CN108132469B - A kind of space-variant filtering parameter high order fitting method of biradical Forward-looking SAR - Google Patents
A kind of space-variant filtering parameter high order fitting method of biradical Forward-looking SAR Download PDFInfo
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- CN108132469B CN108132469B CN201711453018.7A CN201711453018A CN108132469B CN 108132469 B CN108132469 B CN 108132469B CN 201711453018 A CN201711453018 A CN 201711453018A CN 108132469 B CN108132469 B CN 108132469B
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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
- G01S13/9021—SAR image post-processing techniques
- G01S13/9029—SAR image post-processing techniques specially adapted for moving target detection within a single SAR image or within multiple SAR images taken at the same time
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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
- G01S13/9043—Forward-looking SAR
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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
- G01S13/9058—Bistatic or multistatic SAR
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Abstract
A kind of space-variant filtering parameter high order fitting method of biradical Forward-looking SAR, includes the following steps: that step 1. establishes the kinematic geometry configuration of the high motor platform SAR of biradical forward sight；Step 2. calculates the corresponding doppler centroid of scene center point；Step 3. is taken A points equally distributed in radar wave irradiation area to bring scene center point Doppler frequency value into every bit abscissa centered on scene center point, finds out its ordinate in radar wave irradiation area；Step 4. is carried out curve fitting with the A point found out and filters required parameter to design space-variant.The present invention gives a specific solution for the subsequent space-variant processing of biradical Forward-looking SAR acquisition data, using high-order omit and constant is counter push away by the way of Fast Fitting go out required space-variant parameter, calculating intensity is significantly reduced, compensates for the prior art to the vacancy in SAR data treatment process.
Description
Technical field
The invention belongs to electronic technology fields, are related to aircraft navigation technology, and in particular to a kind of sky of biradical Forward-looking SAR
Become filtering parameter high order fitting method.
Background technique
Double-base synthetic aperture radar (Bistatic synthetic aperture radar, be abbreviated as BiSAR) refers to
Dual-mode antenna is placed in the radar systems of two different motion platforms.Compared with single base SAR, Bistatic SAR has good concealment,
It is highly-safe, strong antijamming capability, low cost and the advantages of strong flexibility, and can be realized some list base SAR can not
The special pattern of realization, such as forword-looking imaging.
However since the operating mode of transmitter strabismus, receiver forward sight makes transmit-receive platform height constantly change and move
Direction difference leads to the space-variant in azimuth of phase of echo, comes to subsequent imaging belt difficult.The Meng Ziqiang of Xian Electronics Science and Technology University is rich
Scholar proposes to eliminate the phase space-variant in the phase term of high-precision two-dimensional frequency spectrum using higher order polynomial-fitting in its patent,
And then design efficient frequency domain imaging algorithm, hence it is evident that improve the focusing performance [1] of image scene.But in its patent only
It refers to respectively obtain Taylor coefficients relevant to scene using higher order polynomial-fitting , , (r table
Show that other point targets in scene in addition to point target P to the oblique distance difference of scene center point, indicate in scene in addition to point target P
Other point targets to the oblique distance difference of scene center point, i.e. product of the distance to sampling interval and the light velocity), to asking(∆
),(),() needs the scene center point coefficient of correspondence used,,And fitting coefficient,,(i∈, N is fitting order) and specific method for solving is not provided.
Summary of the invention
To overcome vacancy of the existing technology, meet SAR imaging subsequent processing requirement, the invention discloses a kind of biradical
The space-variant filtering parameter high order fitting method of Forward-looking SAR.
The space-variant filtering parameter high order fitting method of a kind of biradical Forward-looking SAR of the present invention, which is characterized in that including such as
Lower step:
Step 1. establishes the kinematic geometry configuration of the high motor platform SAR of biradical forward sight；
Rectangular coordinate system origin is set, and receiver coordinate system xOyz locating for sending and receiving platform is established respectively with the origin
With transmitter coordinate system x'Oy'z;The mesh in transmit-receive platform and receiver coordinate system is found out according to the motion conditions for sending out, being closed flat platform
Punctuate PBetween instantaneous biradical oblique distance:
--- (1)；
WhereinFor coordinate of the target point P in transmitter coordinate system, Rrcen and Rtcen are respectively indicated
Target oblique distance of the transceiver in synthetic aperture central instant;And--- (2)；
In above formula,WithThe height of Receiver And Transmitter when respectively indicating slow time tm=0；At this time, receiver and
The velocity vector of transmitter is respectivelyWith, Receiver And Transmitter vector acceleration
RespectivelyWith, at any tm moment, position of the transmitter in transmitter coordinate system
Coordinate be (,,)；
Instantaneous biradical oblique distance is subjected to Taylor expansion, and casts out quadravalence above section；It obtains
--- (3)；
Step 2. calculates scene center pointCorresponding doppler centroid；So-called scene center point is
The geometric center point of radar wave irradiation area；
By coordinate value of the scene center point coordinate in receiver coordinate systemSubstitute into Doppler frequency formula;
--- (4)
Replace x thereinp, yp;Calculate central point Doppler frequency value；
Indicate component of the transmitter velocity vector in X-axis;
Respectively indicate cross, the ordinate of initial position of the transmitter at receiver coordinate system xOyz；
Step 3. takes the A sides X in radar wave irradiation area in radar wave irradiation area centered on scene center point
To the point being evenly spaced on, then every bit is brought into according to its abscissa in receiver coordinate system
, find out its ordinate；
Respectively exist in above formula ...Single order, second order, three rank ... the derivatives at place；
Step 4,
(2) in step 1, (3) formula are brought into the A point found out, and Taylor series expansion coefficient k can be obtained1、k2、k3；
To k1、k2、k3It carries out curve fitting, obtains scene center point coefficient of correspondence i.e. match value k1S、k2S、k3SAnd fitting coefficient ai, bi,
ci(i=1,2,3), then it is based on oblique distance difference △ r, higher order polynomial-fitting is carried out by following formula and obtains design space variant filter institute
Need parameter k1(△ r), k2(△ r), k3(△ r)
。
Preferably, each abscissa is brought into the step 3, the method for finding out its ordinate is specific
Are as follows:
(4) formula is existedPlace carries out Taylor expansion, obtains
；
By constant termLeft side of the equal sign is moved to, the Taylor's formula of no constant term is obtained
；
It is derived using series inversion formula:
It obtains；
It can be different by bringing intoDirectly find out；Wherein... it is respectively
?Single order, second order, three rank ... the derivatives at place.
Further, the Taylor's formula of no constant term and series inversion formula derive in cast out expansion item more than three times.
Using the space-variant filtering parameter high order fitting method of biradical Forward-looking SAR of the present invention, biradical Forward-looking SAR is adopted
Collection data subsequent space-variant processing gives a specific solution, using high-order omit and constant is counter push away by the way of it is quick
Space-variant parameter, significantly reduces calculating intensity, compensates for the prior art in SAR data treatment process required for fitting
Vacancy.
Detailed description of the invention
Fig. 1 is a specific embodiment party of the space-variant filtering parameter high order fitting method of biradical Forward-looking SAR of the present invention
Formula flow chart, Fig. 2 are the schematic diagram of the radar wave irradiation area in a specific embodiment of the invention, and Fig. 3 is present invention tool
The specific embodiment signal of the kinematic geometry configuration of the high motor platform SAR of biradical forward sight is established described in body embodiment
Figure.
Specific embodiment
With reference to the accompanying drawing, specific embodiments of the present invention will be described in further detail.
The space-variant filtering parameter high order fitting method of biradical Forward-looking SAR of the present invention, includes the following steps:
Step 1. is established shown in the kinematic geometry configuration picture 3 of the high motor platform SAR of biradical forward sight；
O as shown in Figure 3 is rectangular coordinate system origin, and the movement relation of sending and receiving platform is respectively in receiver coordinate system xOyz
It is indicated in transmitter coordinate system x'Oy'z;
Two coordinate systems share an origin, according to the rotation relationship of two coordinate systems, it is assumed for example that transmitting as shown in Figure 3
Machine coordinate system rotates angleObtain receiver coordinate system, then transmitter coordinate system internal coordinate (,,) in receiver coordinate
Coordinate conversion in system specifically:
Transmitter (i.e. hair platform) with the plane yOz of receiver coordinate system atAlong curve in the plane of angle
Descending motion is done, prolonged exposure imaging region is squinted, instantaneous velocity is, ?The component in direction and the direction z is denoted as respectivelyWith;Receiver is in the yOz plane of receiver coordinate system along curve Do descending motion.
Receiver (being closed flat platform) is in the plane yOz of receiver coordinate system along curveDescending motion is done, forward sight connects
Target area echo is received, target area echo instantaneous velocity is, In the direction y of receiver coordinate system and point in the direction z
Amount is denoted as respectivelyWith。P(,, 0) and it is any one point target in mapping region, it is assumed that and scene is flat, is not present
Height relief.IfThe slow time(the orientation sampling time of two-dimentional echo data matrix, slow time are equidistant continuously distributed multiple
Time point, for example, the sampling interval be 1 second, sampled since 0, then tm be 0 second, 1 second, 2 seconds ...) tm=0 whenWithTable respectively
Show the height of Receiver And Transmitter, receiver, transmitter are in receiver coordinate system xOyz and transmitter coordinate system x'Oy' at this time
Position in z is respectively R0(0,0,HR) and T0(x’t,0,HT), O' isProjection in the horizontal plane.WithRespectively Receiver And Transmitter velocity vector at this time,With
Respectively Receiver And Transmitter vector acceleration.
Assuming that position coordinates of the receiver in receiver coordinate system xOy at any tm moment be (0,,), transmitting
Machine is in transmitter coordinate system In position coordinates be (,,), then sending and receiving position of platform can be expressed as
Target point in transmit-receive platform and receiver coordinate system is found out according to above-mentioned hair, the motion conditions for being closed flat platformBetween instantaneous biradical oblique distance be expressed as follows:
--- (1)；
WhereinFor coordinate of the target point in transmitter coordinate system, Rrcen and Rtcen respectively indicate receipts
Target oblique distance of the hair machine in synthetic aperture central instant;And--- (2)；
Instantaneous biradical oblique distance is subjected to Taylor expansion, and casts out quadravalence above section；It obtains
--- (3)；
Step 2. calculates scene center pointCorresponding doppler centroid；So-called scene center point is
The geometric center point of radar wave irradiation area；
By coordinate value of the scene center point coordinate in receiver coordinate systemDoppler frequency formula is substituted into,;
--- (4)
Replace x thereinp, yp;Calculate central point Doppler frequency value；
Respectively indicate cross, the ordinate of initial position of the transmitter at receiver coordinate system xOyz；It is public
The specific derivation process of formula (4) is as follows:
According to transmitting-receiving in Meng Zhiqiang doctoral thesis " the high motor platform SAR system characteristic of biradical forward sight and imaging algorithm research "
Platform and target P (, 0) between instantaneous biradical oblique distance be expressed as follows:
Receiver is constant, the variable of transmitter in above formula is all changed under receiver coordinate system, thenIt indicates
It is as follows:
Then:
Again according to Doppler frequency formula:
Assuming that the size of radar wave irradiation area is 1000m × 2000m, the resolution ratio for setting ranks is all 0.5, so row
Direction obtains 2000 sampled points, and column direction obtains 4000 sampled points, i.e., shared M=8000000 point.(,) it is it
Central point, specific as shown in Figure 2:
From figure 2 it can be seen that after the doppler centroid of central point calculates, if to obtain one waits Doppler
Frequency line needs to be traversed for whole M=8000000 points in imaging region, the Doppler frequency that each pair of point is answered is found out, by it
Compared with central point Doppler frequency, if equal, save the coordinate value information of the point, finally obtain multiple discrete points come into
Row fitting.This intuitive higher order polynomial-fitting method, needs to carry out two-dimensional search, operand is very big.So design one
Kind can Fast Fitting go out equal Doppler's line method it is particularly important for the data processing of radar system.
It is different by bringing into the present inventionDirectly find out, rather than two-dimensional search is carried out, operand can be dropped
Low several orders of magnitude.
Step 3. takes the A X in radar wave irradiation area in radar wave irradiation area centered on scene center point
The equally distributed point in direction brings every bit into according to its abscissa in receiver coordinate system,
Find out its ordinate；
So-called uniform intervals refer to uniformly to be taken a little in X-coordinate, such as irradiates model in the radar wave of X-coordinate (- 100,100)
In enclosing, X=- 100 is taken, -99 ... 0 ... 99,100 wait 201 points, find out its corresponding ordinate respectively.
Each abscissa is brought into step 3
, find out it
The method of ordinate specifically:
(4) formula is existedPlace carries out Taylor expansion, obtains
；
By constant termLeft side of the equal sign is moved to, the Taylor's formula of no constant term is obtained
；
It is derived using series inversion formula:
It obtains；
It can be by bringing intoDifferent directly finds out；Wherein... it is respectively?Single order, second order, three order derivatives ... at place, and so on.
In practical application, cubic term or more is minimum on final result influence, but calculation amount is huge, general to omit, and only counts
Calculate cubic term and three order derivatives.
Step 4,
(2) in step 1, (3) formula are brought into the A point found out, and Taylor series expansion coefficient k can be obtained1、k2、k3；
To k1、k2、k3It carries out curve fitting, obtains scene center point coefficient of correspondence i.e. match value k1S、k2S、k3SAnd fitting coefficient ai, bi,
ci(i=1,2,3), then it is based on oblique distance difference △ r, higher order polynomial-fitting is carried out by following formula and is obtained needed for design space-variant filtering
Parameter k1(△ r), k2(△ r), k3(△ r)
Using the space-variant filtering parameter high order fitting method of biradical Forward-looking SAR of the present invention, biradical Forward-looking SAR is adopted
Collection data subsequent space-variant processing gives a specific solution, using high-order omit and constant is counter push away by the way of it is quick
Space-variant parameter, significantly reduces calculating intensity, compensates for the prior art in SAR data treatment process required for fitting
Vacancy.
Previously described is each preferred embodiment of the invention, and the preferred embodiment in each preferred embodiment is such as
Fruit is not obvious contradictory or premised on a certain preferred embodiment, and each preferred embodiment can any superposition group
It closes and uses, the design parameter in the embodiment and embodiment is merely to the invention for clearly stating inventor is authenticated
Journey, the scope of patent protection being not intended to limit the invention, scope of patent protection of the invention is still with its claims
Subject to, it is all to change with equivalent structure made by specification and accompanying drawing content of the invention, it similarly should be included in the present invention
Protection scope in.
Claims (3)
1. a kind of space-variant filtering parameter high order fitting method of biradical Forward-looking SAR, which comprises the steps of:
Step 1. establishes the kinematic geometry configuration of the high motor platform SAR of biradical forward sight；
Rectangular coordinate system origin is set, and receiver coordinate system xOyz and hair locating for sending and receiving platform are established respectively with the origin
Penetrate machine coordinate system x'Oy'z;The target point P in transmit-receive platform and receiver coordinate system is found out according to the motion conditions for sending out, being closed flat platformBetween instantaneous biradical oblique distance:
--- (1)；
WhereinFor coordinate of the target point P in transmitter coordinate system, Rrcen and Rtcen respectively indicate transceiver
In the target oblique distance of synthetic aperture central instant;And--- (2)；
In above formula,WithThe height of Receiver And Transmitter when respectively indicating slow time tm=0；At this time, receiver and transmitting
The velocity vector of machine is respectivelyWith, Receiver And Transmitter vector acceleration difference
ForWith, at any tm moment, position coordinates of the transmitter in transmitter coordinate system
For (,,)
Instantaneous biradical oblique distance is subjected to Taylor expansion, and casts out quadravalence above section；It obtains
--- (3)；
Step 2. calculates scene center pointCorresponding doppler centroid；So-called scene center point, that is, radar wave
The geometric center point of irradiation area；
By coordinate value of the scene center point coordinate in receiver coordinate systemSubstitute into Doppler frequency formula;
--- (4)
Replace x thereinp, yp;Calculate central point Doppler frequency value；
Indicate component of the transmitter velocity vector in X-axis;
Respectively indicate cross, the ordinate of initial position of the transmitter at receiver coordinate system xOyz；
Step 3. takes a X-direction in radar wave irradiation area of A equal in radar wave irradiation area centered on scene center point
Then the even point being spaced apart is brought every bit into according to its abscissa in receiver coordinate system
, find out its ordinate；
Respectively exist in above formula ...Single order, second order, three rank ... the derivatives at place；
Step 4,
(2) in step 1, (3) formula are brought into the A point found out, and Taylor series expansion coefficient k can be obtained1、k2、k3；To k1、
k2、k3It carries out curve fitting, obtains scene center point coefficient of correspondence i.e. match value k1S、k2S、k3SAnd fitting coefficient ai, bi, ci(i
=1,2,3), then it is based on oblique distance difference △ r, ginseng needed for higher order polynomial-fitting obtains design space variant filter is carried out by following formula
Number k1(△ r), k2(△ r), k3(△ r)
。
2. the space-variant filtering parameter high order fitting method of biradical Forward-looking SAR as described in claim 1, which is characterized in that described
Each abscissa is brought into step 3
, the method that finds out its ordinate specifically:
(4) formula is existedPlace carries out Taylor expansion, obtains
；It will be normal
It is severalLeft side of the equal sign is moved to, the Taylor's formula of no constant term is obtained
；
It is derived using series inversion formula:
It obtains；
It can be different by bringing intoDirectly find out；Wherein... it is respectively?
Single order, second order, three rank ... the derivatives at place.
3. the space-variant filtering parameter high order fitting method of biradical Forward-looking SAR as claimed in claim 2, which is characterized in that variable
Cast out expansion item more than three times in several Taylor's formulas and the derivation of series inversion formula.
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