CN107390181B - Radar high-resolution imaging method based on multi-beam scanning - Google Patents
Radar high-resolution imaging method based on multi-beam scanning Download PDFInfo
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Abstract
The invention discloses a radar high-resolution imaging method based on multi-beam scanning, which is applied to the field of radar imaging, and is characterized in that a plurality of receiving sub-beams are formed by utilizing a digital beam forming technology, and a folding fan working mode is adopted when the receiving sub-beams scan a forward-looking area, so that a forward-looking Doppler fuzzy area is reduced; meanwhile, a larger Doppler bandwidth is obtained through superposition of multi-beam echoes, the target azimuth resolution of the large forward squint visual area of the airborne platform is improved, and large-range high-resolution imaging of the large forward squint visual area of the radar is realized; the method provided by the application can be used for solving the inherent contradiction between the resolution and the forward-looking imaging blind area in the existing Doppler beam sharpening technology.
Description
Technical Field
The invention belongs to the field of radar detection and imaging, and particularly relates to a forward-looking azimuth high-resolution technology of a scanning radar.
Background
The radar realizes the functions of target reconnaissance, monitoring, positioning, identification and the like by utilizing emission and electromagnetic waves, has wide working spectrum, and can realize all-time and all-weather work under the influence of various adverse weather, environment and other factors compared with optical detection. The wide adaptability of the device has very wide application and research values in military and civil fields such as marine and hydrological observation, environment and disaster monitoring, land and sea tracking and rescue and the like.
In radar imaging, the realization of radar large forward squint imaging has important significance for target reconnaissance, monitoring, positioning, tracking, enemy and my target identification and accurate guidance. Due to the problems of Doppler symmetry, small Doppler change gradient and the like of a forward-looking area of the carrier, high azimuth resolution of adjacent targets is difficult to realize. In the literature "Zheng s.x.liz.bao.highly Squint DBS Imaging [ J ]. Modern Radar,2004,1: 008", a doppler beam sharpening Imaging method under a large Squint angle is proposed, and wide-range doppler beam sharpening Imaging in an airborne Squint forward-looking area is realized by using narrow beam scanning. In the document "Bao H R W T, Bao-chang Z L.A Novel Algorithm for stittting Doppler Beam Sharpening imaging Based on in Information [ J ]. Journal of Electronics & Information Technology,2012,6: 012", an inertial navigation Information Based Doppler Beam Sharpening image Stitching Algorithm is proposed, which essentially increases echo coherence accumulation time by using an azimuth-to-full fast fourier transform, increasing Doppler Beam Sharpening azimuth resolution, but when using a wide Beam will cause the Beam to sweep through a forward looking region, aliasing of imaging results due to Doppler symmetry problems affects imaging performance.
Disclosure of Invention
The invention provides a radar high resolution imaging method based on multi-beam scanning, which aims to solve the technical problems, and the invention provides a radar high resolution imaging method based on multi-beam scanning, wherein at each moment, one sub-beam passing through a central axis stops working to reduce the Doppler symmetrical range of forward looking echo, and the rest sub-beams work normally, and when the sub-beam sweeps a forward looking area, the sub-beam continues working and receives the echo, thereby obtaining a large Doppler bandwidth to realize high resolution in the azimuth direction and avoiding the Doppler symmetrical blurring problem in the forward looking direction of a motion platform.
The technical scheme adopted by the invention is as follows: a radar high resolution imaging method based on multi-beam scanning is disclosed, wherein if a sub-beam passing through a central axis exists at a certain moment during scanning, a receiving and transmitting system corresponding to the sub-beam is closed; when the sub-beam passes through the central axis, the corresponding transceiving system of the sub-beam is turned on.
Further, the method specifically comprises the following steps:
s1, realizing multiple beams by the beam forming technology for a plurality of receiving antennas arranged according to the linear array;
s2, integral scanning is carried out on the multi-beam, and the scanning mode is as follows: when a sub-beam passing through the central axis exists at a certain moment, the sub-beam stops working; when the sub-beam passes through the central axis, the sub-beam returns to work; thereby obtaining a multi-beam echo signal;
s3, obtaining an echo signal according to the step S2, and compressing the echo signal in a range pulse mode;
s4, performing range migration correction on the echo signal subjected to the pulse compression in the step S3;
s5, dividing the echo signal obtained in the step S4 into theta according to the scanning direction1～-θ β2 and thetaβ/2～θ2Two parts; the following processes are respectively executed for the echo data of the left side and the echo data of the right side:
in the echo distance-Doppler domain, intercepting a beam sharpening imaging result in an imaging range according to the echo Doppler distribution range of a target imaging region along the Doppler frequency direction, so as to obtain the Doppler beam sharpening imaging result of the lateral forward-looking imaging scene;
and splicing the left and right side imaging results according to the target position to obtain a Doppler beam sharpening imaging result of the whole imaging scene in a multi-beam scanning mode.
Further, in step S2, when there is a sub-beam passing through the central axis at a certain time, the transceiver system corresponding to the sub-beam is turned off; the method specifically comprises the following steps: setting the included angle between the centers of every two adjacent beams as thetaβWhen there is a sub-beam scan ahead at that timeRegion of vision
When the range is within, the receiving system of the sub-antenna is closed.
The invention has the beneficial effects that: the invention discloses an imaging method for realizing high resolution of radar foresight based on multi-beam scanning, which is characterized in that a digital beam forming technology is used in the beam scanning process, and a large Doppler bandwidth is obtained by controlling the working state of sub-beams, namely when the formed multi-beam scans a forward looking area, the sub-beams pointing to the forward looking area stop working, and the rest beams work normally, and when the sub-beams scan the forward looking area, the sub-beams continue working and receive echoes, so that the problem of Doppler symmetric blurring in the forward looking direction of a motion platform is avoided while the high resolution of the azimuth direction is realized by obtaining the large Doppler bandwidth.
Drawings
FIG. 1 is a flow chart of a protocol provided by an embodiment of the present application;
fig. 2 is a schematic diagram of operating states of a transceiving beam at different times according to an embodiment of the present application;
fig. 3 is an antenna pattern provided by an embodiment of the present application;
wherein fig. 3(a) is a single sub-beam antenna pattern and fig. 3(b) is a multi-beam antenna pattern;
fig. 4 is a geometric model of a forward-looking multi-beam scanning radar according to an embodiment of the present disclosure;
FIG. 5 is an image of an original scene provided by an embodiment of the present application;
FIG. 6 is a diagram illustrating imaging results after processing by different methods provided by an embodiment of the present application;
wherein, fig. 6(a) is an imaging result of a real beam; FIG. 6(b) is the imaging result after processing using the truncated singular value method; FIG. 6(c) is an imaging result after Doppler beam sharpening using only a single sub-beam scan; fig. 6(d) shows the imaging result after doppler beam sharpening using multi-beam scanning.
Detailed Description
In order to facilitate the understanding of the technical contents of the present invention by those skilled in the art, the present invention will be further explained with reference to the accompanying drawings.
As shown in fig. 1, a scheme flow chart of the present invention is provided, and the technical scheme of the present invention is as follows: a radar high resolution imaging method based on multi-beam scanning is disclosed, wherein if a sub-beam passing through a central axis exists at a certain moment during scanning, a receiving and transmitting system corresponding to the sub-beam is closed; when the sub-beam passes through the central axis, the corresponding transceiving system of the sub-beam is turned on.
The method specifically comprises the following steps:
s1, realizing multiple beams by the beam forming technology for a plurality of receiving antennas arranged according to the linear array;
the present embodiment explains the content of the present application in a dual-transmission and multi-reception operating mode; the antenna specifically comprises two transmitting antennas and K receiving antennas which are arranged in a linear array mode. Each transmitting antenna has a beam width of thetaTIlluminating regions on both sides of the forward-looking central axis, respectively, and transmitting chirp signals, each of the receiving sub-beam antennas having a width of thetaβThe beam center pointing angle of adjacent receiving antennas is thetaγAnd macro theta in the systemγ＝θβ. And realizing multi-beam by using K receiving antennas arranged in a linear array mode through a beam forming technology, and scanning an imaging area. And controlling the working state of each sub-beam antenna when each beam antenna scans through different pointing positions. The operation states of the transmit-receive beams at different time are respectively shown in fig. 2.
S2, integral scanning is carried out on the multi-beam, and the scanning mode is as follows: when a sub-beam passing through the central axis exists at a certain moment, the sub-beam stops working; when the sub-beam passes through the central axis, the sub-beam returns to work; thereby obtaining a multi-beam echo signal;
the specific sweeping working mode is as follows: the shaded filled-in area with dotted lines outside in fig. 2 indicates the illumination range of the two large-beam transmitting antennas; the outer solid lines in the figure represent the multi-beam antenna scan area produced by the beamforming technique. The inner single solid line represents the sub-beam receiving wavelet region; inner dotted in the figureLines indicate when a certain sub-beam is scanned to the forward looking area-thetaβ/2～θβWhen the signal is in the second sub-antenna, the sub-beam stops working, namely the receiving system of the sub-antenna is closed, and the echo signal is not received; the black solid points in the figure represent point targets in a front view area, the forward direction of the aircraft flight is defined as an azimuth angle of 0 degrees, the wide beam scanning range is from-90 degrees to 0 degrees on the left side, and from 0 degrees to 90 degrees on the right side.
As shown in fig. 2, during the scanning process of the multi-beam, at time a, the sub-beams start scanning the imaging area, and all the sub-beams receive echoes; at time B, the sub-beam sweeping through the central axis position (time B beam 1) resumes operation at a forward view of + - θβThe sub-beams in the range of/2 (time B beam 2) stop working, and when the rest sub-beams (time B beam 3 to time B beam K) scan through the central axis, the working is stopped in sequence to avoid the Doppler symmetry problem; at time C, look ahead + -theta is swept by all beamsβAfter the/2 range, all beams are in operation again. By using the above working mode for scanning, the scene information is kept as much as possible in the large front squint range.
A single sub-beam antenna pattern is shown in fig. 3(a) and a multi-beam receive antenna pattern formed by beamforming techniques is shown in fig. 3 (b). In combination with the geometric model of the scanning radar in the forward-looking direction shown in fig. 4, the moving speed of the aircraft in the radial direction is set as v, the antenna beam sweeps at a fixed angular speed ω in the forward viewing area, the flying height of the aircraft is set as H, and the distance history corresponding to the target located at R (x, y) in the forward-looking imaging scene is:
θ (x, y) represents the azimuthal position of the target at point (x, y).
The equation is subjected to taylor expansion, the second order term has very little influence on imaging, and the distance history can be approximated by rounding off the second order term and a higher order infinitesimal term:
assuming that the transmitted signal is a chirp signal, the expression that an echo can be obtained after a single antenna beam scans the whole forward looking area is as follows:
where θ is the azimuth position of the target, T is the fast time variable in the distance direction, τ is the slow time variable in the azimuth direction, σ (x, y) represents the scattering coefficient of the target at point (x, y), and T is the scattering coefficient of the target at point (x, y)βFor the pulse duration, ω (-) represents the antenna pattern function, rect (-) represents the unit square wave signal, KrFor chirp slope of chirp, λ represents carrier frequency wavelength, c represents speed of light, R (t, x, y) represents distance history of the scanning antenna and the target located at (x, y), and the starting distance between the airborne platform and the target is R (x, y).
For multi-beam scanning, the included angle between every two adjacent beam centers is thetaβAnd K antennas are arranged in a linear array mode in total, so that the following can be obtained: the expression of the echo received by the mth antenna in the K antennas is as follows:
according to the multi-beam operation state description in step S1, the target is at the time of generating each beam echo
Within range, the beam will be turned off. After K multi-beams are used for sweeping a certain scene, the received echoes are as follows:
it can be seen that due to the same distance history, the echo forms of the scenes obtained in the two cases of scanning by using the single narrow beam and the wide beam synthesized by a plurality of sub-beams are similar, but the echo coherent accumulation time is increased by adopting the echo (5) received by multi-beam scanning, and the imaging blind area of the forward-looking large forward-oblique visual area is suppressed.
S3, obtaining an echo signal according to the step S2, and compressing the echo signal in a range pulse mode;
the distance direction pulse compression specific process is as follows: constructing multi-beam scanning distance direction pulse compression frequency domain matching function
As the conjugate of the input signal spectrum; and then, performing fast Fourier transform on echo signals received by multi-beam scanning along the distance direction, multiplying the echo signals by a matching function in a distance frequency domain-azimuth time domain to obtain a time domain signal, wherein the phase of the signal is eliminated, and the time domain signal in the form of a sinc function is obtained through inverse Fourier transform again:
the secondary phase in the signal spectrum is offset by multiplying a matching function in a frequency domain to obtain a linear phase; and energy focusing is completed, and the high resolution of the distance direction is realized.
S4, performing range migration correction on the echo signal subjected to the pulse compression in the step S3;
due to phase deviation generated by movement of the airborne platform, a distance walk correction phase compensation factor is multiplied by a distance pulse pressure frequency domain matching function:
wherein, t1Representing the time series that a plurality of sub-beaming scans experience through the point target. And (3) carrying out distance walk correction on the formula (6) to obtain an echo signal expression obtained by scanning a target scene by multiple beams, wherein the echo signal expression is as follows:
wherein, sinc [. cndot.) is the distance pulse pressure response function, and B is the transmission signal bandwidth.
S5, dividing the echo signal obtained in the step S4 into left and right echo data; the following processes are respectively executed for the echo data of the left side and the echo data of the right side:
in the echo distance-Doppler domain, intercepting a beam sharpening imaging result in an imaging range according to the echo Doppler distribution range of a target imaging region along the Doppler frequency direction, so as to obtain the Doppler beam sharpening imaging result of the lateral forward-looking imaging scene;
splicing the left and right side imaging results according to the target azimuth to obtain a target scene theta1～-θβ/2,θβ/2～θ2And sharpening the imaging result by the multi-beam Doppler beam.
The method of the present application was validated by the following examples:
the simulation experiment of the invention is carried out on a Matlab simulation platform, and the effectiveness of the method is verified by the simulation result. The method of the invention is further illustrated with reference to the accompanying drawings and specific examples.
Multi-beam scanning radar system parameter initialization
In the system, imaging parameters of the radar system are shown in table 1, a single sub-beam and multi-beam antenna directional pattern is shown in fig. 3, and a simulation imaging scene adopted in the example is shown in fig. 5. And carrying out parameter configuration on the radar system according to the parameters.
TABLE 1 System parameters
Multi-beam echo generation
This embodiment is embodied in the flow diagram shown in fig. 1, where the scanning radar system is set up according to the parameters shown in table 1, the multi-beam operating mode shown in fig. 2 is used, and the forward-looking scanning radar motion geometry model shown in fig. 4 is used. Scanning the imaged scene shown in figure 5, the multi-beam echoes generated are as follows
Multi-beam echo pre-processing
Constructing a multi-beam scanning distance direction pulse compression frequency domain matching function based on the multi-beam echo data generated by the multi-beam echo
And then, performing fast Fourier transform on echo signals received by multi-beam scanning along the distance direction, multiplying the echo signals by a matching function in a distance frequency domain-azimuth time domain to obtain a time domain signal in a sinc function form, wherein the phase of the signal is eliminated, and then performing inverse Fourier transform to obtain the time domain signal:
due to phase deviation generated by movement of the airborne platform, a distance walk correction phase compensation factor is multiplied by a distance pulse pressure frequency domain matching function:
wherein, t1Representing the time series that a plurality of sub-beaming scans experience through the point target. The distance walk correction is carried out on the formula (10), and the echo signal expression obtained by scanning a target scene by multiple beams is obtained as follows:
wherein, sinc [. cndot.) is the distance pulse pressure response function, and B is the transmission signal bandwidth.
Multi-beam doppler beam sharpening imaging process
Based on the foregoing multi-beam echo preprocessing, the real beam echo shown in formula (12) is divided into θ according to the target distribution range1～-θ β2 and thetaβ/2～θ2Two parts, take theta1～-θβAnd 2, carrying out FFT operation on real beam echoes along the azimuth direction by all data real beam data of the azimuth. In the echo distance-Doppler domain, intercepting a beam sharpening imaging result in an imaging range according to the echo Doppler distribution range of a target imaging region along the Doppler frequency direction, so as to obtain a Doppler beam sharpening imaging result of a forward-looking left-side imaging scene; for the same reason, take θβ/2～θ2And performing FFT operation on real beam echoes along the azimuth direction to obtain Doppler beam sharpening imaging results of the forward-looking right-side imaging scene, and splicing the imaging results according to the actual azimuth of the target to obtain Doppler beam sharpening imaging results of the whole imaging scene in the multi-beam scanning mode. The result of high resolution imaging of the target in figure 5 with multi-beam scanning is shown in figure 6 (d).
The original scene is imaged as shown in fig. 5; when the signal-to-noise ratio is 10dB, the results of processing by using the real beam direct imaging, the truncated singular value processing imaging, the single sub-beam scanning for the doppler beam sharpening imaging, and the multi-beam scanning for the doppler beam sharpening imaging are shown in fig. 6, where a Range dimension (mete) in fig. 6 represents a distance dimension (meter); azimuth dimension (Degree) represents the Azimuth dimension (meters).
Fig. 6(a) is the imaging result of real beam, and it can be seen that the target resolution cannot be achieved in the azimuth direction, and the imaging resolution is low; FIG. 6(b) is the imaging result after being processed by the truncated singular value method, and although obvious beam sharpening is realized, the loss of the contour information of the imaging target is serious; fig. 6(c) shows the imaging result after doppler beam sharpening using only a single sub-beam scan, where the contour information is clearer, but the azimuth resolution is low and the side lobe of the imaging result is higher; fig. 6(d) shows the imaging result after doppler beam sharpening using multi-beam scanning, the imaging result has a clear outline and a significantly improved resolution, and high-resolution imaging in a large forward squint area can be maintained under the condition of a multi-beam system.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.
Claims (2)
1. A radar high resolution imaging method based on multi-beam scanning is characterized in that when scanning, if a sub-beam passing through a central axis exists at the current moment, a receiving and transmitting system corresponding to the sub-beam is closed; starting a transmitting-receiving system corresponding to the sub-beam after the sub-beam passes through the central axis;
the method specifically comprises the following steps:
s1, realizing multiple beams by the beam forming technology for a plurality of receiving antennas arranged according to the linear array;
s2, integral scanning is carried out on the multi-beam, and the scanning mode is as follows: when a sub-beam passing through the central axis exists at a certain moment, the sub-beam stops working; resuming operation when the sub-beam passes through the central axis; thereby obtaining a multi-beam echo signal;
s3, obtaining an echo signal according to the step S2, and compressing the echo signal in a range pulse mode;
s4, performing range migration correction on the echo signal subjected to the pulse compression in the step S3;
s5, dividing the echo signal obtained in the step S4 into left and right echo data; the following processes are respectively executed for the echo data of the left side and the echo data of the right side:
in the echo distance-Doppler domain, intercepting a beam sharpening imaging result in an imaging range according to the echo Doppler distribution range of a target imaging region along the Doppler frequency direction, so as to obtain the Doppler beam sharpening imaging result of the lateral forward-looking imaging scene;
and splicing the left and right side imaging results according to the target position to obtain a Doppler beam sharpening imaging result of the whole imaging scene in a multi-beam scanning mode.
2. The multi-beam scanning-based radar high-resolution imaging method according to claim 1, wherein in step S2, when there exists a sub-beam passing through the central axis at a certain time, the corresponding transceiver system of the sub-beam is turned off; the method specifically comprises the following steps: setting the included angle between the centers of every two adjacent beams as thetaβWhen there is a sub-beam scan to the forward looking area at that instant
When the range is within, the receiving system of the sub-antenna is closed.
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| CN109856605B (en) * | 2019-01-11 | 2023-03-21 | 中国船舶重工集团公司第七二四研究所 | Quadratic fitting curve pointing correction method for simultaneous digital multi-beam forming |
| CN110275140B (en) * | 2019-06-19 | 2021-03-05 | 西安电子科技大学 | Satellite-borne SAR beam scanning method based on parabolic antenna |
| CN110414182B (en) * | 2019-08-09 | 2021-10-22 | 厦门大学 | Ground penetrating radar FRTM algorithm introducing antenna directional diagram |
| CN111060909B (en) * | 2019-12-31 | 2022-03-04 | 电子科技大学 | Airborne radar oblique forward-looking super-resolution imaging method |
| CN111521968B (en) * | 2020-05-22 | 2022-05-20 | 南京理工大学 | Underdetermined DOA estimation method based on target space diversity |
| CN112083416B (en) * | 2020-09-18 | 2022-07-15 | 电子科技大学 | Motion platform scanning radar super-resolution imaging view field selection method |
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