CN108196240A - A Trajectory Reconstruction Method for Ground Moving Targets Applicable to CSAR Imaging - Google Patents
A Trajectory Reconstruction Method for Ground Moving Targets Applicable to CSAR Imaging Download PDFInfo
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Abstract
Description
技术领域technical field
本发明属于合成孔径雷达(Synthetic Aperture Radar,SAR)地面动目标指示(Ground Moving Target Indication,GMTI)领域,涉及一种适用于曲线合成孔径雷达(Curve SAR,CSAR)的地面动目标轨迹重构(Ground Moving Target TrajectoryReconstruction,GMTTR)方法。The invention belongs to the field of synthetic aperture radar (Synthetic Aperture Radar, SAR) ground moving target indication (Ground Moving Target Indication, GMTI), and relates to a ground moving target track reconstruction ( Ground Moving Target Trajectory Reconstruction, GMTTR) method.
背景技术Background technique
合成孔径雷达(Synthetic Aperture Radar,SAR)是一种可对观测场景进行高分辨微波成像的雷达技术,起初,SAR的主要作用是获取观测场景的静止雷达图像。为了提高战场感知能力,人们希望SAR在完成静止目标成像侦察的同时,能够实现对地面动目标的侦察探测,即具有GMTI功能。SAR-GMTI能够同时完成对静止/运动目标成像侦察,极大的拓展了SAR技术的使用范围。动目标轨迹重构能够提供动目标运动状态的准确情报信息,是GMTI的重要研究内容之一。然而常规的SAR-GMTI系统采用正侧视直线飞行工作模式,不具备对动目标长时间观测能力,很难实现对动目标行驶轨迹重构功能。Synthetic Aperture Radar (SAR) is a radar technology that can perform high-resolution microwave imaging of observation scenes. Initially, the main function of SAR was to obtain static radar images of observation scenes. In order to improve battlefield awareness, people hope that SAR can realize the reconnaissance and detection of ground moving targets while completing the imaging reconnaissance of stationary targets, that is, it has the function of GMTI. SAR-GMTI can complete the imaging reconnaissance of stationary/moving targets at the same time, which greatly expands the application range of SAR technology. Trajectory reconstruction of moving targets can provide accurate intelligence information on the moving state of moving targets, which is one of the important research contents of GMTI. However, the conventional SAR-GMTI system adopts the straight-line flight mode, which does not have the ability to observe the moving target for a long time, and it is difficult to realize the function of reconstructing the trajectory of the moving target.
CSAR是指雷达平台(或称雷达站)围绕观测场景做大曲线或宽角度圆弧运动,并且波束始终指向目标场景进行观测成像的雷达系统。CSAR具有长时间观测侦察区域的能力,相应的,CSAR-GMTI能够实现对场景内动目标长时间观测跟踪及轨迹重构。CSAR refers to a radar system in which the radar platform (or radar station) moves in a large curve or wide-angle arc around the observation scene, and the beam is always pointed at the target scene for observation and imaging. CSAR has the ability to observe and reconnaissance areas for a long time. Correspondingly, CSAR-GMTI can realize long-term observation, tracking and trajectory reconstruction of moving targets in the scene.
CSAR特殊的工作模式在带来全方位观测优势的同时,也增加了系统探测几何的复杂性,如何在CSAR探测模式下实现动目标轨迹重构是一个亟待解决的技术问题。While the special working mode of CSAR brings the advantage of all-round observation, it also increases the complexity of the system's detection geometry. How to realize the trajectory reconstruction of moving targets in the CSAR detection mode is a technical problem that needs to be solved urgently.
发明内容Contents of the invention
本发明的目的在于提供一种适用于CSAR成像的地面动目标轨迹重构方法,以提高CSAR-GMTI性能及其实用价值。The purpose of the present invention is to provide a ground moving target trajectory reconstruction method suitable for CSAR imaging, so as to improve the performance and practical value of CSAR-GMTI.
为了实现上述技术目的,本发明的技术方案是:In order to realize above-mentioned technical purpose, technical scheme of the present invention is:
一种适用于CSAR成像的地面动目标轨迹重构方法,包括以下步骤:A method for reconstructing the trajectory of a ground moving target suitable for CSAR imaging, comprising the following steps:
S1.对接收到的CSAR动目标回波信号进行距离脉压,将雷达的全孔径回波均匀划分为若干个子孔径回波,并将子孔径回波变换到距离多普勒域,通过多普勒滤波及恒虚警率检测实现动目标检测并获取动目标在RD域的位置;S1. Perform range pulse pressure on the received CSAR moving target echo signal, divide the full-aperture echo of the radar evenly into several sub-aperture echoes, and transform the sub-aperture echoes into the range Doppler domain, through Doppler Le filter and constant false alarm rate detection realize moving target detection and obtain the position of moving target in RD domain;
S2.利用多目标跟踪算法实现不同子孔径下动目标关联,获取动目标在RD域的运动轨迹;S2. Use the multi-target tracking algorithm to realize the association of moving targets under different sub-apertures, and obtain the trajectory of the moving target in the RD domain;
S3.将动目标RD域轨迹投影到道路网格,并使用动态规划算法(即DynamicProgramming,DP算法)实现动目标轨迹重构。S3. Project the RD domain trajectory of the moving target to the road grid, and use a dynamic programming algorithm (ie Dynamic Programming, DP algorithm) to realize the reconstruction of the moving target trajectory.
本发明,S1的实现方法如下:In the present invention, the implementation method of S1 is as follows:
已知CSAR发射信号中心频率为fc,带宽为B。假设笛卡尔坐标系原点为探测场景中心,动目标运动速度以及位置分别为和其中ta表示慢时间。雷达平台以速度围绕探测场景做曲线运动,慢时间ta时刻的雷达平台的位置坐标为It is known that the center frequency of the CSAR transmit signal is f c , and the bandwidth is B. Assuming that the origin of the Cartesian coordinate system is the center of the detection scene, the moving speed and position of the moving target are respectively and where t a represents the slow time. radar platform at speed Curve movement around the detection scene, the position coordinates of the radar platform at the slow time t a is
设雷达发射信号为线性调频信号(Linear frequency modulation,LFM),则接收到的CSAR动目标回波信号经正交解调及距离脉压后,表示为:Assuming that the radar transmission signal is a linear frequency modulation (LFM) signal, the received CSAR moving target echo signal after quadrature demodulation and range pulse pressure is expressed as:
s(r,ta)=sinc{πB[r-R(ta)]}exp[-j4πfcR(ta)/c] (1)s(r,t a )=sinc{πB[rR(t a )]}exp[-j4πf c R(t a )/c] (1)
其中,r表示斜距,c为光速,sinc(·)表示辛格函数;R(ta)为雷达平台到动目标的双程距离斜距,即:Among them, r is the slant distance, c is the speed of light, sinc(·) is the Singh function; R(t a ) is the two-way distance slant distance from the radar platform to the moving target, that is:
其中||·||2表示2范数。where ||·|| 2 represents the 2-norm.
为了实现动目标轨迹重构,雷达全孔径回波被均匀划分为K个子孔径回波,第k个子孔径回波为In order to realize the trajectory reconstruction of the moving target, the radar full-aperture echo is evenly divided into K sub-aperture echoes, and the kth sub-aperture echo is
其中Tsub和ta,k分别表示第k个子孔径的持续时间和中心时刻;rect(·)表示矩形窗函数。Among them, T sub and t a,k represent the duration and central moment of the kth sub-aperture respectively; rect(·) represents the rectangular window function.
式(3)中R(ta)在ta=ta,k处泰勒展开表达式为In formula (3), the Taylor expansion expression of R(t a ) at t a =t a,k is
其中rk=R(tak)为常数项,表示目标与雷达在第k个子孔径中心时刻的距离;Where r k =R(t ak ) is a constant term, representing the distance between the target and the radar at the center of the kth sub-aperture;
为一阶项系数,φ1(ta,ta,k)表示高阶项,代表残余距离单元走动(ResidualRange Cell Migration,RRCM)。 is the coefficient of the first-order term, and φ 1 (t a ,t a,k ) represents the higher-order term, representing Residual Range Cell Migration (RRCM).
式(4)中的一阶项可以通过keystone变换校正;通过keystone变换校正一阶项之后,将第k个子孔径回波变换到距离多普勒域得到The first-order term in formula (4) can be corrected by keystone transformation; after correcting the first-order term by keystone transformation, the kth sub-aperture echo is transformed into the range Doppler domain to obtain
其中表示傅里叶变换,λc=c/fc,fa表示多普勒频率,表示二维卷积。表示动目标在ta=ta,k的瞬时多普勒频率;残余距离单元走动RRCM会导致动目标在RD域散焦,散焦程度用Ψ(r,fa)表示。in represents the Fourier transform, λ c =c/f c , f a represents the Doppler frequency, Represents a two-dimensional convolution. Indicates the instantaneous Doppler frequency of the moving target at t a =t a,k ; walking the RRCM in the residual range unit will cause the moving target to defocus in the RD domain, and the degree of defocus is represented by Ψ(r,f a ).
获得sSk(r,fa)之后,利用加权平均的方法,获得动目标在RD域的位置量测值,该量测值用(rk,fa,k)表示。After obtaining sS k (r, f a ), use the weighted average method to obtain the position measurement value of the moving target in the RD domain, and the measurement value is represented by (r k , f a, k ).
一般而言,子孔径回波中包含多个动目标,用下式表示第k个子孔径回波量测结果Generally speaking, the sub-aperture echo contains multiple moving targets, and the measurement result of the kth sub-aperture echo is expressed by the following formula
其中Nk表示第k个子孔径回波中动目标数目,与为两个集合,其元素和分别表示第k个子孔径中第m个动目标的距离和多普勒测量值。where N k represents the number of moving targets in the kth sub-aperture echo, and are two sets whose elements and Represent the distance and Doppler measurement value of the mth moving target in the kth sub-aperture, respectively.
在获取多个子孔径动目标检测结果之后,需要对不同子孔径间同一动目标进行关联。由于关联过程在RD域进行,所以称之为RD域动目标轨迹跟踪。本发明其S2的实现方法如下:After obtaining the moving target detection results of multiple sub-apertures, it is necessary to correlate the same moving target among different sub-apertures. Since the association process is carried out in the RD domain, it is called the moving target trajectory tracking in the RD domain. The realization method of its S2 of the present invention is as follows:
假设当前需处理第k个子孔径回波量测结果,由前k-1个子孔径回波量测结果获得的第n个动目标轨迹可表示为Assuming that the kth sub-aperture echo measurement results need to be processed currently, the nth moving target trajectory obtained from the first k-1 sub-aperture echo measurement results can be expressed as
其中N表示动目标数目,in表示第n个动目标在第in个子孔径首次被检测到,Ln表示第n个动目标轨迹长度。集合和表示动目标轨迹,其元素和分别表示第n个动目标在第k个子孔径中的距离和多普勒测量值。Among them, N represents the number of moving targets, i n represents that the nth moving target is detected for the first time in the i nth sub-aperture, and L n represents the track length of the nth moving target. gather and Represents the trajectory of the moving target, and its elements and represent the distance and Doppler measurement value of the nth moving target in the kth sub-aperture, respectively.
通过最近邻搜索,可以获得第n个动目标在第k个子孔径下的RD域位置,最近邻搜索表达式为Through the nearest neighbor search, the RD domain position of the nth moving target under the kth subaperture can be obtained, and the nearest neighbor search expression is
dismin表示最小距离,m0表示达到最小距离dismin时m的取值。如果dismin小于一个给定阈值Tdis,则将与分别添加到集合和中,并更新相应的轨迹长度Ln=Ln+1,以及更新集合否则意味着第n个动目标没有出现在第k个子孔径中,原因可能是发生漏警或者是动目标驶出观测场景,这一现象称为跟丢;对每一个动目标执行上述最近邻搜索,若最后集合和中仍有元素剩余,则将剩余元素作为新的动目标轨迹起始位置,同时更新动目标个数N=N+Nr,Nr表示剩余元素个数;若一个动目标在连续两个子孔径中发生跟丢现象,则不再更新其轨迹。若动目标在某一子孔径发生跟丢现象,则利用相邻子孔径位置通过插值估计其位置。dis min indicates the minimum distance, and m 0 indicates the value of m when the minimum distance dis min is reached. If dis min is less than a given threshold T dis , the and respectively added to the collection and , and update the corresponding trajectory length L n =L n +1, and update the set Otherwise, it means that the nth moving target does not appear in the kth sub-aperture, the reason may be that a false alarm occurs or the moving target leaves the observation scene, this phenomenon is called tracking loss; perform the above nearest neighbor search for each moving target , if the final collection and If there are still elements remaining in , the remaining elements will be used as the starting position of the new moving target trajectory, and the number of moving targets N=N+N r will be updated at the same time, where N r represents the number of remaining elements; if a moving target is in two consecutive sub-apertures If the track is lost, its trajectory will no longer be updated. If the moving target loses track in a certain sub-aperture, the position of the adjacent sub-aperture is estimated by interpolation.
本发明S3中,经S2获取动目标在RD域的轨迹之后,需要借助道路先验信息,将RD域轨迹映射到道路网格;道路先验信息可由卫星地图获得或者通过CSAR成像结果自动提取。In S3 of the present invention, the trajectory of the moving target in the RD domain is obtained via S2 After that, the RD domain trajectory needs to be mapped to the road grid with the help of road prior information; road prior information can be obtained from satellite maps or automatically extracted from CSAR imaging results.
以第n个动目标为例,将RD域的轨迹映射到道路网格之后,可以得到Ln个集合,其中第m个集合可以表示为Taking the nth moving target as an example, the trajectory of the RD domain After mapping to the road grid, L n sets can be obtained, and the mth set can be expressed as
其中表示道路网格中心坐标, 表示雷达位置。in Indicates the coordinates of the center of the road grid, Indicates the radar position.
集合Sm中元素个数与道路网格大小成反比,集合Sm中的元素表示动目标在慢时间ta,k时刻的所有可能位置。为了从中选出最优位置,考虑如下最优化问题The number of elements in the set S m is inversely proportional to the size of the road grid, and the elements in the set S m represent all possible positions of the moving target at the slow time t a, k . In order to select the optimal position from them, consider the following optimization problem
其中in
表示飞机在慢时间ta,k的速度,T表示位置的集合 Indicates the speed of the aircraft at slow time t a,k , and T indicates the position collection of
显然,最优解即第n个动目标的轨迹重构结果;最优化问题可以利用DP算法求解。Obviously, the optimal solution That is, the trajectory reconstruction result of the nth moving target; the optimization problem can be solved by using the DP algorithm.
对所有的动目标RD域轨迹都执行上述操作,即可获得所有动目标轨迹重构结果。Perform the above operations on all RD domain trajectories of moving objects, and then the reconstruction results of all moving object trajectories can be obtained.
与现有技术相比,本发明具有以下优点:Compared with the prior art, the present invention has the following advantages:
1)本发明采用CSAR模式,具有长时间观测动目标的能力;1) The present invention adopts the CSAR mode, which has the ability to observe moving targets for a long time;
2)通过增加道路先验信息,并利用动态规划求解最优化方程,本发明能够提高目标轨迹重构精度。2) By adding road prior information and using dynamic programming to solve the optimization equation, the present invention can improve the reconstruction accuracy of the target trajectory.
附图说明Description of drawings
图1为本发明的应用场景示意图;FIG. 1 is a schematic diagram of an application scenario of the present invention;
图2是本发明的流程图;Fig. 2 is a flow chart of the present invention;
图3是仿真景光学图像及实测数据CSAR成像结果示意图;Figure 3 is a schematic diagram of the simulated scene optical image and the CSAR imaging results of the measured data;
图4是某一子孔径动目标检测结果示意图。Fig. 4 is a schematic diagram of detection results of a sub-aperture moving target.
图5是RD域单个动目标轨迹跟踪结果示意图;Fig. 5 is a schematic diagram of the track tracking result of a single moving target in the RD domain;
图6是道路网格提取结果示意图;Fig. 6 is a schematic diagram of road grid extraction results;
图7是DP算法示意图。Fig. 7 is a schematic diagram of the DP algorithm.
图8是动目标轨迹重构结果示意图。Fig. 8 is a schematic diagram of the reconstruction result of the moving target trajectory.
具体实施方式Detailed ways
为使本发明的目的、技术方案和优点更加清楚,下面将结合附图对本发明实施方式作进一步地详细描述。In order to make the object, technical solution and advantages of the present invention clearer, the implementation manner of the present invention will be further described in detail below in conjunction with the accompanying drawings.
圆周运动是曲线运动的特殊形式,具有最大的观测角度,能够长时间观测场景。下面将以圆周运动为例对本发明的技术方案进行阐述。Circular motion is a special form of curved motion, which has the largest observation angle and can observe the scene for a long time. The technical solution of the present invention will be described below by taking circular motion as an example.
图1为本发明的应用场景示意图,图中雷达平台沿圆周飞行,波束始终指向探测区域,对探测区域内动目标进行长时间观测。Fig. 1 is a schematic diagram of the application scene of the present invention. In the figure, the radar platform flies along a circle, and the beam always points to the detection area to observe the moving target in the detection area for a long time.
图2为本发明的流程图。一种适用于CSAR成像的地面动目标轨迹重构方法,包括以下步骤:Fig. 2 is a flowchart of the present invention. A method for reconstructing the trajectory of a ground moving target suitable for CSAR imaging, comprising the following steps:
S1.对接收到的CSAR动目标回波信号进行距离脉压,将雷达的全孔径回波均匀划分为若干个子孔径回波,并将子孔径回波变换到距离多普勒域,通过多普勒滤波及恒虚警率检测实现动目标检测并获取动目标在RD域的位置。S1. Perform range pulse pressure on the received CSAR moving target echo signal, evenly divide the full aperture echo of the radar into several sub-aperture echoes, and transform the sub-aperture echoes into the range Doppler domain, through Doppler Le filter and constant false alarm rate detection are used to detect the moving target and obtain the position of the moving target in the RD domain.
已知CSAR发射信号中心频率为fc,带宽为B。假设笛卡尔坐标系原点为探测场景中心,动目标运动速度以及位置分别为和其中ta表示慢时间。雷达平台以速度围绕探测场景做曲线运动,慢时间ta时刻的雷达平台的位置坐标为It is known that the center frequency of the CSAR transmit signal is f c , and the bandwidth is B. Assuming that the origin of the Cartesian coordinate system is the center of the detection scene, the moving speed and position of the moving target are respectively and where t a represents the slow time. radar platform at speed Curve movement around the detection scene, the position coordinates of the radar platform at the slow time t a is
设雷达发射信号为线性调频信号(Linear frequency modulation,LFM),则接收到的CSAR动目标回波信号经正交解调及距离脉压后,表示为:Assuming that the radar transmission signal is a linear frequency modulation (LFM) signal, the received CSAR moving target echo signal after quadrature demodulation and range pulse pressure is expressed as:
s(r,ta)=sinc{πB[r-R(ta)]}exp[-j4πfcR(ta)/c] (1)s(r,t a )=sinc{πB[rR(t a )]}exp[-j4πf c R(t a )/c] (1)
其中,r表示斜距,c为光速,sinc(·)表示辛格函数;R(ta)为雷达平台到动目标的双程距离斜距,即:Among them, r is the slant distance, c is the speed of light, sinc(·) is the Singh function; R(t a ) is the two-way distance slant distance from the radar platform to the moving target, that is:
其中||·||2表示2范数。where ||·|| 2 represents the 2-norm.
为了实现动目标轨迹重构,雷达全孔径回波被均匀划分为K个子孔径回波,第k个子孔径回波为In order to realize the trajectory reconstruction of the moving target, the radar full-aperture echo is evenly divided into K sub-aperture echoes, and the kth sub-aperture echo is
其中Tsub和ta,k分别表示第k个子孔径的持续时间和中心时刻;rect(·)表示矩形窗函数。Among them, T sub and t a,k represent the duration and central moment of the kth sub-aperture respectively; rect(·) represents the rectangular window function.
式(3)中R(ta)在ta=ta,k处泰勒展开表达式为In formula (3), the Taylor expansion expression of R(t a ) at t a =t a,k is
其中rk=R(ta,k)为常数项,表示目标与雷达在第k个子孔径中心时刻的距离;Where r k =R(t a,k ) is a constant term, representing the distance between the target and the radar at the kth sub-aperture center moment;
为一阶项系数,φ1(ta,ta,k)表示高阶项,代表残余距离单元走动(ResidualRange Cell Migration,RRCM)。 is the coefficient of the first-order term, and φ 1 (t a ,t a,k ) represents the higher-order term, representing Residual Range Cell Migration (RRCM).
式(4)中的一阶项可以通过keystone变换校正;通过keystone变换校正一阶项之后,将第k个子孔径回波变换到距离多普勒域得到The first-order term in formula (4) can be corrected by keystone transformation; after correcting the first-order term by keystone transformation, the kth sub-aperture echo is transformed into the range Doppler domain to obtain
其中表示傅里叶变换,λc=c/fc,fa表示多普勒频率,表示二维卷积。表示动目标在ta=ta,k的瞬时多普勒频率;残余距离单元走动RRCM会导致动目标在RD域散焦,散焦程度用Ψ(r,fa)表示。in represents the Fourier transform, λ c =c/f c , f a represents the Doppler frequency, Represents a two-dimensional convolution. Indicates the instantaneous Doppler frequency of the moving target at t a =t a,k ; walking the RRCM in the residual range unit will cause the moving target to defocus in the RD domain, and the degree of defocus is represented by Ψ(r,f a ).
获得sSk(r,fa)之后,利用加权平均的方法,获得动目标在RD域的位置量测值,该量测值用(rk,fa,k)表示。After obtaining sS k (r, f a ), use the weighted average method to obtain the position measurement value of the moving target in the RD domain, and the measurement value is represented by (r k , f a, k ).
一般而言,子孔径回波中包含多个动目标,用下式表示第k个子孔径回波量测结果Generally speaking, the sub-aperture echo contains multiple moving targets, and the measurement result of the kth sub-aperture echo is expressed by the following formula
其中Nk表示第k个子孔径回波中动目标数目,与为两个集合,其元素和分别表示第k个子孔径中第m个动目标的距离和多普勒测量值。where N k represents the number of moving targets in the kth sub-aperture echo, and are two sets whose elements and Represent the distance and Doppler measurement value of the mth moving target in the kth sub-aperture, respectively.
S2.利用多目标跟踪算法实现不同子孔径下动目标关联,获取动目标在RD域的运动轨迹。S2. Use the multi-target tracking algorithm to realize the association of moving targets under different sub-apertures, and obtain the trajectory of the moving target in the RD domain.
在获取多个子孔径动目标检测结果之后,需要对不同子孔径间同一动目标进行关联。由于关联过程在RD域进行,所以称之为RD域动目标轨迹跟踪。After obtaining the moving target detection results of multiple sub-apertures, it is necessary to correlate the same moving target among different sub-apertures. Since the association process is carried out in the RD domain, it is called the moving target trajectory tracking in the RD domain.
假设当前需处理第k个子孔径回波量测结果,由前k-1个子孔径回波量测结果获得的第n个动目标轨迹可表示为Assuming that the kth sub-aperture echo measurement results need to be processed currently, the nth moving target trajectory obtained from the first k-1 sub-aperture echo measurement results can be expressed as
其中N表示动目标数目,in表示第n个动目标在第in个子孔径首次被检测到,Ln表示第n个动目标轨迹长度。集合和表示动目标轨迹,其元素和分别表示第n个动目标在第k个子孔径中的距离和多普勒测量值。Among them, N represents the number of moving targets, i n represents that the nth moving target is detected for the first time in the i nth sub-aperture, and L n represents the track length of the nth moving target. gather and Represents the trajectory of the moving target, and its elements and represent the distance and Doppler measurement value of the nth moving target in the kth sub-aperture, respectively.
通过最近邻搜索,可以获得第n个动目标在第k个子孔径下的RD域位置,最近邻搜索表达式为Through the nearest neighbor search, the RD domain position of the nth moving target under the kth subaperture can be obtained, and the nearest neighbor search expression is
dismin表示最小距离,m0表示达到最小距离dismin时m的取值。如果dismin小于一个给定阈值Tdis,则将与分别添加到集合和中,并更新相应的轨迹长度Ln=Ln+1,以及更新集合否则意味着第n个动目标没有出现在第k个子孔径中,原因可能是发生漏警或者是动目标驶出观测场景,这一现象称为跟丢;对每一个动目标执行上述最近邻搜索,若最后集合和中仍有元素剩余,则将剩余元素作为新的动目标轨迹起始位置,同时更新动目标个数N=N+Nr,Nr表示剩余元素个数;若一个动目标在连续两个子孔径中发生跟丢现象,则不再更新其轨迹。若动目标在某一子孔径发生跟丢现象,则利用相邻子孔径位置通过插值估计其位置。dis min indicates the minimum distance, and m 0 indicates the value of m when the minimum distance dis min is reached. If dis min is less than a given threshold T dis , the and respectively added to the collection and , and update the corresponding trajectory length L n =L n +1, and update the set Otherwise, it means that the nth moving target does not appear in the kth sub-aperture, the reason may be that a false alarm occurs or the moving target leaves the observation scene, this phenomenon is called tracking loss; perform the above nearest neighbor search for each moving target , if the final collection and If there are still elements remaining in , the remaining elements will be used as the starting position of the new moving target trajectory, and the number of moving targets N=N+N r will be updated at the same time, where N r represents the number of remaining elements; if a moving target is in two consecutive sub-apertures If the track is lost, its trajectory will no longer be updated. If the moving target loses track in a certain sub-aperture, the position of the adjacent sub-aperture is estimated by interpolation.
S3.将动目标RD域轨迹投影到道路网格,并使用动态规划算法(即DynamicProgramming,DP算法)实现动目标轨迹重构。S3. Project the RD domain trajectory of the moving target to the road grid, and use a dynamic programming algorithm (ie Dynamic Programming, DP algorithm) to realize the reconstruction of the moving target trajectory.
经S2获取动目标在RD域的轨迹之后,需要借助道路先验信息,将RD域轨迹映射到道路网格;道路先验信息可由卫星地图获得或者通过CSAR成像结果自动提取。Obtain the trajectory of the moving target in the RD domain via S2 After that, the RD domain trajectory needs to be mapped to the road grid with the help of road prior information; road prior information can be obtained from satellite maps or automatically extracted from CSAR imaging results.
以第n个动目标为例,将RD域的轨迹映射到道路网格之后,可以得到Ln个集合,其中第m个集合可以表示为Taking the nth moving target as an example, the trajectory of the RD domain After mapping to the road grid, L n sets can be obtained, and the mth set can be expressed as
其中表示道路网格中心坐标,表示雷达位置。in Indicates the coordinates of the center of the road grid, Indicates the radar position.
集合Sm中元素个数与道路网格大小成反比,集合Sm中的元素表示动目标在慢时间ta,k时刻的所有可能位置。为了从中选出最优位置,考虑如下最优化问题The number of elements in the set S m is inversely proportional to the size of the road grid, and the elements in the set S m represent all possible positions of the moving target at the slow time t a, k . In order to select the optimal position from them, consider the following optimization problem
其中in
表示飞机在慢时间ta,k的速度,T表示位置的集合 Indicates the speed of the aircraft at slow time t a,k , and T indicates the position collection of
显然,最优解即第n个动目标的轨迹重构结果;最优化问题可以利用DP算法求解。对所有的动目标RD域轨迹都执行上述操作,即可获得所有动目标轨迹重构结果。Obviously, the optimal solution That is, the trajectory reconstruction result of the nth moving target; the optimization problem can be solved by using the DP algorithm. Perform the above operations on all RD domain trajectories of moving objects, and then the reconstruction results of all moving object trajectories can be obtained.
本发明方法通过半实物仿真进行了验证,即由雷达图像仿真获得静止目标回波,同时加入预设动目标回波。动目标运动速度为5m/s,沿道路由西南方向驶向东北方向。实验结果证明了本发明的有效性。The method of the invention is verified through half-physical simulation, that is, the static target echo is obtained from the radar image simulation, and the preset moving target echo is added at the same time. The moving target is moving at a speed of 5m/s, traveling from southwest to northeast along the road. Experimental results prove the effectiveness of the present invention.
在实验中,本发明中的系统参数如下表1所示。In the experiment, the system parameters in the present invention are shown in Table 1 below.
表1Table 1
仿真所用探测场景光学图像及CSAR成像结果如图3所示,场景中有一个环岛路口,该路口位于高速入口附近,场景中包含较多车辆为主的动目标。观测场景大小为300m×300m(距离×方位)。The optical image and CSAR imaging results of the detection scene used in the simulation are shown in Figure 3. There is a roundabout intersection in the scene, which is located near the entrance of the expressway, and the scene contains many moving targets mainly vehicles. The size of the observation scene is 300m×300m (distance×azimuth).
图4是某一子孔径动目标检测结果示意图。其中水平方向为距离向采样点,垂直方向为多普勒采样点。由图4左图可以看出经过多普勒滤波之后,静止目标杂波被抑制,随后通过CFAR检测,获的相应的二值图像,如图4右图所示。通过加权平均处理,即可获得当前子孔径下动目标在RD域的位置,即得到集合与 Fig. 4 is a schematic diagram of detection results of a sub-aperture moving target. The horizontal direction is the range sampling point, and the vertical direction is the Doppler sampling point. From the left figure of Figure 4, it can be seen that after Doppler filtering, the stationary target clutter is suppressed, and then through CFAR detection, the corresponding binary image is obtained, as shown in the right figure of Figure 4. Through weighted average processing, the position of the moving target in the RD domain under the current sub-aperture can be obtained, that is, the set and
图5是RD域单个动目标轨迹跟踪结果示意图;可以看出,所得动目标轨迹较为平滑,与动目标轨迹在RD域的特性相符。侧面证明了RD域目标跟踪算法的正确性和动目标检测结果的正确性。Figure 5 is a schematic diagram of the tracking results of a single moving target trajectory in the RD domain; it can be seen that the obtained moving target trajectory is relatively smooth, which is consistent with the characteristics of the moving target trajectory in the RD domain. The side proves the correctness of the RD domain target tracking algorithm and the correctness of the moving target detection results.
图6是道路网格提取结果示意图;该道路网格由先验信息获得,道路网格划分越密,后续动目标轨迹重构精度越高,相应的DP算法运算量越大。实际操作中可根据应用需求进行折中。Figure 6 is a schematic diagram of the road grid extraction results; the road grid is obtained from prior information, the denser the road grid division, the higher the reconstruction accuracy of the subsequent moving target trajectory, and the greater the calculation amount of the corresponding DP algorithm. In actual operation, a compromise can be made according to application requirements.
图7是DP算法示意图。DP算法包含Ln个决策阶段,每个阶段的状态由投影之后的道路网格位置决定。路径权值相应的最小路径即对应动目标轨迹重构结果。Fig. 7 is a schematic diagram of the DP algorithm. The DP algorithm contains L n decision-making stages, and the state of each stage is determined by the road grid position after projection. path weight The corresponding minimum path corresponds to the reconstruction result of the moving target trajectory.
图8是动目标轨迹重构结果示意图。白色十字符号代表目标真实轨迹(仿真预设轨迹),白色实心方框代表估计轨迹,即轨迹重构结果。可以看出,动目标轨迹重构结果精度较高,与仿真预设轨迹重合度很高。Fig. 8 is a schematic diagram of the reconstruction result of the moving target trajectory. The white cross symbol represents the real trajectory of the target (simulation preset trajectory), and the white solid box represents the estimated trajectory, that is, the trajectory reconstruction result. It can be seen that the reconstruction result of the trajectory of the moving target has high precision and a high degree of coincidence with the simulation preset trajectory.
以上所述仅是本发明的优选实施方式,本发明的保护范围并不局限于上述实施例,凡属于本发明思路下的技术方案均属于本发明的保护范围。应当指出,对于本技术领域的普通技术人员来说,在不脱离本发明原理前提下的若干改进和润饰,这些改进和润饰也应视为本发明的保护范围。The above descriptions are only preferred implementations of the present invention, and the scope of protection of the present invention is not limited to the above examples, and all technical solutions that fall under the idea of the present invention belong to the scope of protection of the present invention. It should be pointed out that for those skilled in the art, some improvements and modifications without departing from the principle of the present invention should also be regarded as the protection scope of the present invention.
Claims (4)
- A kind of 1. ground moving target trajectory reconstruction method suitable for CSAR imagings, which is characterized in that include the following steps:S1. to the CSAR transient echos signal that receives into row distance pulse pressure, by the full aperture echo of radar be evenly dividing for Several sub-aperture echoes, and sub-aperture echo is transformed into range-Dopler domain, it is examined by doppler filtering and constant false alarm rate It surveys and realizes that moving-target detects and obtains moving-target in the position in RD domains;S2. it realizes that moving-target is associated under different sub-apertures using multiple target tracking algorithm, obtains movement rail of the moving-target in RD domains Mark;S3. moving-target RD domains track is projected into road grid, and realize moving-target trajectory reconstruction using dynamic programming algorithm.
- 2. the ground moving target trajectory reconstruction method according to claim 1 suitable for CSAR imagings, which is characterized in that S1 Implementation method it is as follows:Known CSAR transmittings signal center frequency is fc, bandwidth B;Assuming that cartesian coordinate system origin is detection scene center, move Target speed and position are respectivelyWithWherein taRepresent the slow time;Radar Platform is with speedCurvilinear motion, slow time t are around detection sceneaThe position coordinates of the radar platform at moment areIf radar emission signal is linear FM signal, then the CSAR transient echos signal received passes through Quadrature demodulation and after pulse pressure, is expressed as:s(r,ta)=sinc { π B [r-R (ta)]}exp[-j4πfcR(ta)/c] (1)Wherein, r represents oblique distance, and c is the light velocity, and sinc () represents sinc function;R(ta) it is round trip of the radar platform to moving-target Apart from oblique distance, i.e.,:Wherein | | | |2Represent 2 norms;In order to realize moving-target trajectory reconstruction, radar full aperture echo is divided evenly as K sub-aperture echo, k-th of sub-aperture Diameter echo isWherein TsubAnd ta,kDuration and the central instant of k-th sub-aperture are represented respectively;Rect () represents rectangular window letter Number;R (t in formula (3)a) in ta=ta,kLocating Taylor expansion expression formula isWherein rk=R (ta,k) it is constant term, represent the distance of target and radar in k-th of sub-aperture central instant;For single order term coefficient, φ1(ta,ta,k) represent higher order term, represent remaining Range cell migration RRCM;Single order item in formula (4) can be converted by keystone to be corrected;It, will after converting correction single order item by keystone K-th of sub-aperture echo transforms to range-Dopler domain and obtainsWhereinRepresent Fourier transformation, λc=c/fc, faRepresent Doppler frequency,Represent two-dimensional convolution,Represent moving-target in ta=ta,kInstantaneous Doppler frequency;Remaining Range cell migration RRCM can lead to dynamic mesh It is marked on RD domains to defocus, defocusing degree Ψ (r, fa) represent;Obtain sSk(r,fa) after, using average weighted method, moving-target is obtained in the position measuring value in RD domains, the measuring value With (rk,fa,k) represent;Comprising multiple moving-targets in sub-aperture echo, k-th of sub-aperture echo measurement is represented with following formulaWherein NkRepresent moving-target number in k-th of sub-aperture echo,WithFor two set, elementWithPoint The distance and Doppler measurement of m-th of moving-target in k-th of sub-aperture are not represented.
- 3. the ground moving target trajectory reconstruction method according to claim 1 suitable for CSAR imagings, which is characterized in that S2 Implementation method it is as follows:It is measured assuming that need to currently handle k-th sub-aperture echo as a result, surveying the of result acquisition by preceding k-1 sub-aperture echo volume N moving-target track is represented byWherein N represents moving-target number, inRepresent n-th of moving-target i-thnA sub-aperture is detected for the first time, LnRepresent n-th A moving-target path length;SetWithRepresent moving-target track, elementWithRepresent that n-th of moving-target exists respectively Distance and Doppler measurement in k-th of sub-aperture;By nearest neighbor search, RD domain position of n-th of moving-target under k-th of sub-aperture, nearest neighbor search table can be obtained It is up to formuladisminRepresent minimum range, m0Expression reaches minimum range disminWhen m value;If disminLess than one given threshold Value Tdis, then willWithIt is respectively added to gatherWithIn, and update corresponding path length Ln=Ln+ 1 and Update setOtherwise mean that n-th of moving-target does not appear in k-th of sub-aperture In, reason may be that false dismissal either moving-target occurs to be driven out to observation scene, this phenomenon is known as with losing;To each moving-target Above-mentioned nearest neighbor search is performed, if last setWithIn still have element remaining, then using surplus element as new moving-target Track initial position, while update moving-target number N=N+Nr, NrRepresent surplus element number;If a moving-target is continuous two Occur in a sub-aperture with losing phenomenon, then no longer update its track.If moving-target occurs in a certain sub-aperture with losing phenomenon, profit Pass through its position of Interpolate estimation with adjacent sub-aperture position.
- 4. the ground moving target trajectory reconstruction method according to claim 3 suitable for CSAR imagings, which is characterized in that S3 In, moving-target is obtained in the track in RD domains through S2Later, it needs by road prior information, by RD domains trajectory map To road grid;Road prior information can be obtained by satellite map or be automatically extracted by CSAR imaging results;By taking n-th of moving-target as an example, by the track in RD domainsIt is mapped to after road grid, L can be obtainednA set, Wherein m-th set can be expressed asWhereinRepresent road grid centre coordinate, Represent radar site;Set SmMiddle element number is inversely proportional with road grid size, set SmIn element representation moving-target in slow time ta,kWhen All possible positions carved;In order to therefrom select optimal location, following optimization problem is consideredWhereinRepresent aircraft in slow time ta,kSpeed, T represent positionSetObviously, optimal solutionThe trajectory reconstruction result of i.e. n-th moving-target;Optimization problem can utilize DP algorithm to solve;Aforesaid operations are carried out to all moving-target RD domains tracks, you can obtain all moving-target trajectory reconstruction results.
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