CN106291553B - A kind of discontinuous scattering center coordinate restoration methods based on ISAR image sequence - Google Patents
A kind of discontinuous scattering center coordinate restoration methods based on ISAR image sequence Download PDFInfo
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- CN106291553B CN106291553B CN201610615443.0A CN201610615443A CN106291553B CN 106291553 B CN106291553 B CN 106291553B CN 201610615443 A CN201610615443 A CN 201610615443A CN 106291553 B CN106291553 B CN 106291553B
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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
- G01S13/904—SAR modes
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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
- G01S13/904—SAR modes
- G01S13/9064—Inverse SAR [ISAR]
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Abstract
A kind of discontinuous scattering center coordinate restoration methods based on ISAR image sequence, radar is placed in front of turntable first, target is placed on turntable, turntable is enabled to drive target rotational, radar is fixed to objective emission electromagnetic wave, and receive the reflection echo of scattering center in target, then by distance to pulse compression, the doppler processing of orientation, obtain the ISAR two dimensional image of target, obtain the position coordinates of scattering center in the picture, and then it constructs and obtains coordinates matrix, scattering center to be restored is finally removed to be expert to obtain incomplete coordinates matrix, singular value decomposition is carried out to incomplete coordinates matrix, scattering center coordinate to be restored is calculated, scattering center coordinate is completed to restore.
Description
Technical field
The present invention relates to radar ISAR imaging and singularity value decomposition fields, especially a kind of to be based on ISAR image sequence
Discontinuous scattering center coordinate restoration methods.
Background technique
Traditional Radar Target Scatter center restoration methods include two classes, one kind be based on one-dimensional distance to simple venation
Rush off-axis angle measurement three-dimensionalreconstruction, the big bandwidth signal of radar emission first in this method, obtain distance to the one-dimensional picture of high-resolution, so
The echo-signal two dimension angle measurement of horizontal and pitching and difference beam to each distance unit is utilized afterwards, is scattered in available target
The spatial distribution of point, i.e. the three-dimensional structure of target, the advantages of this method be realize it is simple and can with real time imagery, but it is same away from
From being often possible to multiple scattering points, each scattering point coherent superposition in unit, it may appear that angle scintillations cause image quality not high
Problem.
Second class is that the three-dimensional coordinate based on radar two dimension ISAR image restores, first with range Doppler algorithm to mesh
Mark is imaged, and then matches to obtain coordinates matrix by scattering center, finally carries out three-dimensional coordinate recovery to rotating object.This
The advantages of kind method is the three-dimensional location coordinates of available target scattering center, the disadvantage is that when there is scattering center to be blocked,
It is unable to complete the frame matching of scattering center, so that reducing coordinate restores precision.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of based on ISAR image sequence
Discontinuous scattering center coordinate restoration methods.
The technical solution of the invention is as follows: a kind of discontinuous scattering center coordinate recovery side based on ISAR image sequence
Method includes the following steps:
(1) radar is placed in front of turntable, target is placed on turntable, enable turntable band moving-target rotate with angular velocity omega,
Radar is fixed to objective emission electromagnetic wave, and receives the reflection echo of P scattering center in target, then by distance to
Pulse compression, orientation doppler processing, obtain the ISAR two dimensional image of F frame target, so obtain target ISAR figure
As sequence, wherein P, F are positive integer；
(2) position coordinates of p-th of scattering center in f frame image are obtained and are denoted as (xfp,yfp), then constitute 2F
× P ties up coordinates matrix W
Wherein, f=1,2,3 ..., F, p=1,2,3 ..., P；
(3) assume the P scattering center (x in F frame image during target rotationalFP,yFP) be blocked, it goes respectively
Fall xFP、yFPThe row at place obtains the incomplete coordinates matrix W of 2F-2 row P columnF-2×P
(4) to W(2F-2)×PSingular value decomposition is carried out to obtain
Wherein,
t(2F-2)×1=[a1 a2 a3...aF-1 b1 b2 b3...bF-1]T
S=[s1 s2 s3... sP]
Unit vector ifFor radar under three-dimensional system of coordinate x-axis direction unit coordinate vector, unit vector jfIt is radar in three-dimensional
Y-axis direction unit coordinate vector, s under coordinate systempFor the three dimensional space coordinate under p-th of scattering center three-dimensional system of coordinate of target
(xp,yp,zp)；The three-dimensional system of coordinate be using target centroid be the former heart, using distance to for X-axis be directed toward, using orientation as Y-axis
It is directed toward, Z axis meets the coordinate system of right-hand rule foundation；
(5) it enables
sp'=sp- c, (p=1,2,3 ..., P-1)
It obtains
And then it obtainsWith
(6) it and then is calculated
The advantages of the present invention over the prior art are that:
(1) present invention realizes the scattering center position that is blocked by the decomposition and matrixing to incomplete input matrix
The recovery for setting coordinate solves and is blocked what scattering center can not be restored in the restoration methods of existing Radar Target Scatter center
Problem effectively increases the precision of target three-dimensional coordinate recovery；
(2) present invention has realized noise situations by constructing incomplete input matrix according to singular value decomposition principle
Under input matrix decompose, when solving target scattering center being blocked in rotary course, target three-dimensional scattering centre coordinate
The problem of can not restoring；
(3) present invention does pulse compression and doppler processing to orientation in distance according to ISAR image-forming principle, solves
Multiple scattering point coherent superpositions in same distance unit, cause image quality not high in pulse off-axis angle measurement three-dimensionalreconstruction
Problem.
(4) the method for the present invention is simple, and core processing process need to only pass through simple singular value decomposition and matrixing
It realizes, is more advantageous to hardware and handles in real time.
Detailed description of the invention
Fig. 1 is a kind of discontinuous scattering center coordinate restoration methods principle process based on ISAR image sequence of the present invention
Figure；
Fig. 2 is that mount model schematic diagram is imaged in ISAR in the method for the present invention；
Fig. 3 is the scattering centers extraction result of target on continuous four frames ISAR two dimensional image in the method for the present invention.
Specific embodiment
The present invention is blocked in different frame image for the same scattering center, and scattering center is unable to complete interframe
With the problem of, conventional ISAR imaging on the basis of, to ISAR image carry out distance to and orientation calibration, utilize singular value
Decomposition and condition of orthogonal constraints, decompose the incomplete coordinate input matrix for having lacked certain scattering center, and then lacked
The coordinate value of the scattering center of mistake improves the recovery precision at Radar Target Scatter center, with reference to the accompanying drawing to present invention side
Method is described in detail.
It is as shown in Figure 1 a kind of discontinuous scattering center coordinate restoration methods principle process based on ISAR image sequence
Figure, includes the following steps:
(1) it is illustrated in figure 2 ISAR imaging mount model schematic diagram, during ISAR turntable target imaging, turntable is driven
Target is rotated with angular velocity omega, and the fixed face vertical with the plane electromagnetic wave of radar emission to target of radar is equidistant
Face, the point on equidistant face, which is located at face parallel with the plane electromagnetic wave of radar emission to target in the same distance unit, is
Equal Doppler face, waits the point on Doppler face to be located at same Doppler's resolution cell.When work, radar emission electromagnetic wave, and
Receive target scattering center reflection echo, then by distance to pulse compression, orientation doppler processing, obtain away from
The two-dimentional high-resolution of target on descriscent, orientation, and then obtain the ISAR image sequence of target.Assuming that the ISAR image sequence of target
Arrange the ISAR two dimensional image of shared F frame target, position of the P scattering center in the ISAR two dimensional image of F frame target in target
Coordinate and then the matching for completing interframe constitute coordinates matrix W, wherein F is positive integer, coordinate (xfp,yfp) represent p-th of scattering
Position coordinates of the center in f (f=1 ..., F) frame image, wherein coordinate origin is located at turntable center, i.e. target centroid,
The point crossed on the equidistant face and equal Doppler face of turntable center constitutes the x-axis and y-axis of coordinate system, and x is distance to coordinate, y
It is orientation coordinate, coordinates matrix W is 2F × P matrix, is indicated are as follows:
It is illustrated in figure 3 the scattering center distribution of target on continuous four frames ISAR two dimensional image.
(2) input matrix W can be decomposed into the product of matrix M and matrix S, wherein M is rotary motion matrix, is represented
Movement of the target relative to radar, the row vector of rotary motion matrix M are F row arrows after unit vector and preceding F row vector sum
It measures mutually orthogonal；Matrix S is in above-mentioned coordinate system, and the distance of target is true to, orientation coordinate and according to right-hand rule
Determine the target three-dimensional coordinate matrix of z coordinate composition, the i.e. three-dimensional structure of target.
W=MS (2)
Wherein, matrix M ∈ R2F×3, matrix S ∈ R3×P, indicate are as follows:
S=[s1…sP] (4)
Unit vector ifAnd jfCorrespond to the unit of f frame ISAR two dimensional image in the ISAR image sequence of target for radar
Vector, wherein ifCorresponding to ISAR two dimensional image plane distance to the unit vector of x-axis, jfCorresponding to ISAR two dimensional image plane
The unit vector of orientation y-axis, spFor three dimensional space coordinate (x of p-th of scattering center relative to target centroid of targetp,yp,
zp), and have
(3) by singular value decomposition theorem, orthogonal matrix U ∈ R can be obtained2F×3With V ∈ RP×3, so that
W=U ∑ VT (5)
Wherein, ∑=diag (σ1,σ2,σ3), and σ1≥σ2≥σ3> 0 singular value arranged for descending after matrix decomposition.
Due to matrix W=U ∑ VTThe movement and shape information of target are contained, therefore matrix W=U ∑ V can be usedTIt is extensive
Complicated target three-dimensional structure, if
Then have
Wherein,
The matrix decomposition result of formula (7) be not it is only, if there is one 3 × 3 invertible matrix A, then byIt obtains,WithIt is also effective decomposition of matrix W, but only meets constraint condition
Matrix decomposition result be only the true decomposition of matrix W.
It, can be by matrix using this matrix restraint by solving one 3 × 3 invertible matrix AWithIt is transformed to M and S
True solution:
Because of the unit vector i corresponding to ISAR two dimensional image plane x-axis in matrix MfWith the Unit Vector for corresponding to y-axis
Measure jfMeet condition of orthogonal constraints:
Then have
Wherein, L ∈ R3×3For symmetrical matrix L=AAT,By determining L and obtaining 3 × 3
Invertible matrix A, then bring the true solution that formula (8) acquires M and S into.
(4) during target rotational, it is assumed that there is continuous four frames ISAR image, there are 4 scattering centers on every frame image, this
The distance of each scattering center constitutes the coordinates matrix that 8 rows 4 arrange to coordinate and orientation coordinate on four frame images:
In target rotary course, if in the 4th frame image, the 4th scattering center (x44,y44) be blocked, then divide
X is not removed44And y44The row at place obtains the incomplete input matrix W of 6 rows 4 column6×4:
(5) to W6×4It carries out singular value decomposition and obtains the target kinematic matrix M of 3 frame ISAR two dimensional images6×3With whole shapes
Matrix S3×4.In practice, due to the influence of noise, input matrix is decomposed are as follows:
Wherein,
t6×1=[a1 a2 a3 b1 b2 b3]T (14)
S=[s1 s2 s3 s4] (16)
t6×1Middle element valueP is of scattering center in target
Number, xfpAnd yfpFor p-th of scattering center on f frame image distance to orientation coordinate value.
(6) due to (x44,y44) unknown, then a4, b4,It is all unknown, it enables
Then define sp'=sp- c, (p=1,2,3) (20)
From formula (8)
It can be acquired by above formula (17)~formula (22)Then complete kinematic matrix M is also just obtained.
Enable η4=(1,1,1,0)T, available due to carrying out singular value decomposition to the matrix W having under noise situationsThen have:
And due toThen:
T is acquired, then knows a4And b4, further according toThe seat being blocked can be restored with formula (7)
Scale value are as follows:
The precision that target scattering center coordinate restores is related with many factors, such as participates in the ISAR two dimension that scattering center is restored
Amount of images, target bearing to calibration precision and its precision of intra-frame trunk etc..
In order to assess the scattering center coordinate restoration result of the method for the present invention, definition error function σ analyzes precision:
Wherein, (xp,yp,zp) { p=1,2 ..., P } be the true three-dimensional coordinate of target scattering center, (x 'p,y′p,z′p)
{ p=1,2 ..., P } is the scattering center three-dimensional coordinate restored, S=[s1,…,sP] be target coordinates matrix.
Available by above formula, error function σ value is smaller, and the scattering center precision of recovery is higher, conversely, error function
The scattering center precision of the bigger recovery of σ value is lower.The method of the present invention is by blocking the recovery of scattering center, so that can not close originally
The scattering center of connection is restored and has been associated with, so that σ value reduces, finally improves the recovery precision of scattering center.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (1)
1. a kind of discontinuous scattering center coordinate restoration methods based on ISAR image sequence, it is characterised in that including walking as follows
It is rapid:
(1) radar is placed in front of turntable, target is placed on turntable, enable turntable band moving-target rotate with angular velocity omega, radar
It is fixed and to receive the reflection echo of P scattering center in target to objective emission electromagnetic wave, then by distance to arteries and veins
Punching press contracting, orientation doppler processing, obtain the ISAR two dimensional image of F frame target, and then obtain the ISAR image sequence of target
Column, wherein P, F are positive integer；
(2) position coordinates of p-th of scattering center in f frame image are obtained and are denoted as (xfp,yfp), then constitute 2F × P dimension
Coordinates matrix W is
Wherein, f=1,2,3 ..., F, p=1,2,3 ..., P；
(3) assume the P scattering center (x in F frame image during target rotationalFP,yFP) be blocked, remove x respectivelyFP、
yFPThe row at place obtains the incomplete coordinates matrix W of 2F-2 row P column(2F-2)×P
(4) to W(2F-2)×PSingular value decomposition is carried out to obtain
Wherein,
t(2F-2)×1=[a1 a2 a3...aF-1 b1 b2 b3...bF-1]T
S=[s1 s2 s3... sP]
Matrix S ∈ R3×P,Unit vector ifIt is sat for radar in three-dimensional
Mark is lower x-axis direction unit coordinate vector, unit vector jfFor radar under three-dimensional system of coordinate y-axis direction unit coordinate vector, sp
For the three dimensional space coordinate (x under p-th of scattering center three-dimensional system of coordinate of targetp,yp,zp)；The three-dimensional system of coordinate be with
Target centroid be the former heart, with distance to for X-axis be directed toward, by Y-axis of orientation be directed toward, Z axis meet the right-hand rule foundation coordinate
System；
(5) it enables
sp'=sp- c, (p=1,2,3 ..., P-1)
It obtains
And then it obtainsWith
(6) the 4th scattering center being calculated in the 4th frame image in turn is
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| CN108226926B (en) * | 2017-12-07 | 2023-06-02 | 中国人民解放军空军工程大学 | Three-dimensional scattering distribution reconstruction method based on networking radar |
| CN111522010B (en) * | 2020-06-04 | 2022-02-11 | 四川九洲电器集团有限责任公司 | Method and system for processing automobile anti-collision radar signals |
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| CN102353945A (en) * | 2011-03-31 | 2012-02-15 | 北京航空航天大学 | Three-dimensional position reconstructing method based on ISAR (inverse synthetic aperture radar) image sequence for scattering point |
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