CN105929381B - A kind of airborne SAL vibration estimation method - Google Patents
A kind of airborne SAL vibration estimation method Download PDFInfo
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- CN105929381B CN105929381B CN201610235022.5A CN201610235022A CN105929381B CN 105929381 B CN105929381 B CN 105929381B CN 201610235022 A CN201610235022 A CN 201610235022A CN 105929381 B CN105929381 B CN 105929381B
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Classifications
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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
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/497—Means for monitoring or calibrating
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/90—Lidar systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques
Abstract
The present invention provides a kind of airborne SAL to vibrate estimation method, comprising: airborne SAL uses straight rail double detector, and the echo-signal based on double detector obtains the range Doppler spectrum of double detector；Based on the width of vibration signal azimuth spectrum, the range Doppler spectrum of double detector is cut；Double detector range Doppler after splicing is cut is composed, and obtains reference signal；The multiple correlation coefficient for obtaining the adjacent slow time pulse block of reference signal, obtains the oblique distance error of vibration signal.The present invention uses double detector, can select the biggish detector of photosurface smaller strip width, improves imaging oblique distance to resolution ratio；By splicing the azimuth spectrum of two detectors, straight rail visual field is expanded, realizes airborne SAL orientation high-resolution imaging；The constraint that PGA processing needs scene to have isolated strong point is avoided, makes airborne SAL in low signal-to-noise ratio and that orientation high-definition picture can also do not obtained under conditions of isolated strong point.
Description
Technical field
The present invention relates to Synthetic Aperture Laser Radar technical field more particularly to a kind of airbome synthetic aperture laser radars
(SAL) estimation method is vibrated.
Background technique
SAL is class of microwave synthetic aperture radar (Synthetic Aperture Radar, the SAR) technology in optical region
It pushes away, realizes that remote high score rate imaging provides possibility for laser radar, there are good dual-use potentiality.
Airborne SAL work is in optical region, and due to optical wavelength 3,4 orders of magnitude smaller than microwave, theoretically airborne SAL can
To realize same high image resolution ratio with the synthetic aperture time more shorter than SAR.But it corresponds, the microvibration of platform
It will cause the significant changes of signal phase, this brings many difficulties to airborne SAL imaging.
To inhibit vibration to influence to imaging bring, domestic and international relevant unit has carried out extensive research work.Chinese section
The influence that Shanghai Institute of Technical Physics of institute generates Platform Vibration is analyzed (referring to Hong Guanglie, Guo Liang linearly coupled pair
Impact analysis [J] Acta Optica of synthetic aperture laser radar imaging, 2012,32 (4): 0428001-1-0428001-7.),
And Platform Vibration is estimated using the method for analog detection, the phase error that compensation vibration generates is (referring to Xu Xianwen, Hong Guang
Strong, Ling Yuan waits analog detection [J] Acta Optica of Synthetic Aperture Laser Radar vibration phase error, 2011,31 (5):
0512001-1-0512001-7), it based on but it is mainly tested by desktop system, tests the vibrometer used and is difficult to airborne
It is applied in SAL.Shanghai Optics and Precision Mechanics institute, Chinese Academy of Sciences utilizes the polarization characteristic of laser, using auto-correlation detection
Method inhibits (referring to Liren Liu.Coherent and Incoherent Synthetic-aperture vibration
Imaging Ladars and Laboratory-space Experimental Demonstrations[J].Applied
Optics, 2013,52 (4): 579-599.), but its system operating mode is positive lower view, the usually used side view with airborne SAL
Operating mode has marked difference.External correlative study work is concentrated mainly on using damper and Phase gradient autofocus
The method that (Phase Gradient Autofocus, PGA) is combined inhibits influence of the vibration to imaging.Using this method, beauty
Lockheed Martin Corporation of state carried out airborne SAL flight test in 2011, and the ground target for the 1.6km that adjusts the distance realizes resolution
Imaging of the rate better than 3.3cm is (referring to Krause B W, Buck J, Ryan C, et al..Synthetic aperture
Ladar flight demonstration [C] .OSA/CLEO/IQEC, 2011).But this method is main in signal processing
It relies on PGA processing to inhibit vibration, phase error caused by lacking isolated strong point or residual oscillation in target scene
In biggish situation, it is difficult to reach good imaging effect.Can be used to carry out SAL vibration estimation at present is Spatial coherence method
(referring to EH Attia.Data-adaptive motion compensation for synthetic aperture LADAR
[C] .2004IEEE Aerospace Conference Proceedings, 2004,3:1782-1787.), but this method exists
Noise is relatively low, and the vibration precision estimated in the case where azimuth beam wider width is lower.
Summary of the invention
(1) technical problems to be solved
In order to solve prior art problem, the present invention provides a kind of airborne SAL to vibrate estimation method.
(2) technical solution
The present invention provides a kind of airborne SAL to vibrate estimation method, comprising: step A: airborne SAL using the double detections of straight rail
Device, the echo-signal based on double detector obtain the range Doppler spectrum of double detector；Step B: it is based on vibration signal azimuth spectrum
Width, cut double detector range Doppler spectrum；Step C: the double detector range Doppler after splicing is cut is composed, and
To reference signal；Step D: the multiple correlation coefficient of the adjacent slow time pulse block of reference signal is obtained, the oblique distance of vibration signal is obtained
Error.
(3) beneficial effect
It can be seen from the above technical proposal that airborne SAL vibration estimation method of the invention has the advantages that
(1) use double detector, the biggish detector of photosurface smaller strip width can be selected, improve imaging oblique distance to point
Resolution；
(2) by the azimuth spectrum of two detectors of splicing, straight rail visual field is expanded, realizes airborne SAL orientation high-resolution
Rate imaging；
(3) the invention avoids PGA processing, and scene to be needed to have the constraint of isolated strong point, make airborne SAL in low signal-to-noise ratio and
Orientation high-definition picture can also be obtained under conditions of not isolated strong point.
Detailed description of the invention
Fig. 1 is the straight rail double detector visual field schematic diagram of the embodiment of the present invention；
Fig. 2 is that echo-signal range Doppler composes corresponding convolution process when there is vibration；
Fig. 3 is to show adjacent slow time tk(1) and tk(2) pulse packet related operation schematic diagram；
Fig. 4 is that the airborne SAL of the embodiment of the present invention vibrates the flow chart of estimation method；
Fig. 5 is the Vibration Condition estimated using the present invention；
Fig. 6 is the imaging results without motion compensation of the present invention；
Fig. 7 carries out the imaging results of motion compensation using the present invention.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing is the present invention and is further described in detail.
The embodiment provides a kind of airborne SAL vibration estimation methods to specifically include referring to fig. 4:
Step A: airborne SAL use straight rail double detector, the echo-signal based on double detector, obtain double detector away from
From doppler spectral.
Referring to Fig. 1, the straight rail double detector of airborne SAL includes the first detector and the second detection along the arrangement of straight rail direction
Device, the echo-signal from ground different zones are received respectively by two detectors, realize visual field segmentation, the first detector
Echo-signal comes from first area, and the echo-signal of the second detector comes from second area.
Step A is specifically included: the straight rail double detector of airborne SAL includes the first detector and the along the arrangement of straight rail direction
The echo-signal of first detector and the echo-signal of the second detector are carried out distance to pulse compression and orientation by two detectors
It is composed to the range Doppler of FFT, the range Doppler spectrum and the second detector echo-signal that obtain the first detector echo-signal.
Step B: the width based on vibration signal azimuth spectrum cuts the range Doppler spectrum of double detector.
Due to the vibration of airborne platform, the range Doppler spectrum of the first detector obtained in step A and the second detector by
To the influence of Platform Vibration signal, azimuth spectrum in range Doppler spectrum, the azimuth spectrum that can be expressed as under no Vibration Condition
With the convolution results of vibration signal azimuth spectrum, referring to fig. 2, wherein SD1(f), SD2(f) it respectively indicates first under no Vibration Condition
The azimuth spectrum of detector and the second detector, SVIt (f) is vibration signal azimuth spectrum, S1(f) and S2(f) respectively indicate what step A was obtained
The azimuth spectrum of the azimuth spectrum of first detector and the second detector, then
Step B is specifically included:
Sub-step B1: the width f of vibration signal azimuth spectrum is obtainedV。
Wherein, using the positive frequency part width of the first detector azimuth spectrum as fV。
Sub-step B2: the 0-f of the first detector azimuth spectrum of interceptionVPart, the orientation of the first detector after being cut
Compose S '1(f)。
Sub-step B3 :-the f of the second detector azimuth spectrum of interceptionV- 0 part, the orientation of the second detector after being cut
Compose S '2(f)。
Step C: the double detector range Doppler after splicing is cut is composed, and obtains reference signal.
Step C is specifically included:
Sub-step C1: the azimuth spectrum of the azimuth spectrum of the first detector after cutting and the second detector is spliced, is obtained
To splicing azimuth spectrum S ' (f), wherein
Sub-step C2: splicing azimuth spectrum S ' (f) is subjected to IFFT along orientation and obtains reference signal S ' (t).
Step D: obtaining the multiple correlation coefficient of the adjacent slow time pulse block of reference signal, and the oblique distance for obtaining vibration signal is missed
Difference.
Slow time tk(i) echo that moment SAL is received isWhereinFor fast time, Δ RiIt is
Slow time tk(i) the oblique distance error of moment Platform Vibration signal, λ are wavelength,For slow time tk(i) moment does not vibrate feelings
Echo-signal under condition.
Step D is specifically included:
Sub-step D1: the adjacent slow time t of reference signal is obtainedk(i) and tk(i+1) multiple correlation coefficient of pulse packetWherein,
I=1,2 ... I, I are slow time total quantity.Referring to Fig. 3, adjacent slow time t is shownk(1) and tk(2) pulse packet carries out related
Operation.
Wherein, each slow time pulse block size is chosen in this way: in the pulse packet corresponding slow time, guaranteeing that vibration can be close
In the case where at the uniform velocity, pulse packet is as big as possible.
Sub-step D2: extracting the phase of multiple correlation coefficient, obtains adjacent slow time tk(i) and tk(i+1) oblique distance vibrated is missed
The difference DELTA R of differencei+1-ΔRi。
Sub-step D3: slow time t is setk(1) vibrating inclined is away from error amount Δ R1, when adding up all adjacent slow along the slow time
Between the difference DELTA R of oblique distance error that vibratesi+1-ΔRi, the vibrating inclined with the slow time is obtained away from error delta Ri, i=2,3 ..., I.
Wherein, slow time tk(1) vibrating inclined is away from error amount Δ R1It is set as 0.
The airborne SAL of the embodiment of the present invention vibrates estimation method, and this method can be applied to the mould using parameter shown in table 1
Type.
Table 1
Fig. 5 gives the vibration estimated and actual vibration, and solid line is actual oscillating curve, and chain-dotted line is to estimate
Oscillating curve, it can be seen that the vibration estimated is quite accurate.
Fig. 6 gives without vibration estimation direct imaging as a result, Fig. 7 gives with the vibration estimated to original time
Wave compensate after imaging results, compensate rear IECAS letter with the vibration estimated and obtained good focusing, explanation
Effectiveness of the invention.
So far, attached drawing is had been combined the present embodiment is described in detail.According to above description, those skilled in the art
There should be clear understanding to a kind of airborne SAL vibration estimation method of the invention.
Airborne SAL of the invention vibrates estimation method, and the vibration of airborne SAL platform can be effectively estimated out in this method, thus
Motion compensation is carried out, at the same time, the biggish detector of photosurface smaller strip width can be used using double detector, expanded by splicing
Big straight rail visual field, realizes airborne SAL orientation high-resolution imaging.Since optical maser wavelength is shorter, the presence of atural object roughness makes
Scene is difficult to generate isolated strong point in laser wavelength.Based on the Data Acquisition Model that visual field in straight rail double detector is divided, this hair
The method of bright proposition realizes the vibration estimation of airborne SAL platform, avoids the pact that PGA processing needs scene to have isolated strong point
Beam makes airborne SAL in low signal-to-noise ratio and without that can also obtain orientation high-definition picture under conditions of isolated strong point.
It should be noted that in attached drawing or specification text, the implementation for not being painted or describing is affiliated technology
Form known to a person of ordinary skill in the art, is not described in detail in field.In addition, the above-mentioned definition to each element and not only limiting
The various modes mentioned in embodiment, those of ordinary skill in the art simply can be changed or be replaced to it, such as:
(1) direction term mentioned in embodiment, such as "upper", "lower", "front", "rear", "left", "right" etc. are only ginsengs
The direction for examining attached drawing, the protection scope being not intended to limit the invention；
(2) above-described embodiment can be based on the considerations of design and reliability, and the collocation that is mixed with each other uses or and other embodiments
Mix and match uses, i.e., the technical characteristic in different embodiments can freely form more embodiments.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (9)
1. a kind of airborne SAL vibrates estimation method characterized by comprising
Step A: airborne SAL using straight rail double detector, the echo-signal based on double detector, and the distance for obtaining double detector is more
Pu Le spectrum；
Step B: the width based on vibration signal azimuth spectrum cuts the range Doppler spectrum of double detector；
The step B is specifically included:
Sub-step B1: the width f of vibration signal azimuth spectrum is obtainedV；
Sub-step B2: to the azimuth spectrum S of the range Doppler spectrum of the first detector1(f) it is cut, first after being cut
The azimuth spectrum S ' of detector1(f)；
Sub-step B3: to the azimuth spectrum S of the range Doppler spectrum of the second detector2(f) it is cut, second after being cut
The azimuth spectrum S ' of detector2(f)；
Step C: the double detector range Doppler after splicing is cut is composed, and obtains reference signal；
Step D: the multiple correlation coefficient of the adjacent slow time pulse block of reference signal is obtained, the oblique distance error of vibration signal is obtained.
2. airborne SAL as described in claim 1 vibrates estimation method, which is characterized in that step A is specifically included:
The straight rail double detector of airborne SAL includes the first detector and the second detector along the arrangement of straight rail direction, and first is visited
The echo-signal of the echo-signal and the second detector of surveying device carries out distance to pulse compression and orientation FFT, obtains the first spy
The range Doppler of the range Doppler spectrum and the second detector echo-signal of surveying device echo-signal is composed.
3. airborne SAL as described in claim 1 vibrates estimation method, which is characterized in that the sub-step B2 is specifically included:
Intercept the 0-f of the first detector azimuth spectrumVPart, the azimuth spectrum S ' of the first detector after being cut1(f)。
4. airborne SAL as claimed in claim 3 vibrates estimation method, which is characterized in that the sub-step B3 is specifically included:
Intercept-the f of the second detector azimuth spectrumV- 0 part, the azimuth spectrum S ' of the second detector after being cut2(f)。
5. airborne SAL as described in claim 1 vibrates estimation method, which is characterized in that the step C is specifically included:
Sub-step C1: the azimuth spectrum of the azimuth spectrum of the first detector after cutting and the second detector is spliced, is spelled
Azimuth spectrum S ' (f) is met,
Sub-step C2: reference signal S ' (t) is obtained by splicing azimuth spectrum S ' (f).
6. airborne SAL as claimed in claim 5 vibrates estimation method, which is characterized in that the splicing azimuth spectrum
7. airborne SAL as claimed in claim 6 vibrates estimation method, which is characterized in that the sub-step C2 is specifically included:
Splicing azimuth spectrum S ' (f) is subjected to IFFT along orientation and obtains reference signal S ' (t).
8. airborne SAL as claimed in claim 5 vibrates estimation method, which is characterized in that step D is specifically included:
Sub-step D1: the adjacent slow time t of reference signal is obtainedk(i) and tk(i+1) multiple correlation coefficient of pulse packet；
Sub-step D2: extracting the phase of multiple correlation coefficient, obtains adjacent slow time tk(i) and tk(i+1) the oblique distance error vibrated
Difference DELTA Ri+1-ΔRi；
Sub-step D3: slow time t is setk(1) vibrating inclined is away from error amount Δ R1, add up all adjacent slow times vibrations along the slow time
The difference DELTA R of dynamic oblique distance errori+1-ΔRi, the vibrating inclined with the slow time is obtained away from error delta Ri, i=2,3 ..., I；I is slow
Time total quantity.
9. airborne SAL as claimed in claim 8 vibrates estimation method, which is characterized in that the sub-step D1 is specifically included:
Obtain the adjacent slow time t of reference signalk(i) and tk(i+1) multiple correlation coefficient of pulse packet
Wherein,
I=1,2 ... I, I are slow time total quantity；For the fast time, λ is wavelength,For slow time tk(i) moment does not have Vibration Condition
Under echo-signal；It is the echo-signal at i+1 slow moment time in the case where not vibrating.
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| US6559932B1 (en) * | 2001-10-30 | 2003-05-06 | Raytheon Company | Synthetic aperture ladar system using incoherent laser pulses |
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