CN105759265A - Synthetic aperture radar (SAR) image moving target parameter extraction method - Google Patents
Synthetic aperture radar (SAR) image moving target parameter extraction method Download PDFInfo
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- CN105759265A CN105759265A CN201610060266.4A CN201610060266A CN105759265A CN 105759265 A CN105759265 A CN 105759265A CN 201610060266 A CN201610060266 A CN 201610060266A CN 105759265 A CN105759265 A CN 105759265A
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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
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/9021—SAR image post-processing techniques
- G01S13/9029—SAR image post-processing techniques specially adapted for moving target detection within a single SAR image or within multiple SAR images taken at the same time
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
- G01S13/589—Velocity or trajectory determination systems; Sense-of-movement determination systems measuring the velocity vector
-
- 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
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/904—SAR modes
- G01S13/9076—Polarimetric features in SAR
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- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a synthetic aperture radar (SAR) image moving target parameter extraction method, which is characterized by comprising the following steps: 1, data enhancement processing is carried out on full-polarization SAR data; and 2, a Doppler wake length of a moving target is measured, and according to satellite downlink and uplink and left-view and right-view conditions, a ship direction is inverted and a ship speed is extracted. By using single-shot full-polarization SAR image data and through enhancing the Doppler wake signal, moving target parameters can be extracted, which does not rely on whether a sea wave wake of the moving target is imaged; defects that wakes of many moving targets are not imaged in the image are overcome, and promotion and application values are good.
Description
Technical field
The present invention relates to a kind of satellite remote sensing information extracting method, be specifically related to a kind of synthetic aperture radar (SAR) image motion target component extracting method.The invention belongs to satellite remote sensing field.
Background technology
Movement overseas target and tail thereof can be observed by satellite SAR, and the research of this respect starts from the eighties in 20th century.Image differentiating, moving target and speed of a ship or plane course mainly carry out from the tail image.It appeared that 4 class tails SAR image, including turbulent wake, Kelvin wake (Kelvin tail), narrow V-type tail and interior wave rear mark.Further the research about turbulent wake and Kelvin wake shows, both tails are tails most commonly seen in SAR image, and for narrow V-type tail and interior wave rear mark, their Crack cause and condition need nonetheless remain for further discussion.
Narrow V-type tail often occurs in the image of L-band, in X-band image then almost without.Turbulent wake is everlasting escort vessel one-level or more occur after large-tonnage ship.In low wind conditions, narrow V-type tail often can by SAR imaging after canoe.
The imaging of tail is subject to sea situation and the impact of SAR Parameter Conditions.Under suitable SAR condition and medium wind friction velocity, the easiest imaging of turbulent wake, low wind speeds is more difficult imaging then.The mechanism figure that (a) in Fig. 1 is turbulent wake.Produce two kinds of extra large surface streams, a kind of ocean current flowing to both sides, course line being hull vortex and causing after ship due to the motion of ship, a kind of is the backward ocean current advancing slurry to produce.Sea Bradley lattice wave on course line is produced inhibitory action by both stream, thus weakening the back scattering energy in this region so that it is show as dark tail in SAR image.Bright turbulent wake is typically under low wind friction velocity to produce, and now around sea is smooth, and due to ship and wind action on flight path, it is coarse that the sea on flight path becomes, and enhances backscatter intensity, presents a bright tail.Bright tail is sometimes due to the effect of two kinds of ocean currents can be divided into two, and middle Bradley lattice wave is suppressed, and presents dark striped.When ship blowdown, a large amount of oil films can be gathered on flight path, and owing to viscosity is relatively strong, the Bradley lattice wave on flight path can be produced inhibitory action by oil film, thus the back scattering energy weakened on flight path, forms dark striped.
The imaging of Kelvin's arm in Kelvin wake system is closely related with the relative position of the direction of propagation of sharp wave and radar look-directions.The mechanism figure that (b) in Fig. 1 is Kelvin wake.The middle ship for motion, the sharp wave that it causes is propagated towards both sides, and the sharp wave on the left side is propagated towards radar look-directions, ideally, effect due to two kinds of modulation, the sea surface roughness making crest both sides is inconsistent, big towards the inclined-plane roughness of radar look-directions, and a surface roughness of radar look-directions is little dorsad, thus forming bright Kelvin's left arm, same in the sharp wave that radar look-directions dorsad is propagated, little towards the domatic roughness of radar look-directions, form dark Kelvin's right arm.When actually considering wind speed, the domatic roughness of relative smooth can become big, and now dark Kelvin's arm is likely to be submerged in the noise of sea, and even bright Kelvin's arm can not observe yet.Velocity bunching modulation is the imaging reason of shear wave in Kelvin wake system.When ship is along radar bearing to navigation, shear wave is along orientation to propagation.Due to wave distance to athletic meeting cause in SAR image along orientation to displacement, when crest moves upward, can produce along orientation to positive-displacement, trough is then contrary.Owing to the existence of displacement makes the place of crest in SAR image bright, the place of trough is dark, thus forming the shear wave of Kelvin wake.
Ship is in navigation process, hull produces to propagate around the wave direction of a series of Prague, these ripples interact with sea and form a disturbance border, owing to the reason of Prague resonance scattering makes the back scattering that radar receives be strengthened on this border, thus the striped that upper formation is bright, here it is so-called incomplete Kelvin wake theoretical (Interrupted-KelvinWake, IKW).
Great Britain and America in 1989 combines employing carried SAR on Linnhe lake and has carried out single test, purpose is the Production conditions of wave rear mark in research, experiment results proved is when good stratification, and large-tonnage ship just can produce interior wave rear mark, and little tonnage fishing boat is only capable of producing narrow V-type tail.(c) in Fig. 1 is the mechanism figure of narrow V-type tail.(d) in Fig. 1 is the mechanism figure of interior wave rear mark.When ship rides the sea, the sea water of both sides is produced pressure by underwater portion so that it is move towards both sides, if now there is shallow stratification phenomena in sea water, will produce interior ripple.
By the analysis of imaging mechanism of above four kinds of tails it can be seen that the surface wave tail of boats and ships can by SAR imaging, closely related with radar condition (wave band, polarization, angle of incidence etc.) and sea conditions (wind speed, Sea Conditions).Being shown by great amount of images analysis, most moving ship tails can not by SAR imaging, then relies only on the surface wave tail of boats and ships judging whether boats and ships move and exists for significant limitation.Therefore, current scheme shortcoming is exactly the necessary imaging of tail of moving target, just can carry out the extraction of speed of a ship or plane course.
Summary of the invention
For solving the deficiencies in the prior art, it is an object of the invention to provide a kind of SAR image moving target and differentiate and parameter extracting method, to solve the surface wave tail being only capable of dependence boats and ships in prior art to judge the technical problem whether boats and ships move.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that:
Diameter radar image moving target parameter extracting method, it is characterised in that comprise the steps:
Step one: full polarimetric SAR data is carried out data enhancement process；
Step 2: measure Doppler's tail length, extracts the speed of a ship or plane and the course of target.
Aforesaid diameter radar image moving target parameter extracting method, it is characterised in that described data enhancement process is: carry out polarization entropy/alpha-angle/anti-entropy to resolve and strengthen.
Aforesaid diameter radar image moving target parameter extracting method, it is characterised in that full polarimetric SAR data is Radarsat-2SLC full polarimetric SAR data.
Aforesaid diameter radar image moving target parameter extracting method, it is characterised in that Doppler's tail length is:Ship speed isWherein, D is Doppler's tail length, and u is the velocity of ship, and H is the height of satellite spatial coordinate, and θ is the satellite angle of incidence relative to ship, and φ is the angle of ship velocity and horizontal X axle, vsarFor satellite corresponding to speed longitudinal in position vector.
Aforesaid diameter radar image moving target parameter extracting method, it is characterised in that step 2 includes:
Step 2a: considering that the satellite uplink right side is looked and descending left view situation, obtaining Doppler's tail length is:
Step 2b: consider up left view and the descending right side optionally, obtaining Doppler's tail length is:Wherein, D is Doppler's tail length, and u is the velocity of ship, and H is the height of satellite spatial coordinate, and θ is the satellite angle of incidence relative to ship, and φ is the angle of ship velocity and horizontal X axle, vsarFor satellite corresponding to speed longitudinal in position vector..
Aforesaid diameter radar image moving target parameter extracting method, it is characterised in that step 2 includes: by detecting the green hangover of moving target, according to the parameter of satellite and image, extract the speed of a ship or plane and the course of target.
The invention have benefit that: the utilization list scape full polarimetric SAR data of the present invention, by strengthening Doppler's tail signal, it is achieved moving target and parameter extraction, no matter and target surface wave tail whether imaging；Overcoming tail deficiency of not imaging in SAR image of many moving targets, the present invention has good application value.
Accompanying drawing explanation
Fig. 1 is the SAR image schematic diagram of existing four quasi-representative tails；
Fig. 2 is diameter radar image moving target parameter extracting method flow chart of the present invention；
Fig. 3 is the picture schematic diagram before first part of full polarimetric SAR data is carried out data enhancement process by the present invention；
Fig. 4 is the picture schematic diagram after first part of full polarimetric SAR data is carried out data enhancement process by the present invention；
Fig. 5 is the picture schematic diagram before second part of full polarimetric SAR data is carried out data enhancement process by the present invention；
Fig. 6 is the picture schematic diagram after second part of full polarimetric SAR data is carried out data enhancement process by the present invention；
Fig. 7 is the schematic diagram that the present invention measures Doppler signal length；
Fig. 8 is the imaging contexts that the up right side of diameter radar image moving target parameter extracting method Satellite of the present invention is looked；
Fig. 9 is the imaging contexts of the diameter radar image moving target up left view of parameter extracting method Satellite of the present invention；
Figure 10 is the imaging contexts that the descending right side of diameter radar image moving target parameter extracting method Satellite of the present invention is looked；
Figure 11 is the imaging contexts of the diameter radar image moving target descending left view of parameter extracting method Satellite of the present invention；
Figure 12 is that first ship adopts the inventive method record result and adopt AIS to record the comparison schematic diagram of result；
Figure 13 is that second ship adopts the inventive method record result and adopt AIS to record the comparison schematic diagram of result.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention done concrete introduction.
With reference to shown in Fig. 1, the present invention proposes a kind of moving target detection method based on SLC full polarimetric SAR data, and its technical flow is as shown in Figure 2.Radarsat-2SLC full polarimetric SAR data first passes around data enhancement process, i.e. Entropy/Alpha/anisotropy local behavior, then the moving target (automatic identification can't be realized at present) with green hangover is detected, according to the parameter of satellite and image, extract the speed of a ship or plane and the course of target.Namely technical scheme strengthens faint sea Doppler's tail signal from picture signal, is independent of any class in 4 class tails, so that it may realize judgement and the information retrieval of moving target.
It is that Cloulde decomposes three characteristic parameters introduced that Entropy/Alpha/anisotropy decomposes essence: polarization entropy, scattering mechanism angle (i.e. alpha-angle) and anisotropy.Its objective is to utilize different physical mechanisms, strengthen the smearing of target, distinguish the signal of hangover and target itself simultaneously.Polarization entropy represents all kinds of scattering mechanism ratio in total scattering, and entropy has clear and definite description in theory of information, if polarization entropy is 1, then represent that three eigenvalues are equal, target scattering is random scatter completely, if polarization entropy is zero, then it represents that only have a kind of scattering mechanism determined in scattering.What scattering mechanism angle was expressed is average scattering mechanism type, is worth for 0-90 degree, during equal to zero, represents random surface scattering, represent isotropic dihedral angle scattering time equal to 90 degree.Anisotropy represents the anisotropic degree of scattering, when being worth bigger, represents and does not have a kind of scattering mechanism to account for special superiority, when being worth less, represent that three kinds of scattering mechanisms all can not be ignored completely.Utilize these three eigenvalue, on the image of synthesis, can effectively distinguish and defocus energy and goal pels.Fig. 3 is the picture schematic diagram before first part of full polarimetric SAR data is carried out data enhancement process by the present invention；Fig. 4 is the picture schematic diagram after first part of full polarimetric SAR data is carried out data enhancement process by the present invention；Fig. 5 is the picture schematic diagram before second part of full polarimetric SAR data is carried out data enhancement process by the present invention；Fig. 6 is the picture schematic diagram after second part of full polarimetric SAR data is carried out data enhancement process by the present invention.Visible, in the picture after image data enhancement process, the smearing of target enhances.It is to say, utilize polarization entropy/alpha-angle/anti-entropy to resolve can strengthen moving target Doppler signal.Picture after image data enhancement process is colour picture, it can be seen that green hangover.
2) by measuring Doppler signal length (also referred to as Doppler's tail length), speed of a ship or plane course principle is extracted
When SAR is to motive target imaging, target and physical location are in orientation to producing skew, and this is to be determined by the imaging mechanism of SAR.
First consider that the satellite uplink right side is looked and descending left view situation, as it is shown in fig. 7, set the position vector of satellite and velocity respectivelyWithThe position vector of ship and velocity are respectivelyWithU is the velocity of ship, and φ is the angle of ship velocity and horizontal X axle, xsarFor the abscissa of satellite plane coordinates, ysarFor the vertical coordinate of satellite plane coordinates, H is the height of satellite spatial coordinate, vsarFor satellite corresponding to speed longitudinal in position vector, xshipFor the abscissa of ship plane coordinates, yshipVertical coordinate for ship plane coordinates.Then the relative velocity of ship-to-satellite isBecause when the relative velocity of ship-to-satellite is vertical with the line of ship and satellite, Doppler frequency is zero, then formula (5.3) is had to set up
Namely
Because xship=xsar+ Htan θ and vsar> > usin φ, formula 5.5 can be written as
Wherein, D is Doppler's tail length, and θ is the satellite angle of incidence relative to ship.
Up left view and the descending right side be optionally:
Because xship=xsar-Htan θ and vsar> > usin φ, formula 5.5 can be written as
vsarIt is scalar, but has positive and negative.D is Doppler's tail length.
Here it is the expression formula of Doppler displacement (i.e. Doppler's tail length), as can be seen from the above equation, when ship speed one timing, the size of Doppler's tail length is relevant with φ, and namely the size of Doppler's tail length is determined to component by the distance of ship's speed.When ship navigation direction and orientation to consistent or contrary time, Doppler's tail length is zero, namely will not produce Doppler's tail.
Set ysar-yshipFor D, formula (5.6) expression formula of ship speed can be released
By formula (5.7) it can be seen that if it is known that the course of Doppler's tail length and ship and relevant satellite parametric reduction, just can calculate the speed of ship, this is also the theoretical foundation that turbulent wake utilizes Doppler's tail length computation ship speed.
Deriving 8 kinds of direction of ship travel determination methods of 4 kinds of imaging contexts, if Fig. 8 is to shown in 11, downlink data requires over and spins upside down just consistent with truth, and the positive and negative values therefore derived is contrary with practical situation.
The experimental verification of technical scheme:
Altogether do twice experiment, have three ships to participate in experiment, the information of ship and satellite such as following table:
Table one: the information of ship and satellite
Table two: ship information
The method utilizing the present invention, result of calculation and error rate are as shown in the table:
Table three: result of calculation and error rate
Figure 12 is that first ship adopts the inventive method record result and adopt AIS to record the comparison schematic diagram of result；Figure 13 is that second ship adopts the inventive method record result and adopt AIS to record the comparison schematic diagram of result.AISPosition is from the AIS tail position recorded.Eight kinds of situations that the present invention considers upstream and downstream and the left view right side is looked, it is achieved that target travel direction Quick.
To sum up, the present invention utilizes a scape polarimetric SAR image data, by strengthening Doppler signal, it is achieved moving target parameter extraction, no matter and target trail whether imaging；Overcome the deficiency of ship wake difficulty imaging on most image
The ultimate principle of the present invention, principal character and advantage have more than been shown and described.Skilled person will appreciate that of the industry, above-described embodiment does not limit the present invention in any form, and all employings are equal to the technical scheme that the mode of replacement or equivalent transformation obtains, and all fall within protection scope of the present invention.
Claims (6)
1. diameter radar image moving target parameter extracting method, it is characterised in that comprise the steps:
Step one: full polarimetric SAR data is carried out data enhancement process；
Step 2: measure Doppler's tail length, extracts the speed of a ship or plane and the course of target.
2. diameter radar image moving target parameter extracting method according to claim 1, it is characterised in that described data enhancement process is: carry out polarization entropy/alpha-angle/anti-entropy to resolve and strengthen.
3. diameter radar image moving target parameter extracting method according to claim 2, it is characterised in that full polarimetric SAR data is Radarsat-2SLC full polarimetric SAR data.
4. the diameter radar image moving target parameter extracting method according to any one of claims 1 to 3, it is characterised in that Doppler's tail length is:Ship speed isWherein, D is Doppler's tail length, and u is the velocity of ship, and H is the height of satellite spatial coordinate, and θ is the satellite angle of incidence relative to ship, and φ is the angle of ship velocity and horizontal X axle, vsarFor satellite corresponding to speed longitudinal in position vector.
5. diameter radar image moving target parameter extracting method according to claim 4, it is characterised in that step 2 includes:
Step 2a: considering that the satellite uplink right side is looked and descending left view situation, obtaining Doppler's tail length is:
Step 2b: consider up left view and the descending right side optionally, obtaining Doppler's tail length is:Wherein, D is Doppler's tail length, and u is the velocity of ship, and H is the height of satellite spatial coordinate, and θ is the satellite angle of incidence relative to ship, and φ is the angle of ship velocity and horizontal X axle, vsarFor satellite corresponding to speed longitudinal in position vector.
6. diameter radar image moving target parameter extracting method according to claim 5, it is characterised in that step 2 includes: by detecting the green hangover of moving target, according to the parameter of satellite and image, extract the speed of a ship or plane and the course of target.
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| CN107610160A (en) * | 2017-09-21 | 2018-01-19 | 中南大学 | A kind of polarization SAR vessel velocity estimation method and system |
| CN108333582A (en) * | 2018-02-07 | 2018-07-27 | 北京航空航天大学 | A kind of moving-target speed calculation method based on beam bunching mode SAR |
| CN108470139A (en) * | 2018-01-25 | 2018-08-31 | 天津大学 | A kind of small sample radar image human action sorting technique based on data enhancing |
| CN110389366A (en) * | 2019-08-05 | 2019-10-29 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of naval target method for estimating based on multi-source SAR satellite |
| CN115079114A (en) * | 2022-08-22 | 2022-09-20 | 中国科学院空天信息创新研究院 | Airborne SAR radiometric calibration method based on backscattering of ocean and corner reflector |
| CN117630936A (en) * | 2024-01-23 | 2024-03-01 | 中国科学院空天信息创新研究院 | Synthetic aperture radar observation angle analysis method and device, electronic equipment and medium |
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| CN108470139A (en) * | 2018-01-25 | 2018-08-31 | 天津大学 | A kind of small sample radar image human action sorting technique based on data enhancing |
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| CN110389366A (en) * | 2019-08-05 | 2019-10-29 | 中国人民解放军军事科学院国防科技创新研究院 | A kind of naval target method for estimating based on multi-source SAR satellite |
| CN115079114A (en) * | 2022-08-22 | 2022-09-20 | 中国科学院空天信息创新研究院 | Airborne SAR radiometric calibration method based on backscattering of ocean and corner reflector |
| CN115079114B (en) * | 2022-08-22 | 2022-11-04 | 中国科学院空天信息创新研究院 | Airborne SAR radiometric calibration method based on backscattering of ocean and corner reflector |
| CN117630936A (en) * | 2024-01-23 | 2024-03-01 | 中国科学院空天信息创新研究院 | Synthetic aperture radar observation angle analysis method and device, electronic equipment and medium |
| CN117630936B (en) * | 2024-01-23 | 2024-04-09 | 中国科学院空天信息创新研究院 | Synthetic aperture radar observation angle analysis method and device, electronic equipment and medium |
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Application publication date: 20160713 |