CN106908782B - The extracting method in the wave propagation direction based on surface condition continuous imaging system - Google Patents
The extracting method in the wave propagation direction based on surface condition continuous imaging system Download PDFInfo
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- CN106908782B CN106908782B CN201710224076.6A CN201710224076A CN106908782B CN 106908782 B CN106908782 B CN 106908782B CN 201710224076 A CN201710224076 A CN 201710224076A CN 106908782 B CN106908782 B CN 106908782B
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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
- G01S13/02—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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/50—Systems of measurement based on relative movement of target
- G01S17/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
-
- 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
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/418—Theoretical aspects
-
- 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
- G01S7/4802—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
-
- 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
- G01S7/4808—Evaluating distance, position or velocity data
Abstract
The present invention relates to a kind of extracting methods in wave propagation direction based on surface condition continuous imaging system, the following steps are included: (1) collects search coverage wave echo using surface condition continuous imaging system, and the echo continuously collected is sampled and is imaged, composition N frame (the common value of N is 32,64,128 etc.) echo sequence；(2) the echo sequence being collected into is pre-processed, filters out ambient noise in image；(3) pretreated image sequence is subjected to light stream estimation, obtains the motion vector collection of N frame echo sequence pixel point；(4) it concentrates the movement velocity of all pixels point as weight motion vector, all pixels point direction is weighted and averaged, obtain the mass motion direction of all pixels point set；(5) mass motion direction is subjected to relative coordinate correction, obtains the direction of propagation calculated result of final wave.The present invention provides a kind of new method for the wave propagation direction based on surface condition continuous imaging system, simultaneously, this method is simple and efficient, it takes up less resources, method is applicable not only to the X-band radar of various models, infrared, Visible imaging system is applied also for, is with a wide range of applications.
Description
Technical field
The present invention relates to the water surface remote sensing of the remote sensing technology field of radio more particularly to surface condition continuous imaging system
Technical field, in particular to a kind of extracting method in the wave propagation direction based on surface condition continuous imaging system.
Background technique
Surface condition includes lake surface, sea and river surface state, with the development of science and technology with the mankind to new energy, ocean
The increase of exploration interest and demand also increasingly becomes grinding for scientists to lake surface, river surface and the state on sea remote sensing technology
Study carefully hot spot.
Currently, traditional marine X-band pathfinder is widely used in the remote sensing to sea, so-called X-band thunder
Up to the general designation that (X Band Radar, be abbreviated as XBR) is to fire control, target-tracking radar (TTR), the wavelength that issues 3 centimetres with
Under, which is capable of the target of 360 degree rotation investigation all directions.
Emphasis of the wave state as ocean research, it is closely bound up with the mankind.The reaction of ocean dynamics parameter
It is the specific physical quantity directly or indirectly calculated by the various forms of motion of wave.The extraction of extra large state parameter with
Analysis has wide significance to marine climate research, marine resources development, marine safety, ocean military affairs etc..Extra large state parameter master
Will the period high comprising wave, unrestrained, wave to etc. these have with wave directly and the numerical information of ocular connection, and wave is to also referred to as
Wave direction represents the direction of the propagation of ocean waves, it is the important parameter of navigation safety and port security.As efficient ocean
One of observed pattern, X-band wave observation radar with its high-spatial and temporal resolution, it is portable and smart, occupation rate of market is high the features such as gradually at
For a kind of important active ocean remote sensing means.X-band electric wave is propagated Shi Huiyu wave and generated in Random ocean-like rough surfaces to be dissipated
The effect of penetrating, X-band wave observation radar receive backscattering echo, can obtain the ocean wave parameters such as ocean current, wave from echo-signal.
Carry out inverting wave to being mainly based upon following steps currently with X-band wave observation radar: first to X-band wave observation radar
Received sea ocean wave scattering electromagnetic wave image sequence carries out three-dimensional Fourier analysis, obtains frequency domain echo image spectrum；Secondly, sharp
It is composed to obtain extra large surface stream information with image, and bandpass filter is constructed to extract frequency direction spectrum by Ocean current information；Finally,
In conjunction with modulation transfer function come from frequency direction spectrum in extract wave to.Since there are inaccuracies for ocean current estimation, this be will lead to
Bandpass filtering based on ocean current can also fail, and then will affect finally obtained frequency direction spectrum.Simultaneously as dashed modulation,
The presence that track modulation, fluid dynamics modulation, inclination are modulated, the wave image spectrum obtained by radar image and live buoy etc.
There is differences between the ocean wave spectrum that tool measures, and using experience modulation transfer function come when being adjusted to this species diversity,
The selection of experience modulation transfer function itself also can bring error to inversion result to wave.
Summary of the invention
The purpose of the present invention is overcoming the above-mentioned prior art, one kind is provided and is based on time-domain image, more succinct side
The extracting method in the wave propagation direction based on surface condition continuous imaging system just.
To achieve the goals above, the extraction in the wave propagation direction of the invention based on surface condition continuous imaging system
Method is specific as follows:
The extracting method in the wave propagation direction based on surface condition continuous imaging system, is mainly characterized by, described
Extracting method the following steps are included:
(1) by the echo of the wave in surface condition continuous imaging system acquisition search coverage, and sampling imaging is carried out,
Form N frame echo sequence；
(2) the N frame echo sequence obtained in step (1) is pre-processed, filters out noise；
(3) the N frame echo sequence after making an uproar to filter is handled, and obtains the pixel fortune of the N frame echo sequence
Dynamic vector collection
(4) the pixel point motion vector collection of the N frame echo sequence in obtaining step (3)Middle all pixels
The weight of the movement velocity of point, and obtain the mass motion direction of all pixels point；
(5) according to surface condition continuous imaging system towards θradarAnd reference direction, to the whole of all pixels point
The body direction of motion carries out relative coordinate correction.
Preferably, the value of the N is 2m, and m is positive integer.
More preferably, the m is more than or equal to 5, and is less than or equal to 8.
Preferably, the step (2) specifically:
The N frame echo sequence obtained by median filtering method to it pre-processes, and filters out the N frame echo sequence
Ambient noise in column.
Preferably, the step (3) specifically:
N frame echo sequence after making an uproar to filter carries out light stream motion estimation process, obtains the N frame echo sequence
Pixel point motion vector collection
Preferably, the step (4) specifically:
By the pixel point motion vector collection of the N frame echo sequenceThe movement velocity of middle all pixels point
It is weighted and averaged as weight, and by all pixels point direction θ, obtains the mass motion direction Θ of all pixels point, wherein
The calculation formula of the mass motion direction Θ of all pixels point is as follows:
Wherein, θiWithRespectively pixel point motion vector collectionMiddle ith pixel point moving direction and speed
Size is spent, N is the number of all pixels point in the N frame echo sequence.
More preferably, the reference direction is direct north, and the step (5) specifically:
According to direct north and surface condition continuous imaging system towards θradar, by the entirety of all pixels point
Direction of motion Θ carries out relative coordinate correction, obtains the wave propagation direction θ using direct north as reference directionwave, correction side
Method is as follows:
θ=90+ θradar-Θ；
Preferably, the surface condition continuous imaging system can be X-band radar system, infrared and visual light imaging
System.
Using the extracting method in the wave propagation direction based on surface condition continuous imaging system in the invention, due to
It carries out continuous imaging to surface condition using surface condition continuous imaging system, from the time-domain signal of wave, using at
The offset direction of echo strength in the image sequence as formed by system between adjacent image directly is estimated unrestrained to transporting light stream
Dynamic method is applied to image sequence formed by imaging system, can simply, efficiently extract each pixel in whole image sequence
The direction of motion of point, the motion vector of each pixel in image sequence, which is weighted and averaged, can be obtained the true of wave
The direction of propagation can be good at lake surface/sea/river surface wave state and analyzed using the technical solution in the present invention, this
The core of invention is that be extracted based on the direction of propagation of the water surface continuous imaging system to wave, entire invention practicability
By force, and applicability is wide, is applicable not only to bank base surface condition continuous imaging system, applies also for boat-carrying surface condition continuous imaging
System, and can be real-time, quick, accurate, stable be finally inversed by wave propagation direction, without as based on frequency domain wave pass
It is such to broadcast direction prediction, needs to obtain modulation transfer function and accurate water flow size and Orientation in advance, reduces due to water
It flows the inaccuracy of estimation and the error of modulation transfer function itself and is influenced to wave to result bring is extracted.
Detailed description of the invention
Fig. 1 is that water is utilized in the extracting method in the wave propagation direction of the invention based on surface condition continuous imaging system
The wave echo sequence diagram of surface state continuous imaging system acquisition.
Fig. 2 is N frame figure in the extracting method in the wave propagation direction of the invention based on surface condition continuous imaging system
As the motion vector field schematic diagram of pixel each in sequence.
Fig. 3 is water surface shape in the extracting method in the wave propagation direction of the invention based on surface condition continuous imaging system
The direction of state continuous imaging system is illustrated with direct north.
Fig. 4 is the method stream of the extracting method in the wave propagation direction of the invention based on surface condition continuous imaging system
Journey schematic diagram.
Specific embodiment
It is further to carry out combined with specific embodiments below in order to more clearly describe technology contents of the invention
Description.
The extracting method in the wave propagation direction based on surface condition continuous imaging system, is mainly characterized by, described
Extracting method the following steps are included:
(1) by the echo of the wave in surface condition continuous imaging system acquisition search coverage, and sampling imaging is carried out,
Form N frame echo sequence；
(2) the N frame echo sequence obtained in step (1) is pre-processed, filters out noise；
(3) the N frame echo sequence after making an uproar to filter is handled, and obtains the pixel fortune of the N frame echo sequence
Dynamic vector collection
(4) the pixel point motion vector collection of the N frame echo sequence in obtaining step (3)Middle all pixels
The weight of the movement velocity of point, and obtain the mass motion direction of all pixels point；
(5) according to surface condition continuous imaging system towards θradarAnd reference direction, to the whole of all pixels point
The body direction of motion carries out relative coordinate correction.
The value of the N is 2m, and m is positive integer.
The m is more than or equal to 5, and is less than or equal to 8.
The step (2) specifically:
The N frame echo sequence obtained by median filtering method to it pre-processes, and filters out the N frame echo sequence
Ambient noise in column.
The step (3) specifically:
N frame echo sequence after making an uproar to filter carries out light stream motion estimation process, obtains the N frame echo sequence
Pixel point motion vector collection
The step (4) specifically:
By the pixel point motion vector collection of the N frame echo sequenceThe movement velocity of middle all pixels point
It is weighted and averaged as weight, and by all pixels point direction θ, obtains the mass motion direction Θ of all pixels point, wherein
The calculation formula of the mass motion direction Θ of all pixels point is as follows:
Wherein, θiWithRespectively pixel point motion vector collectionMiddle ith pixel point moving direction and speed
Size is spent, N is the number of all pixels point in the N frame echo sequence.
The reference direction is direct north, and the step (5) specifically:
According to direct north and surface condition continuous imaging system towards θradar, by the entirety of all pixels point
Direction of motion Θ carries out relative coordinate correction, obtains the wave propagation direction θ using direct north as reference directionwave, correction side
Method is as follows:
θ=90+ θradar-Θ；
The surface condition continuous imaging system can be X-band radar system, infrared and Visible imaging system.
Referring to Fig. 4, in a specific embodiment, which is an X-band wave observation radar
When, the X-band radar type of different type of machines is applicable in, and when carrying out direction extraction to wave, the extracting method is specifically wrapped
Include following steps:
(1) referring to Fig. 1, acquiring N frame echo sequence by X-band radar, X-band radar is to continuous acquisition first
Echo sampled and be imaged, form N frame echo sequence, and usually N value be 2m, the value of m is typically greater than
Equal to the 5, positive integer less than or equal to 8, and the pixel number of N frame echo sequence in the horizontal direction and the vertical direction is logical
Often take 2n, the value of N is generally also to be more than or equal to the 5, positive integer less than or equal to 8, and image distance cell resolution is usually 7.5m,
Namely each image slices vegetarian refreshments size is 7.5 × 7.5m2.Image sequence schematic diagram is as shown in Figure 1, the Δ t in figure is continuous two
Time interval (namely the antenna of X-band radar turn around time) between frame image.
(2) the N frame echo sequence being collected into is pre-processed using median filtering, the background filtered out in image is made an uproar
Sound, specifically: for the gray value (a of given N number of pixel (N is odd number)1, a2..., aN), it is ranked up by size,
The original gradation of pixel to be processed intermediate gray value will be come is substituted, its essence is with the gray scale close with adjacent pixel
Value differs biggish gray scale with adjacent pixel to replace, by this operate traversal image, can be obtained it is smoothed out, filter out noise after
Image.
(3) image is analyzed using optical flow method, due to the time in X-band radar acquisition N frame echo sequence
In section, the direction of motion of wave is substantially constant, therefore the N frame echo sequence of X-band radar acquisition is substantially
Meet the three elements of optical flow method: velocities field (propagation of ocean waves), carry the part (pixel for having gray scale) of motion information with
And from Ocean Scenes to the projection of radar image plane.Optical flow method is applied to X-band radar echo sequence, it can be with
The motion vector collection of the image slices vegetarian refreshments of certain frame number in a period of time is obtained, pretreated image sequence is subjected to light stream campaign
Estimation, obtains all pixels point motion vector collection in N frame echo sequenceAnd light stream fundamental equation are as follows:
I (x, y, t)=I (x+dx, y+dy, t+dt)；
In formula, I (x, y, t) is gray value of the pixel (x, y) in moment t in image.Single order will be carried out on the right of above formula
Taylor series expansion, available:
Set the velocity vector of pixelThen available pixel gray level is to the time
Change rate be equal to gray scale spatial gradient and movement velocity dot-product:
Namely:
Above formula can further indicate that are as follows:According to least square method and
The purpose of optical flow method, makesThe smallest velocity vector is final calculation result, therefore is hadFig. 2
For the motion vector field schematic diagram of each pixel in the image that is obtained using optical flow method, each arrow in figure indicates image
In pixel movement velocity magnitude and direction.
(4) the mass motion direction Θ of all pixels point is obtained.Since each pixel point motion vector includes movement velocity
With direction, movement velocity size represents size of the pixel with respect to deviant, with the consistent pixel in propagation of ocean waves direction
Opposite offset also can be larger.Therefore the propagation of ocean waves direction of final optimal in order to obtain regard movement velocity as weight, to owning
Pixel direction is weighted and averaged, and can be very good movement velocity and direction value that comprehensive utilization estimates, improves wave to meter
Calculate the accuracy of result.To above-mentioned motion vector collectionThe movement velocity of middle all pixels pointAs weight, and to institute
There is the direction θ of pixel to be weighted and averaged, to obtain the mass motion direction Θ of all pixels point set, comprehensive estimate goes out pixel
The movement velocity and direction value of point improve accuracy of the final wave to calculated result.It is as follows to be weighted and averaged expression formula:
Wherein, θiWithIth pixel point moving direction and velocity magnitude respectively in image sequence, N are X-band thunder
Up to the number of all pixels point in the N frame echo sequence being collected into.
(5) according to reference coordinate and X-band radar towards θradarRelative coordinate correction is carried out, referring to Fig. 3, reference direction
It is chosen for direct north, since radar is towards there are angles with direct north, it is therefore desirable to which all pixels obtained point is whole
The direction of motion be corrected, referred to herein as joint direct north and X-band radar are towards θradarBy whole fortune obtained above
Dynamic direction Θ carries out relative coordinate correction, and the formula of correction is as follows:
θ=90+ θradar-Θ；
Using the extracting method in the wave propagation direction based on surface condition continuous imaging system in the invention, due to
It carries out continuous imaging to surface condition using surface condition continuous imaging system, from the time-domain signal of wave, using at
The offset direction of echo strength in the image sequence as formed by system between adjacent image directly is estimated unrestrained to transporting light stream
Dynamic method is applied to image sequence formed by imaging system, can simply, efficiently extract each pixel in whole image sequence
The direction of motion of point, the motion vector of each pixel in image sequence, which is weighted and averaged, can be obtained the true of wave
The direction of propagation can be good at lake surface/sea/river surface wave state and analyzed using the technical solution in the present invention, this
The core of invention is that be extracted based on the direction of propagation of the water surface continuous imaging system to wave, entire invention practicability
By force, and applicability is wide, is applicable not only to bank base surface condition continuous imaging system, applies also for boat-carrying surface condition continuous imaging
System, and can be real-time, quick, accurate, stable be finally inversed by wave propagation direction, without as based on frequency domain wave pass
It is such to broadcast direction prediction, needs to obtain modulation transfer function and accurate water flow size and Orientation in advance, reduces due to water
It flows the inaccuracy of estimation and the error of modulation transfer function itself and is influenced to wave to result bring is extracted.
In this description, the present invention is described with reference to its specific embodiment.But it is clear that can still make
Various modifications and alterations are without departing from the spirit and scope of the invention.Therefore, the description and the appended drawings should be considered as illustrative
And not restrictive.
Claims (7)
1. a kind of extracting method in the wave propagation direction based on surface condition continuous imaging system, which is characterized in that described
Extracting method the following steps are included:
(1) by the echo of the wave in surface condition continuous imaging system acquisition search coverage, and sampling imaging is carried out, formed
N frame echo sequence；
(2) the N frame echo sequence obtained in step (1) is pre-processed, filters out noise；
(3) the N frame echo sequence after making an uproar to filter is handled, and obtains the pixel movement arrow of the N frame echo sequence
Quantity set
(4) the pixel point motion vector collection of the N frame echo sequence in obtaining step (3)Middle all pixels point
The weight of movement velocity, and obtain the mass motion direction of all pixels point；
(5) according to surface condition continuous imaging system towards θradarAnd reference direction, the entirety of all pixels point is transported
Dynamic direction carries out relative coordinate correction, and the reference direction is direct north, the step (5) are as follows:
According to direct north and surface condition continuous imaging system towards θradar, by the mass motion of all pixels point
Direction Θ carries out relative coordinate correction, obtains the wave propagation direction θ using direct north as reference directionwave, bearing calibration is such as
Under:
θ=90+ θradar-Θ；
2. the extracting method in the wave propagation direction according to claim 1 based on surface condition continuous imaging system,
It is characterized in that, the value of the N is 2m, and m is positive integer.
3. the extracting method in the wave propagation direction according to claim 2 based on surface condition continuous imaging system,
It is characterized in that, the m is more than or equal to 5, and is less than or equal to 8.
4. the extracting method in the wave propagation direction according to claim 1 based on surface condition continuous imaging system,
It is characterized in that, the step (2) specifically:
The N frame echo sequence obtained by median filtering method to it pre-processes, and filters out in the N frame echo sequence
Ambient noise.
5. the extracting method in the wave propagation direction according to claim 1 based on surface condition continuous imaging system,
It is characterized in that, the step (3) specifically:
N frame echo sequence after making an uproar to filter carries out light stream motion estimation process, obtains the pixel of the N frame echo sequence
Point motion vector collection
6. the extracting method in the wave propagation direction according to claim 1 based on surface condition continuous imaging system,
It is characterized in that, the step (4) specifically:
By the pixel point motion vector collection of the N frame echo sequenceThe movement velocity of middle all pixels pointAs
Weight, and all pixels point direction θ is weighted and averaged, the mass motion direction Θ of all pixels point is obtained, wherein owning
The calculation formula of the mass motion direction Θ of pixel is as follows:
Wherein, θiWithRespectively pixel point motion vector collectionMiddle ith pixel point moving direction and speed are big
Small, N is the number of all pixels point in the N frame echo sequence.
7. the extracting method in the wave propagation direction according to claim 1 based on surface condition continuous imaging system,
It is characterized in that, the surface condition continuous imaging system can be X-band radar system, infrared and Visible imaging system.
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