CN106707276A - Radar three-dimensional imaging method for procession target based on sliding window EHT (Extended Hough Transform) - Google Patents

Abstract

The invention discloses a radar three-dimensional imaging method for a procession target based on sliding window EHT (Extended Hough Transform). The radar three-dimensional imaging method comprises the steps of firstly extracting echo signals of each scattering point varying in a sinusoidal function manner from target signals; then estimating a period parameter and a mean parameter of sinusoidal signals, and acquiring a procession period of the procession target; then performing sliding window EHT processing on signals of each scattering point, and accurately estimating amplitude and initial phase parameters of the sinusoidal signals; then calculating the amplitude and the phase of the sinusoidal signals of the scattering points at different moments; and finally mapping parameters of the sinusoidal signals of each scattering points to an actual position space of the target through coordinate transformation, and rebuilding a three-dimensional image of the target. Compared with an existing spinning target imaging method, the radar three-dimensional imaging method not only can perform three-dimensional imaging on spinning targets, but also can realize three-dimensional radar imaging on procession targets. Meanwhile, compared with a GRT based three-dimensional imaging method, the radar three-dimensional imaging method does not need to construct a reference sinusoidal signal curve in regard to the scattering points before processing.

Description

A kind of precession target radar three-D imaging method based on sliding window EHT

Technical field

The invention belongs to radar imaging technology field, and in particular to a kind of precession target radar based on sliding window EHT is three-dimensional The design of imaging method.

Background technology

From the 3-D view for entering moving-target, the shape on aerial target, structure, size, type of sports are obtained in that With the information such as state, can be applicable to airport, harbour, large-scale activity meeting-place and military base etc. needs to know aerial target Not, the occasion of monitoring and early warning.The key of precession three-dimension object is to recover the instantaneous sky of target according to radar echo signal Between positional information.The radar return for entering moving-target is made up of the scattered signal of multiple scattering points in target, each scattering point echo Signal is rendered as sinusoidal variations rule in distance verses time plane, and the amplitude of sinusoidal signal, cycle, phase and average are distinguished Scattering point distance change scope in space, precession period, instantaneous position and mean place are described, so to entering moving-target Three-dimensional imaging problems can be converted into estimation problem to sinusoidal signal parameter.

Existing radar three-dimensional imaging algorithm mainly solves the three-dimensional imaging problems of spin target, the imaging side for being used Method is Generalized Radon Transforms (GRT), and such as Qi Wang et al. are in document " High-Resolution Three-Dimensional Radar Imaging for Rapidly Spinning Targets”(IEEE Transactions on Geoscience and Remote Sensing,2008,46(1):22-30.) propose a kind of spin point target based on GRT-CLEAN technologies Three-dimensional imaging algorithm.Additionally, Qun Zhang et al. are in document " Imaging of a Moving Target With Rotating Parts Based on the Hough Transform”(IEEE Transactions on Geoscience And Remote Sensing, 2008,46 (1):291-299) it is also proposed a kind of radar imaging method based on EHT, the party Method is still directed to the two-dimensional imaging problem of spin target.

The content of the invention

The invention aims to solve to lack a kind of for the imaging of precession realization of goal three-dimensional radar in the prior art Effective ways problem, it is proposed that one kind is based on sliding window EHT (Extended Hough Transform, extend Hough transformation) Precession target radar three-D imaging method.

The technical scheme is that：A kind of precession target radar three-D imaging method based on sliding window EHT, including it is following Step：

S1, isolate in each scattering point echo-signal of varies with sinusoidal function from echo signal；

S2, the cycle parameter for estimating sinusoidal signal, obtain the precession period into moving-target；

S3, the Mean Parameters for estimating sinusoidal signal；

S4, sliding window EHT treatment is carried out to each scattering point signal, estimate the amplitude and first phase parameter of sinusoidal signal；

The amplitude and phase of S5, calculating scattering point sinusoidal signal not in the same time；

S6, by Coordinate Conversion, the sinusoidal signal parameter of each scattering point is mapped in target actual positions space, rebuild The 3-D view of target.

Further, step S1 include it is following step by step：

S11, the radar echo signal assumed into moving-target areWherein L represents what target was included The quantity of main scattering point, n represents fast time sampling sequence number, and the sampling interval is Δ t_s, and n=1 ..., N, N are fast time sample Point sum；T represents slow time sampling sequence number, and the sampling interval is equal to the waveform repetition period T of radar_r, and t=1 ..., M, M be Slow time total sample；

S12, matched filtering treatment is carried out, obtain range-to-go-slow time-domain signalR tables Show range gate position, range resolution ratio is Δ r, and r=1 ..., K_r, actual range range of observation is R_r=K_rΔ r, t are represented Slow time sampling sequence number, S (r, t) is distance-slow time area image I (r, t) of target；

S13, image I (r, t) is separated using Empirical Mode Decomposition Algorithm, obtain each scattering point it is corresponding away from From-slow time area image I_l(r, t), wherein l=1 ..., L；Each image I_l(r, t) includes a sine curve, represents scattering Point signal changes in distance-slow time-domain in sinusoidal rule, and sinusoidal polar coordinates expression formula isWherein A_l、w_l、r_0,lThe respectively amplitude of scattering point l, angular speed, first phase and average.

Further, step S2 include it is following step by step：

S21, the view data I that scattering point l is calculated according to formula (1)_lThe autocorrelation sequence of (r, t)：

Wherein CCR_lM (), m=1 ..., M are the autocorrelation sequence of scattering point l, m represents that sampling point postpones；

S22, detection autocorrelation sequence CCR_lAll main peak values, estimate the average sample spacings P between main peak value, obtain Image I_lThe cycle of sinusoidal signal is T in (r, t)_l=P × T_r, the precession angular frequency of scattering point l is w_l=2 π/T_l；

S23, repeat step S21-S22, estimate remaining L-1 cycle of scattering point sinusoidal signal, then the precession week of target Phase T is taken as all scattering point sinusoidal signal cycle Ts_lAverage value：

The angular speed w of target is taken as all scattering point sinusoidal signal angular speed w_lAverage value：

Further, step S3 include it is following step by step：

S31, from image I_lIntercepted length is an image I of precession period T in (r, t)_l'(r,t')；

Wherein t'=P₀,P₀+1,...,P₀+ P-1, P are the corresponding number of samples of precession period T, P₀It is image I_l' (r, t') Initial sampling point position；

S32, estimated according to formula (4) scattering point l sinusoidal signal average r_0,l：

S33, repeat step S31-S32, estimate remaining L-1 Mean Parameters of scattering point sinusoidal signal, r_0,lRepresent scattered Exit point l is in image I_lAverage in (r, t).

Further, step S4 include it is following step by step：

S41, the length and stepping-in amount that determine time slide window：The length for setting sliding window is P and window sliding Stepping-in amount is Δ P；It is the image I of M for time sampling point length_l(r, t), can form K=floor ((M-P)/Δ P) individual altogether Treatment window；If the signal in k-th window is I_l,k(r,t_k), wherein t_k=(k-1) Δ P+j, j be in window sample point number and J=1 ..., P, k are sliding window sequence number and k=1 ..., K；

S42, according to image I_l(r, t), it is [0, A to set range parameter hunting zone_0,l], step-size in search is Δ A, then treat The range value of search is：A_u=u Δ A, wherein u=0,1 ..., U, U=A_0,l/ΔA；The hunting zone of just phase parameter is set It is [0,2 π], step-size in search isFirst phase value then to be searched is：Wherein v=0,1 ..., V,

S43, one Search Results accumulator matrix [Q] of setting_uv=q_uv, u=0,1 ..., U, v=0,1 ..., V；Just Beginningization matrix element q_uv=0；

S44, EHT treatment is carried out to the data in k-th sliding window：By I_l,k(r,t_k) on sampling point from distance-slow time-domain The amplitude and first phase parameter space of sinusoidal signal are mapped to, the mapping method based on EHT is：

R in formula_k,jFor the sampling point j, w of sinusoidal signal in window k are the angular speed for entering moving-target that step S2 estimates, r_0,lIt is The average of the sinusoidal signal that step S3 estimates；

S45, using formula (5) to each sampling point r of window k_k,j, search for corresponding first phase valuev =1 ..., the sinusoidal signal amplitude A corresponding to V_k,j；Judge A_k,jIn which magnitude unit：A_u≤A_k,j＜ A_u+1, record Corresponding amplitude A_uAnd first phaseUnit, to matrix element q_uvCarry out accumulating operation：q_uv=q_uv+1；

S46, the result of calculation to accumulator matrix carry out peakvalue's checking, peak-peakPosition (u₀, v₀) correspond to the amplitude A of sinusoidal signal in window k_k=u₀Δ A and first phase

S47, repeat step S43-S46 carry out EHT treatment to the data of remaining K-1 window, obtain on scattering point l's The sliding window estimated sequence of one group of amplitude and first phase value：{A_k| k=1 ..., K } andThen scattering point l is sinusoidal believes Number range parameter A_lWith first phase parameterIt is respectively the average of correspondence sliding window estimated sequenceWith

S48, repeat step S41-S47, estimate the amplitude and first phase parameter of remaining L-1 scattering point sinusoidal signal.

Further, step S5 is specially：Sinusoidal signal expression formula according to scattering point l：Can obtain in t=1 ..., M moment corresponding range value is A_l(t)=A_l, phase value For

Further, step S6 is specially：The parameter of estimated scattering point l sinusoidal signals is mapped to rectangular coordinate system In, then l-th scattering point is in the rectangular space coordinate of moment t：

According to not L all coordinate [x of scattering point in the same time_l(t),y_l(t),z_l(t)], just restructural goes out not in the same time The 3-D view of target.

The beneficial effects of the invention are as follows：

(1) present invention separates the signal curve of each scattering point using empirical mode decomposition method, it is to avoid estimating sinusoidal bent Influencing each other between scattering point during line parameter.

(2) present invention can accurately estimate cycle, average, amplitude and the first phase parameter of sinusoidal signal.

(3) present invention amplitude and first phase parameter of estimating sinusoidal signal is processed using sliding window EHT, it is necessary to prior information It is few, and estimated accuracy is high, it is to avoid the existing imaging method based on Generalized Radon Transforms is needing construction one preferably just The requirement of chord curve.

(4) present invention can obtain scattering point sinusoidal signal using cycle, average, amplitude and the first phase parameter estimating to obtain Expression formula, calculate sinusoidal signal value not in the same time, restructural goes out into moving-target in 3-D view not in the same time, the result Can be used to analyze the information such as shape, position and the precession state of target.

Brief description of the drawings

Fig. 1 is the radar imagery scene graph on entering moving-target of the embodiment of the present invention.

Fig. 2 is the target and main scattering point position view of the embodiment of the present invention.

A kind of precession target radar three-D imaging method flow chart based on sliding window EHT that Fig. 3 is provided for the present invention.

Fig. 4 is the distance for the entering transient echo-slow time area image of the embodiment of the present invention.

The 1st scattering dot image that Fig. 5 is obtained after being separated for the echo-signal of the embodiment of the present invention.

Fig. 6 is the peak value and its position view of the autocorrelation sequence of the embodiment of the present invention.

Fig. 7 is the window sliding method schematic diagram in slide window processing of the embodiment of the present invention.

Fig. 8 illustrates for the embodiment of the present invention to the amplitude and first phase parameter estimation result of the 2nd scattering point sinusoidal signal Figure.

Fig. 9 is reconstructed into moving-target respectively in t=1,61,121 and the 3-D view at 181 moment for the embodiment of the present invention.

Specific embodiment

Embodiments of the invention are further described below in conjunction with the accompanying drawings.

In the embodiment of the present invention, the radar imagery scene on entering moving-target is as shown in Figure 1.If target is cone, bag L=5 main scattering point is contained, coordinate of the scattering point in target local coordinate is respectively P₁(0m,0m,1m)、P₂(0.5m, 0m,-0.5m)、P₃(0m,0.5m,-0.5m)、P₄(- 0.5m, 0m, -0.5m) and P₅(0m, -0.5m, -0.5m), i.e.,：Scattering point P₁ Positioned at the summit of cone, P₂、P₃、P₄And P₅On the bottom surface of cone, as shown in Figure 2.The precession state representation of target is in reference In coordinate system O-XYZ, wherein Z axis are precession axis, and angle of precession is θ, and is rotated about the z axis with the π rad/s of angular speed 4.Radar monitoring Distance range is set to R_r=5m, range resolution ratio is Δ r=0.05m, then range cell number is K_r=R_r/ Δ r=100.

The invention provides a kind of precession target radar three-D imaging method based on sliding window EHT, as shown in figure 3, including Following steps：

S1, isolate in each scattering point echo-signal of varies with sinusoidal function from echo signal.

S11, the radar echo signal of target areWherein L=5, fast time sequence number n= 1 ..., N, N=100；Slow time sequence number t=1 ..., M, M=1000, time interval is T_r=0.002s.

S12, matched filtering treatment is carried out, obtain the echo signal in distance-slow time-domain Wherein range cell r=1 ..., K_r, K_r=100, slow time sequence number t=1 ..., M, M=1000, in distance-slow time-domain Correspondence image be I (r, t), as shown in Figure 4.

S13, I (r, t) is separated into by the corresponding image I of L=5 scattering point using empirical mode decomposition method_l(r, t), 1≤ The image I of l≤L, wherein scattering point l=1₁(r, t) is as shown in Figure 5.

S2, the cycle parameter for estimating sinusoidal signal, obtain the precession period into moving-target.

S21, the 1st scattering dot image data I is sought according to formula (1)₁The autocorrelation sequence CCR of (r, t)_l(m), m= 1 ..., M, result of calculation is as shown in Figure 6.

The peak value of S22, detection autocorrelation sequence, obtains peak intervals for x_i=202,452,702,952, equispaced pair The number of samples answered is P=250, so as to can determine that the 1st precession period T of scattering point₁=P × T_r=0.5s, the 1st scattering point Angular velocity of precession w₁=4 π rad/s.

S23, repeat step S21-S22, estimate remaining 4 cycle of scattering point sinusoidal signal, the precession period T of target It is the average value in all scattering point sinusoidal signal cycles：

The angular speed w of target is the average value of all scattering point sinusoidal signal angular speed：

S3, the Mean Parameters for estimating sinusoidal signal.

S31, from I₁One image I of precession period length of interception in (r, t)₁' (r, t'), wherein t'=P₀,P₀+ 1,...,P₀+ P-1, takes P here₀=0 and P=250.

S32, the 1st average r of scattering point sinusoidal signal of estimation_0,1, sinusoidal signal average is：

Wherein r_0,1In the 56th range cell.

S33, repeat step S31-S32, estimate remaining 4 Mean Parameters of scattering point sinusoidal signal：r_0,2=-1.45, r₀,₃=-1.64, r_0,4=-1.63 and r_0,5=-1.44, respectively in the 79th, 83,83,79 range cell.

S4, sliding window EHT treatment is carried out to each scattering point signal, estimate the amplitude and first phase parameter of sinusoidal signal.

S41, the length and stepping-in amount that determine time slide window：It is that P=250 and window are slided to set the length of sliding window Dynamic stepping-in amount is Δ P=60.

It is the image I of M=1000 for time sampling point length₁(r, t), can form K=floor ((M-P)/Δ P) altogether =12 treatment windows.If the signal in k-th window of the 1st scattering point is I_1,k(r,t_k), wherein t_k=(k-1) Δ P+j, j For sample point number in window and j=1 ..., P, k are sliding window sequence number and k=1 ..., K.Sliding window process is as shown in Figure 7.

S42, according to image I₁(r, t), setting range parameter hunting zone is：[0,0.5], step-size in search is Δ A= 0.01, then each amplitude search value be：A_u=0.01u, and u=0,1 ..., U, U=50；The hunting zone of just phase parameter is set For：[0,2 π], step-size in search is And u=0,1 ..., V, V=62.

S43, one Search Results accumulator matrix [Q] of setting_uv=q_uv, u=0,1 ..., 50, v=0,1 ..., 62； Initialization matrix element q_uv=0.

S44, EHT treatment is carried out to the data in the 1st sliding window：By I_1,1(r,t₁) on sampling point from distance-slow time-domain It is mapped to the amplitude and first phase parameter space of sinusoidal signal.Mapping method based on EHT is：

R in above formula_1,jFor the sampling point j, w of sinusoidal signal in window 1 are the angular speed for entering moving-target that step S2 estimates, r_0,1 It is the 1st average of scattering point sinusoidal signal of step S3 estimations.

S45, according to formula (5) to each sampling point r of window 1_{1, j}, search for each first phase valueV=0, 1 ..., the sinusoidal signal amplitude A corresponding to 62_1,jIf, 0≤A_1,j＜ 0.5, records corresponding amplitude A_uAnd first phaseUnit, it is right Matrix element q_uvCarry out accumulating operation：q_uv=q_uv+1。

S46, the result of calculation to accumulator matrix carry out peakvalue's checking, peak-peak max (Q)=q_16,53Position (16, 53) amplitude A of sinusoidal signal in the 1st window has been corresponded to₁=0.01 × 16=0.16 and first phase

S47, repeat step S43-S46 carry out EHT treatment to each Sliding window data, obtain one group of width on scattering point l Degree and first phase value sequence：Then the range parameter of the 1st scattering point sinusoidal signal isFirst phase parameter

S48, repeat step S41-S47, estimate the amplitude and first phase parameter of remaining 4 scattering point sinusoidal signal, and the 2nd dissipates 4 sliding window EHT simulation results are as shown in Figure 8 before exit point.

The amplitude and phase of S5, calculating scattering point sinusoidal signal not in the same time.

Sinusoidal signal expression formula according to scattering point l：T=1 ..., M is taken respectively, respectively Moment corresponding range value is A_l(t)=A_l, phase value is

S6, by Coordinate Conversion, the sinusoidal signal parameter of each scattering point is mapped in target actual positions space, rebuild The 3-D view of target.

The parameter of estimated scattering point l sinusoidal signals is mapped in rectangular coordinate system, then l-th scattering point of t Square position coordinate in space is：

According to not 5 coordinate [x of scattering point in the same time_l(t),y_l(t),z_l(t)], just restructural goes out not target in the same time 3-D view, Fig. 9 gives t=1, the imaging results at 61,121 and 181 moment.Fig. 9 represent realistic objective position and Shape, can be observed the precession state of target from three-dimensional imaging sequence, demonstrate the validity of the inventive method.

One of ordinary skill in the art will be appreciated that embodiment described here is to aid in reader and understands this hair Bright principle, it should be understood that protection scope of the present invention is not limited to such especially statement and embodiment.This area Those of ordinary skill can according to these technical inspirations disclosed by the invention make it is various do not depart from essence of the invention other are each Plant specific deformation and combine, these deformations and combination are still within the scope of the present invention.

Claims (7)

1. a kind of precession target radar three-D imaging method based on sliding window EHT, it is characterised in that comprise the following steps：

S1, isolate in each scattering point echo-signal of varies with sinusoidal function from echo signal；

S2, the cycle parameter for estimating sinusoidal signal, obtain the precession period into moving-target；

S3, the Mean Parameters for estimating sinusoidal signal；

S4, sliding window EHT treatment is carried out to each scattering point signal, estimate the amplitude and first phase parameter of sinusoidal signal；

The amplitude and phase of S5, calculating scattering point sinusoidal signal not in the same time；

S6, by Coordinate Conversion, the sinusoidal signal parameter of each scattering point is mapped in target actual positions space, rebuild target 3-D view.

2. precession target radar three-D imaging method according to claim 1, it is characterised in that the step S1 include with Under step by step：

S11, the radar echo signal assumed into moving-target areIt is main that wherein L represents that target is included The quantity of scattering point, n represents fast time sampling sequence number, and the sampling interval is Δ t_s, and n=1 ..., N, N are that fast time sampling point is total Number；T represents slow time sampling sequence number, and the sampling interval is equal to the waveform repetition period T of radar_r, and t=1 ..., M, M for it is slow when Between total sample；

S12, matched filtering treatment is carried out, obtain range-to-go-slow time-domain signalR represent away from From door position, range resolution ratio is Δ r, and r=1 ..., K_r, actual range range of observation is R_r=K_rΔ r, when t represents slow Between sampling sequence number, S (r, t) is the distance of target-slow time area image I (r, t)；

S13, image I (r, t) is separated using Empirical Mode Decomposition Algorithm, obtain the corresponding distance of each scattering point-slow Time area image I_l(r, t), wherein l=1 ..., L；Each image I_l(r, t) includes a sine curve, represents scattering point letter Number change in sinusoidal rule in distance-slow time-domain, sinusoidal polar coordinates expression formula isWherein A_l、w_l、r_0,lThe respectively amplitude of scattering point l, angular speed, first phase and average.

3. precession target radar three-D imaging method according to claim 2, it is characterised in that the step S2 include with Under step by step：

S21, the view data I that scattering point l is calculated according to formula (1)_lThe autocorrelation sequence of (r, t)：

${\mathrm{CCR}}_l\left(m\right)=\underset{r=1}{\overset{K_r}{\mathrm{\Σ}}}\left|IFFT\left(FFT\right(\left|I_l\left(r,t\right)\right|)\·FFT{\left(\left|I_l\left(r,t-m\right)\right|\right)}^H)\right|,m=1,\mathrm{...},M---\left(1\right)$

Wherein CCR_lM (), m=1 ..., M are the autocorrelation sequence of scattering point l, m represents that sampling point postpones；

S22, detection autocorrelation sequence CCR_lAll main peak values, estimate the average sample spacings P between main peak value, obtain image I_lThe cycle of sinusoidal signal is T in (r, t)_l=P × T_r, the precession angular frequency of scattering point l is w_l=2 π/T_l；

S23, repeat step S21-S22, estimate remaining L-1 cycle of scattering point sinusoidal signal, then the precession period T of target takes It is all scattering point sinusoidal signal cycle Ts_lAverage value：

$T=\frac{1}{L}\underset{l=1}{\overset{L}{\mathrm{\Σ}}}{T}_l---\left(2\right)$

The angular speed w of target is taken as all scattering point sinusoidal signal angular speed w_lAverage value：

$w=\frac{1}{L}\underset{l=1}{\overset{L}{\mathrm{\Σ}}}{w}_l---\left(3\right).$

4. precession target radar three-D imaging method according to claim 3, it is characterised in that the step S3 include with Under step by step：

S31, from image I_lIntercepted length is an image I ' of precession period T in (r, t)_l(r,t')；

Wherein t'=P₀,P₀+1,...,P₀+ P-1, P are the corresponding number of samples of precession period T, P₀It is image I '_lThe starting of (r, t') Sampling point position；

S32, estimated according to formula (4) scattering point l sinusoidal signal average r_0,l：

$r_{0,l}=\frac{1}{P}\underset{t^{\′}=P_0}{\overset{P_0+P-1}{\mathrm{\Σ}}}r\·t^{\′}---\left(4\right)$

S33, repeat step S31-S32, estimate remaining L-1 Mean Parameters of scattering point sinusoidal signal, r_0,lRepresent scattering point L is in image I_lAverage in (r, t).

5. precession target radar three-D imaging method according to claim 4, it is characterised in that the step S4 include with Under step by step：

S41, the length and stepping-in amount that determine time slide window：It is the stepping of P and window sliding to set the length of sliding window It is Δ P to measure；It is the image I of M for time sampling point length_l(r, t), can form K=floor ((M-P)/Δ P) individual treatment altogether Window；If the signal in k-th window is I_l,k(r,t_k), wherein t_k=(k-1) Δ P+j, j are sample point number and j=in window 1 ..., P, k be sliding window sequence number and k=1 ..., K；

S42, according to image I_l(r, t), it is [0, A to set range parameter hunting zone_0,l], step-size in search is Δ A, then to be searched Range value is：A_u=u Δ A, wherein u=0,1 ..., U, U=A_0,l/ΔA；The hunting zone for setting just phase parameter is [0,2 π], step-size in search isFirst phase value then to be searched is：Wherein v=0,1 ..., V,

S43, one Search Results accumulator matrix [Q] of setting_uv=q_uv, u=0,1 ..., U, v=0,1 ..., V；Initialization square Array element element q_uv=0；

S44, EHT treatment is carried out to the data in k-th sliding window：By I_l,k(r,t_k) on sampling point from distance-slow time domain mapping To the amplitude and first phase parameter space of sinusoidal signal, the mapping method based on EHT is：

R in formula_k,jFor the sampling point j, w of sinusoidal signal in window k are the angular speed for entering moving-target that step S2 estimates, r_0,lIt is step The average of the sinusoidal signal that S3 estimates；

S45, using formula (5) to each sampling point r of window k_k,j, search for corresponding first phase valueV= 1 ..., the sinusoidal signal amplitude A corresponding to V_k,j；Judge A_k,jIn which magnitude unit：A_u≤A_k,j＜ A_u+1, record right The amplitude A answered_uAnd first phaseUnit, to matrix element q_uvCarry out accumulating operation：q_uv=q_uv+1；

S46, the result of calculation to accumulator matrix carry out peakvalue's checking, peak-peakPosition (u₀,v₀) right The amplitude A of sinusoidal signal in window k is answered_k=u₀Δ A and first phase

S47, repeat step S43-S46 carry out EHT treatment to the data of remaining K-1 window, obtain one group on scattering point l The sliding window estimated sequence of amplitude and first phase value：{A_k| k=1 ..., K } andThen scattering point l sinusoidal signals Range parameter A_lWith first phase parameterIt is respectively the average of correspondence sliding window estimated sequenceWith

S48, repeat step S41-S47, estimate the amplitude and first phase parameter of remaining L-1 scattering point sinusoidal signal.

6. precession target radar three-D imaging method according to claim 5, it is characterised in that the step S5 is specific For：Sinusoidal signal expression formula according to scattering point l：Can obtain in t=1 ..., M moment Corresponding range value is A_l(t)=A_l, phase value is

7. precession target radar three-D imaging method according to claim 6, it is characterised in that the step S6 is specific For：The parameter of estimated scattering point l sinusoidal signals is mapped in rectangular coordinate system, then sky of l-th scattering point in moment t Between rectangular co-ordinate be：

According to not L all coordinate [x of scattering point in the same time_l(t),y_l(t),z_l(t)], just restructural goes out not target in the same time 3-D view.