range line that radar often receives one group of echo, and the time delayses respective distances for receiving are far and near；
C) maximum of window self-energy and sequence is the preliminary backward energy and PreEchoSum tried to achieve, window self-energy and sequence
The index of row maximum value position is the echo effective range center PreEchoCenter for tentatively trying to achieve.
The computing formula of the thresholding EchoSwitch of detection echo distribution is as follows in the step (2)：
The thresholding EchoSwitch=(PreEchoSum/WinLen) × 0.4 of detection echo distribution；
Wherein, PreEchoSum is the preliminary backward energy tried to achieve with WinLen is the sampled quantization of beam coverage
Points afterwards.
The computing formula of the scope of detection echo distribution is as follows in the step (3)：
The scope of echo distribution=
[PreEchoCenter-6×WinLen PreEchoCenter+6×WinLen]；
Wherein, PreEchoCenter is the preliminary echo effective range center tried to achieve, and WinLen is wave cover model
Enclose the points after sampled quantization.
The computational methods of the beginning center DetectCenter of detection echo distribution are as follows in the step (4)：
A) centered on the echo effective range center PreEchoCenter for tentatively trying to achieve, with wave cover model
Enclose in the small window that the points WinLen after sampled quantization is width and seek echo maximum；
B) index position of echo maximum is the beginning center DetectCenter for detecting echo distribution.
The computational methods of the original position DetectStart of echo distribution are in the step (5)：To detect that echo is distributed
Beginning center DetectCenter centered on, to closely moving, after echo occurs continuous 8 does not cross threshold signal
Exit, and it is the original position DetectStart of echo distribution to record current location.
The computational methods of the end position DetectEnd of step (6) echo distribution are：To detect opening for echo distribution
Centered on beginning center DetectCenter, to remote mobile, threshold signal retrogressing is not crossed when echo occurs continuous 8
Go out, and it is the end position DetectEnd of echo distribution to record current location.
The computational methods of height value are as follows in the step (7)：
A) computed altitude value manipulative indexing HighIndex
HighIndex=(DetectStart+DetectEnd)/2.0-WinLen/2；
Wherein, DetectStart is the original position of echo distribution, and DetectEnd is the end position of echo distribution；
B) computed altitude value
Height value=sampling starting distance+HighIndex × distance samples cell size；
Wherein, starting distance of sampling is the initial distance of windowing, and distance samples unit is the corresponding distance of radar sampling rate
Element length.
What Fig. 2 was given is the survey data results high in Shanhai Pass area, the more conventional deviation of gravity center method of the present invention
(OCOG) error mean brings up to -0.3012 meter from 10.6591 meters, and root-mean-square error brings up to 14.9751, thunder from 41.3402
Significantly improved up to height value certainty of measurement is high.
In sum, under the conditions of the present invention solves mountain region high, radar broad beam, the echo frontier for causing slows down, is distributed
Broadening, the different problems of Energy distribution and flat mode；Estimated instead of echo amplitude by the scope being distributed using backward energy
The forward position of rectangle is counted, and then obtains radar altitude, radar altitude value certainty of measurement is high.
Claims (7)
1. method high is surveyed in mountain region high under a kind of radar beam wide, the step of the method includes following order：
(1) assume under the conditions of ideal flat, tentatively try to achieve backward energy PreEchoSum and echo effective range center
PreEchoCenter；
(2) the thresholding EchoSwitch of detection echo distribution is calculated；
(3) scope of detection echo distribution is calculated；
(4) the beginning center DetectCenter of detection echo distribution is calculated；
(5) the original position DetectStart for asking echo to be distributed；
(6) the end position DetectEnd for asking echo to be distributed；
(7) computed altitude value；
The computational methods of height value are as follows in the step (7)：
A) computed altitude value manipulative indexing HighIndex
HighIndex=(DetectStart+DetectEnd)/2.0-WinLen/2；
Wherein, DetectStart is the original position of echo distribution, and DetectEnd is the end position of echo distribution, WinLen
It is the points after the sampled quantization of coverage window；
B) computed altitude value
Height value=sampling starting distance+HighIndex × distance samples cell size；
Wherein, starting distance of sampling is the initial distance of windowing, and distance samples unit is the corresponding range cell of radar sampling rate
Length.
2. method high is surveyed in mountain region high under radar beam wide according to claim 1, it is characterised in that：In the step (1)
The computational methods of backward energy PreEchoSum and echo effective range center PreEchoCenter are as follows：
A) the points WinLen after the sampled quantization of coverage window is calculated according to radar inertial navigation height and beam angle：
WinLen=2 × (ceil (0.5 × High_ins × (cos (beamwidth) -1)/Runit))
Wherein, High_ins is the radar altitude of inertial navigation input, and beamwidth is beam angle, and Runit is radar sampling rate pair
Answer range cell length；
B) slided on whole range line by window width of WinLen, calculate window self-energy and obtain window self-energy and sequence；Radar
It is exactly a range line often to receive one group of echo；
C) maximum of window self-energy and sequence is the preliminary backward energy and PreEchoSum tried to achieve, and window self-energy and sequence are most
The index of big value position is the echo effective range center PreEchoCenter for tentatively trying to achieve.
3. method high is surveyed in mountain region high under radar beam wide according to claim 1, it is characterised in that：In the step (2)
The computing formula of the thresholding EchoSwitch of detection echo distribution is as follows：
The thresholding EchoSwitch=(PreEchoSum/WinLen) × 0.4 of detection echo distribution；
Wherein, PreEchoSum is the preliminary backward energy tried to achieve with WinLen is for after the sampled quantization of beam coverage
Points.
4. method high is surveyed in mountain region high under radar beam wide according to claim 1, it is characterised in that：In the step (3)
The computing formula of the scope of detection echo distribution is as follows：
The scope of echo distribution=
[PreEchoCenter-6×WinLenPreEchoCenter+6×WinLen]；
Wherein, PreEchoCenter is the preliminary echo effective range center tried to achieve, and WinLen is passed through for beam coverage
Points after sample quantization.
5. method high is surveyed in mountain region high under radar beam wide according to claim 1, it is characterised in that：In the step (4)
The computational methods of the beginning center DetectCenter of detection echo distribution are as follows：
A) centered on the echo effective range center PreEchoCenter for tentatively trying to achieve, passed through with beam coverage
Points WinLen after sample quantization is to seek echo maximum in the small window of width；
B) index position of echo maximum is the beginning center DetectCenter for detecting echo distribution.
6. method high is surveyed in mountain region high under radar beam wide according to claim 1, it is characterised in that：In the step (5)
The computational methods of original position DetectStart of echo distribution are：To detect the beginning center that echo is distributed
Centered on DetectCenter, to closely moving, threshold signal backed off after random is not crossed when echo occurs continuous 8, and record is worked as
Anteposition is set to the original position DetectStart of echo distribution.
7. method high is surveyed in mountain region high under radar beam wide according to claim 1, it is characterised in that：The step (6) is returned
The computational methods of the end position DetectEnd of wavelength-division cloth are：To detect the beginning center that echo is distributed
Centered on DetectCenter, to remote mobile, threshold signal backed off after random is not crossed when echo occurs continuous 8, and record is worked as
Anteposition is set to the end position DetectEnd of echo distribution.
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| CN105353369B true CN105353369B (en) | 2017-06-30 |
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| CN1301968A (en) * | 1999-12-30 | 2001-07-04 | 中国科学院空间科学与应用研究中心 | Land and sea compatible and three-dimensional imaging radar altimeter system and its design method |
| CN100507599C (en) * | 2006-11-10 | 2009-07-01 | 中国科学院空间科学与应用研究中心 | Flood and field compatible satellite radar height-finding instrument tracker |
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