CN108196240B - Ground moving target track reconstruction method suitable for CSAR imaging - Google Patents

Ground moving target track reconstruction method suitable for CSAR imaging Download PDF

Info

Publication number
CN108196240B
CN108196240B CN201810123131.7A CN201810123131A CN108196240B CN 108196240 B CN108196240 B CN 108196240B CN 201810123131 A CN201810123131 A CN 201810123131A CN 108196240 B CN108196240 B CN 108196240B
Authority
CN
China
Prior art keywords
target
moving
sub
aperture
indicate
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201810123131.7A
Other languages
Chinese (zh)
Other versions
CN108196240A (en
Inventor
安道祥
王武
周智敏
陈乐平
冯东
罗雨潇
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
National University of Defense Technology
Original Assignee
National University of Defense Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by National University of Defense Technology filed Critical National University of Defense Technology
Priority to CN201810123131.7A priority Critical patent/CN108196240B/en
Publication of CN108196240A publication Critical patent/CN108196240A/en
Application granted granted Critical
Publication of CN108196240B publication Critical patent/CN108196240B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • G01S7/415—Identification of targets based on measurements of movement associated with the target

Landscapes

  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

A ground moving target track reconstruction method suitable for CSAR imaging comprises the following steps: s1, distance pulse pressure is carried out on a received CSAR moving target echo signal, a full-aperture echo of a radar is uniformly divided into a plurality of sub-aperture echoes, the sub-aperture echoes are converted into a distance Doppler domain, moving target detection is realized through Doppler filtering and constant false alarm rate detection, and the position of a moving target in an RD domain is obtained; s2, realizing moving target association under different sub-apertures by using a multi-target tracking algorithm, and acquiring a motion track of the moving target in an RD (RD) domain; and S3, projecting the dynamic target RD domain track to a road grid, and realizing dynamic target track reconstruction by using a dynamic programming algorithm. The method adopts a CSAR mode, has the capability of observing the moving target for a long time, and can improve the reconstruction precision of the target track by increasing road prior information and solving an optimized equation by utilizing dynamic programming.

Description

A kind of ground moving target trajectory reconstruction method suitable for CSAR imaging
Technical field
The invention belongs to synthetic aperture radar (Synthetic Aperture Radar, SAR) Ground moving target indications The field (Ground Moving Target Indication, GMTI) is related to a kind of suitable for Curvilinear synthetic aperture radar Ground moving target trajectory reconstruction (the Ground Moving Target Trajectory of (Curve SAR, CSAR) Reconstruction, GMTTR) method.
Background technique
Synthetic aperture radar (Synthetic Aperture Radar, SAR) is that one kind can carry out high score to observation scene Distinguish the Radar Technology of microwave imaging, originally, the main function of SAR is the static radar image for obtaining observation scene.In order to improve Battle space awareness ability, it is desirable to SAR while completing static target imaging reconnaissance, can be realized and detect to ground moving target Detection is examined, that is, has the function of GMTI.SAR-GMTI, which can be completed at the same time, scouts static/motive target imaging, greatly expands The use scope of SAR technology.Moving-target trajectory reconstruction is capable of providing the exact information information of moving-target motion state, is GMTI One of important research content.However conventional SAR-GMTI system uses positive side line of collimation working flight mode, does not have pair Moving-target long-time observing capacity is difficult to realize to moving-target driving trace recombination function.
CSAR refers to that radar platform (or radar station) does big curve or wide angle circular motion around observation scene, and Wave beam is directed toward the radar system that target scene is observed imaging always.The ability that there is CSAR observation for a long time to scout region, Correspondingly, CSAR-GMTI can be realized to the observation tracking for a long time of moving-target in scene and trajectory reconstruction.
CSAR special operating mode also increases answering for system detection geometry while bringing omnibearing observation advantage Polygamy, how under CSAR detection mode realize moving-target trajectory reconstruction be a technical problem urgently to be resolved.
Summary of the invention
The purpose of the present invention is to provide a kind of ground moving target trajectory reconstruction methods suitable for CSAR imaging, to improve CSAR-GMTI performance and its practical value.
In order to achieve the above technical purposes, the technical scheme is that
A kind of ground moving target trajectory reconstruction method suitable for CSAR imaging, comprising the following steps:
S1. the CSAR transient echo signal received uniformly draw the full aperture echo of radar apart from pulse pressure It is divided into several sub-aperture echoes, and sub-aperture echo is transformed into range-Dopler domain, passes through doppler filtering and constant false alarm Rate detection realizes that moving-target detects and obtains moving-target in the position in the domain RD；
S2. it realizes that moving-target is associated under different sub-apertures using multiple target tracking algorithm, obtains moving-target in the fortune in the domain RD Dynamic rail mark；
S3. the domain moving-target RD track is projected into road grid, and uses dynamic programming algorithm (i.e. Dynamic Programming, DP algorithm) realize moving-target trajectory reconstruction.
The implementation method of the present invention, S1 are as follows:
Known CSAR transmitting signal center frequency is fc, bandwidth B.Assuming that cartesian coordinate system origin is in detection scene The heart, moving-target movement velocity and position are respectivelyWithWherein taWhen indicating slow Between.Radar platform is with speedCurvilinear motion, slow time t are around detection sceneaThe position coordinates of the radar platform at moment For
If radar emission signal is linear FM signal (Linear frequency modulation, LFM), then receive The CSAR transient echo signal arrived indicates after quadrature demodulation and apart from pulse pressure are as follows:
s(r,ta)=sinc { π B [r-R (ta)]}exp[-j4πfcR(ta)/c] (1)
Wherein, r indicates oblique distance, and c is the light velocity, and sinc () indicates sinc function；R(ta) it is that radar platform arrives moving-target Round trip is apart from oblique distance, it may be assumed that
Wherein | | | |2Indicate 2 norms.
In order to realize moving-target trajectory reconstruction, radar full aperture echo is divided evenly as K sub-aperture echo, and k-th Sub-aperture echo is
Wherein TsubAnd ta,kRespectively indicate the duration and central instant of k-th of sub-aperture；Rect () indicates rectangle Window function.
R (t in formula (3)a) in ta=ta,kLocating Taylor expansion expression formula is
Wherein rk=R (ta,k) it is constant term, indicate target with radar at a distance from k-th of sub-aperture central instant；
For single order term coefficient, φ1(ta,ta,k) indicate higher order term, it represents remaining distance unit and walks Dynamic (Residual Range Cell Migration, RRCM).
Single order item in formula (4) can be converted by keystone to be corrected；By keystone convert correction single order item it Afterwards, k-th of sub-aperture echo range-Dopler domain is transformed to obtain
WhereinIndicate Fourier transformation, λc=c/fc, faIndicate Doppler frequency,Indicate two-dimensional convolution.Indicate moving-target in ta=ta,kInstantaneous Doppler frequency；Remaining Range cell migration RRCM will lead to dynamic mesh It is marked on the domain RD to defocus, defocusing degree Ψ (r, fa) indicate.
Obtain sSk(r,fa) after, using average weighted method, obtain position measuring value of the moving-target in the domain RD, the amount Measured value (rk,fa,k) indicate.
In general, including multiple moving-targets in sub-aperture echo, k-th of sub-aperture echo measurement is indicated with following formula
Wherein NkIndicate moving-target number in k-th of sub-aperture echo,WithGather for two, elementWithRespectively indicate the distance and Doppler measurement of m-th of moving-target in k-th of sub-aperture.
After obtaining multiple sub-aperture moving-target testing results, need to close moving-target same different sub-apertures Connection.Since association process carries out in the domain RD, so the referred to as domain RD moving-target track following.The implementation method of its S2 of the present invention is such as Under:
It is obtained assuming that need to currently handle k-th of sub-aperture echo and measure as a result, surveying result by preceding k-1 sub-aperture echo volume N-th of moving-target track be represented by
Wherein N indicates moving-target number, inIndicate n-th of moving-target i-thnA sub-aperture is detected for the first time, LnIt indicates N-th of moving-target path length.SetWithIndicate moving-target track, elementWithN-th is respectively indicated to move Distance and Doppler measurement of the target 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 can be obtained, arest neighbors is searched Rope expression formula is
disminIndicate 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 In sub-aperture, 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 executes above-mentioned nearest neighbor search, if last setWithIn still have that element is remaining, then using surplus element as newly Moving-target track initial position, while updating moving-target number N=N+Nr, NrIndicate surplus element number；If a moving-target exists Occur then no longer to update its track with losing phenomenon in continuous two sub-apertures.If moving-target occurs existing with losing in a certain sub-aperture As then passing through its position of Interpolate estimation using adjacent sub-aperture position.
In S3 of the present invention, moving-target is obtained in the track in the domain RD through S2Later, it needs to believe by road priori Breath, by the domain RD trajectory map to road grid；Road prior information can be obtained by satellite map or be passed through CSAR imaging results It automatically extracts.
By taking n-th of moving-target as an example, by the track in the domain RDIt is mapped to after road grid, available LnIt is a Set, wherein m-th of set can be expressed as
WhereinIndicate road grid centre coordinate,Indicate radar site.
Set SmMiddle element number is inversely proportional with road grid size, set SmIn element representation moving-target in the slow time ta,kAll possible positions at moment.In order to therefrom select optimal location, following optimization problem is considered
Wherein
Indicate aircraft in slow time ta,kSpeed, T indicate positionSet
Obviously, optimal solutionThe trajectory reconstruction result of i.e. n-th moving-target；Optimization problem can use DP algorithm solution.
Aforesaid operations are carried out to all domain moving-target RD tracks, can be obtained all moving-target trajectory reconstruction results.
Compared with prior art, the invention has the following advantages that
1) present invention uses CSAR mode, has the ability for observing moving-target for a long time；
2) it by increasing road prior information, and is solved using Dynamic Programming and optimizes equation, the present invention can be improved mesh Mark trajectory reconstruction precision.
Detailed description of the invention
Fig. 1 is application scenarios schematic diagram of the invention；
Fig. 2 is flow chart of the invention；
Fig. 3 is emulation scape optical imagery and measured data CSAR imaging results schematic diagram；
Fig. 4 is a certain sub-aperture moving-target testing result schematic diagram.
Fig. 5 is the single moving-target track following result schematic diagram in the domain RD；
Fig. 6 is that road grid extracts result schematic diagram；
Fig. 7 is DP algorithm schematic diagram.
Fig. 8 is moving-target trajectory reconstruction result schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention Formula is described in further detail.
Circular motion is the special shape of curvilinear motion, has maximum observation angle, can observe scene for a long time.Under Face will be illustrated technical solution of the present invention by taking circular motion as an example.
Fig. 1 is application scenarios schematic diagram of the invention, and radar platform circumferentially flies in figure, wave beam sensing area always Domain carries out long-time observation to moving-target in search coverage.
Fig. 2 is flow chart of the invention.A kind of ground moving target trajectory reconstruction method suitable for CSAR imaging, including with Lower step:
S1. the CSAR transient echo signal received uniformly draw the full aperture echo of radar apart from pulse pressure It is divided into several sub-aperture echoes, and sub-aperture echo is transformed into range-Dopler domain, passes through doppler filtering and constant false alarm Rate detection realizes that moving-target detects and obtains moving-target in the position in the domain RD.
Known CSAR transmitting signal center frequency is fc, bandwidth B.Assuming that cartesian coordinate system origin is in detection scene The heart, moving-target movement velocity and position are respectivelyWithWherein taIndicate the slow time. Radar platform is with speedCurvilinear motion, slow time t are around detection sceneaThe position coordinates of the radar platform at moment are
If radar emission signal is linear FM signal (Linear frequency modulation, LFM), then receive The CSAR transient echo signal arrived indicates after quadrature demodulation and apart from pulse pressure are as follows:
s(r,ta)=sinc { π B [r-R (ta)]}exp[-j4πfcR(ta)/c] (1)
Wherein, r indicates oblique distance, and c is the light velocity, and sinc () indicates sinc function；R(ta) it is that radar platform arrives moving-target Round trip is apart from oblique distance, it may be assumed that
Wherein | | | |2Indicate 2 norms.
In order to realize moving-target trajectory reconstruction, radar full aperture echo is divided evenly as K sub-aperture echo, and k-th Sub-aperture echo is
Wherein TsubAnd ta,kRespectively indicate the duration and central instant of k-th of sub-aperture；Rect () indicates rectangle Window function.
R (t in formula (3)a) in ta=ta,kLocating Taylor expansion expression formula is
Wherein rk=R (ta,k) it is constant term, indicate target with radar at a distance from k-th of sub-aperture central instant；
For single order term coefficient, φ1(ta,ta,k) indicate higher order term, it represents remaining distance unit and walks Dynamic (Residual Range Cell Migration, RRCM).
Single order item in formula (4) can be converted by keystone to be corrected；By keystone convert correction single order item it Afterwards, k-th of sub-aperture echo range-Dopler domain is transformed to obtain
WhereinIndicate Fourier transformation, λc=c/fc, faIndicate Doppler frequency,Indicate two-dimensional convolution.Indicate moving-target in ta=ta,kInstantaneous Doppler frequency；Remaining Range cell migration RRCM will lead to dynamic mesh It is marked on the domain RD to defocus, defocusing degree Ψ (r, fa) indicate.
Obtain sSk(r,fa) after, using average weighted method, obtain position measuring value of the moving-target in the domain RD, the amount Measured value (rk,fa,k) indicate.
In general, including multiple moving-targets in sub-aperture echo, k-th of sub-aperture echo measurement is indicated with following formula
Wherein NkIndicate moving-target number in k-th of sub-aperture echo,WithGather for two, elementWithRespectively indicate the distance and Doppler measurement of m-th of moving-target in k-th of sub-aperture.
S2. it realizes that moving-target is associated under different sub-apertures using multiple target tracking algorithm, obtains moving-target in the fortune in the domain RD Dynamic rail mark.
After obtaining multiple sub-aperture moving-target testing results, need to close moving-target same different sub-apertures Connection.Since association process carries out in the domain RD, so the referred to as domain RD moving-target track following.
It is obtained assuming that need to currently handle k-th of sub-aperture echo and measure as a result, surveying result by preceding k-1 sub-aperture echo volume N-th of moving-target track be represented by
Wherein N indicates moving-target number, inIndicate n-th of moving-target i-thnA sub-aperture is detected for the first time, LnIt indicates N-th of moving-target path length.SetWithIndicate moving-target track, elementWithRespectively indicate n-th of dynamic mesh The distance and Doppler measurement being marked 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 can be obtained, arest neighbors is searched Rope expression formula is
disminIndicate 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 In sub-aperture, 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 executes above-mentioned nearest neighbor search, if last setWithIn still have that element is remaining, then using surplus element as newly Moving-target track initial position, while updating moving-target number N=N+Nr, NrIndicate surplus element number；If a moving-target exists Occur then no longer to update its track with losing phenomenon in continuous two sub-apertures.If moving-target occurs existing with losing in a certain sub-aperture As then passing through its position of Interpolate estimation using adjacent sub-aperture position.
S3. the domain moving-target RD track is projected into road grid, and uses dynamic programming algorithm (i.e. Dynamic Programming, DP algorithm) realize moving-target trajectory reconstruction.
Moving-target is obtained in the track in the domain RD through S2Later, it needs by road prior information, by the domain RD track It is mapped 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 the domain RDIt is mapped to after road grid, available LnIt is a Set, wherein m-th of set can be expressed as
WhereinIndicate road grid centre coordinate,Indicate radar site.
Set SmMiddle element number is inversely proportional with road grid size, set SmIn element representation moving-target in the slow time ta,kAll possible positions at moment.In order to therefrom select optimal location, following optimization problem is considered
Wherein
Indicate aircraft in slow time ta,kSpeed, T indicate positionSet
Obviously, optimal solutionThe trajectory reconstruction result of i.e. n-th moving-target；Optimization problem can use DP algorithm solution. Aforesaid operations are carried out to all domain moving-target RD tracks, can be obtained all moving-target trajectory reconstruction results.
The method of the present invention is verified by HWIL simulation, i.e., obtains static target echo by radar image simulation, Default transient echo is added simultaneously.Moving-target movement velocity is 5m/s, drives towards northeastward by southwestward along road.Experiment As a result effectiveness of the invention is demonstrated.
In an experiment, the system parameter in the present invention is as shown in table 1 below.
Table 1
Emulation detection scene optical imagery used and CSAR imaging results as shown in figure 3, there is a rotary island crossing in scene, The crossing is located near Entry to motorway, includes the moving-target based on more vehicle in scene.Observation scene size be 300m × 300m (distance × orientation).
Fig. 4 is a certain sub-aperture moving-target testing result schematic diagram.Wherein horizontal direction is distance to sampled point, Vertical Square To for Doppler sample point.It can be seen that after doppler filtering by Fig. 4 left figure, static target clutter is suppressed, then It is detected by CFAR, the corresponding bianry image obtained, as shown in Fig. 4 right figure.It is handled by weighted average, can be obtained current son Under aperture moving-target the domain RD position to get to setWith
Fig. 5 is the single moving-target track following result schematic diagram in the domain RD；As can be seen that gained moving-target track is more flat Sliding, the characteristic with moving-target track in the domain RD is consistent.Side demonstrates the correctness and moving-target inspection of the domain RD target tracking algorism Survey the correctness of result.
Fig. 6 is that road grid extracts result schematic diagram；The road grid is obtained by prior information, and road grid division is got over Close, subsequent moving-target trajectory reconstruction precision is higher, and corresponding DP algorithm operand is bigger.It can be according to application demand in practical operation Compromise.
Fig. 7 is DP algorithm schematic diagram.DP algorithm includes LnA decision phase, the state in each stage is by the road after projecting Road grid position determines.Routine weight valueThe i.e. corresponding moving-target trajectory reconstruction of corresponding minimal path As a result.
Fig. 8 is moving-target trajectory reconstruction result schematic diagram.White crosses symbology target real trace (emulates default rail Mark), white filled box represents estimation track, i.e. trajectory reconstruction result.As can be seen that moving-target trajectory reconstruction result precision compared with Height is very high with emulation desired guiding trajectory registration.
The above is only a preferred embodiment of the present invention, protection scope of the present invention is not limited to above-mentioned implementation Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (4)

1. a kind of ground moving target trajectory reconstruction method suitable for CSAR imaging, which comprises the following steps:
S1. the CSAR transient echo signal that receives is carried out apart from 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 the domain RD；
S2. it realizes that moving-target is associated under different sub-apertures using multiple target tracking algorithm, obtains moving-target in the movement rail in the domain RD Mark；
S3. the domain moving-target RD track is projected into road grid, and realizes moving-target trajectory reconstruction using dynamic programming algorithm.
2. the ground moving target trajectory reconstruction method according to claim 1 suitable for CSAR imaging, which is characterized in that S1 Implementation method it is as follows:
Known CSAR transmitting signal center frequency is fc, bandwidth B；Assuming that cartesian coordinate system origin is detection scene center, move Target speed and position are respectivelyWithWherein taIndicate the slow time；Thunder Up to platform 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 echo signal received passes through Quadrature demodulation and after pulse pressure indicates are as follows:
s(r,ta)=sinc { π B [r-R (ta)]}exp[-j4πfcR(ta)/c] (1)
Wherein, r indicates oblique distance, and c is the light velocity, and sinc () indicates sinc function；R(ta) it is round trip of the radar platform to moving-target Apart from oblique distance, it may be assumed that
Wherein | | | |2Indicate 2 norms；
In order to realize that moving-target trajectory reconstruction, radar full aperture echo are divided evenly as K sub-aperture echo, k-th of sub-aperture Diameter echo is
Wherein TsubAnd ta,kRespectively indicate the duration and central instant of k-th of sub-aperture；Rect () indicates rectangular window letter Number；
R (t in formula (3)a) in ta=ta,kLocating Taylor expansion expression formula is
Wherein rk=R (ta,k) it is constant term, indicate target with radar at a distance from k-th of sub-aperture central instant；
For single order term coefficient, φ1(ta,ta,k) indicate higher order term, represent remaining Range cell migration RRCM；
Single order item in formula (4) is converted by keystone to be corrected；After converting correction single order item by keystone, by kth A sub-aperture echo transforms to range-Dopler domain and obtains
WhereinIndicate Fourier transformation, λc=c/fc, faIndicate Doppler frequency,Indicate two-dimensional convolution,Indicate moving-target in ta=ta,kInstantaneous Doppler frequency；Remaining Range cell migration RRCM will lead to dynamic mesh It is marked on the domain RD to defocus, defocusing degree Ψ (r, fa) indicate；
Obtain sSk(r,fa) after, using average weighted method, obtain position measuring value of the moving-target in the domain RD, the measuring value With (rk,fa,k) indicate；
Include multiple moving-targets in sub-aperture echo, indicates k-th of sub-aperture echo measurement with following formula
Wherein NkIndicate moving-target number in k-th of sub-aperture echo,WithGather for two, elementWithPoint The distance and Doppler measurement of m-th of moving-target in k-th of sub-aperture are not indicated.
3. the ground moving target trajectory reconstruction method according to claim 1 suitable for CSAR imaging, which is characterized in that S2 Implementation method it is as follows:
It measures 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 by
Wherein N indicates moving-target number, inIndicate n-th of moving-target i-thnA sub-aperture is detected for the first time, LnIndicate n-th A moving-target path length；SetWithIndicate moving-target track, elementWithRespectively indicate n-th of moving-target 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 formula
disminIndicate 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 executed, if last setWithIn still have element remaining, then using surplus element as new moving-target Track initial position, while updating moving-target number N=N+Nr, NrIndicate surplus element number；If a moving-target is continuous two Occur then no longer to update its track with losing phenomenon in a sub-aperture；If moving-target occurs in a certain sub-aperture with losing phenomenon, benefit 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 imaging, which is characterized in that S3 In, moving-target is obtained in the track in the domain RD through S2Later, it needs by road prior information, by the domain RD 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 the domain RDIt is mapped to after road grid, available LnA set, Wherein m-th of set can be expressed as
WhereinIndicate road grid centre coordinate, Indicate 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 considered
Wherein
Indicate aircraft in slow time ta,kSpeed, T indicate positionSet
Obviously, optimal solutionThe trajectory reconstruction result of i.e. n-th moving-target；Optimization problem can use DP algorithm solution；
Aforesaid operations are carried out to all domain moving-target RD tracks, can be obtained all moving-target trajectory reconstruction results.
CN201810123131.7A 2018-02-07 2018-02-07 Ground moving target track reconstruction method suitable for CSAR imaging Active CN108196240B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810123131.7A CN108196240B (en) 2018-02-07 2018-02-07 Ground moving target track reconstruction method suitable for CSAR imaging

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810123131.7A CN108196240B (en) 2018-02-07 2018-02-07 Ground moving target track reconstruction method suitable for CSAR imaging

Publications (2)

Publication Number Publication Date
CN108196240A CN108196240A (en) 2018-06-22
CN108196240B true CN108196240B (en) 2019-09-20

Family

ID=62592577

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810123131.7A Active CN108196240B (en) 2018-02-07 2018-02-07 Ground moving target track reconstruction method suitable for CSAR imaging

Country Status (1)

Country Link
CN (1) CN108196240B (en)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109410245B (en) * 2018-09-13 2021-08-10 北京米文动力科技有限公司 Video target tracking method and device
CN109856635B (en) * 2019-02-28 2020-09-18 中国人民解放军国防科技大学 CSAR ground moving target refocusing imaging method
CN109917389B (en) * 2019-04-16 2020-07-17 中国人民解放军国防科技大学 Phase correction method in airborne holographic SAR imaging
CN110715671B (en) * 2019-12-12 2020-03-20 中智行科技有限公司 Three-dimensional map generation method and device, vehicle navigation equipment and unmanned vehicle
CN112014817B (en) * 2020-08-24 2023-06-02 中国电子科技集团公司第三十八研究所 Three-dimensional reconstruction method of spatial spin target
CN112163454A (en) * 2020-08-27 2021-01-01 中国海洋大学 High-frequency ground wave radar clutter intelligent classification and positioning method based on RD spectrum enhancement
CN112184749B (en) * 2020-10-09 2022-12-06 西安电子科技大学 Moving target tracking method based on video SAR cross-domain combination
CN113009484A (en) * 2021-03-04 2021-06-22 中山大学 Bistatic low-frequency ultra-wideband CSAR imaging method
CN113466866B (en) * 2021-08-23 2024-06-07 西北工业大学 Moving target high-resolution synthetic aperture radar imaging algorithm based on tracking
CN115184936B (en) * 2022-09-13 2022-12-06 中国人民解放军国防科技大学 Target all-angle sample generation method and device based on circumferential synthetic aperture radar
CN115407298B (en) * 2022-09-15 2024-07-26 中国人民解放军国防科技大学 Wide-angle staring SAR undulating road moving target three-dimensional track reconstruction method and device
CN116879893B (en) * 2023-06-13 2023-11-10 中国人民解放军国防科技大学 L-shaped baseline-based WasSAR moving target parameter estimation method and device

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101509975A (en) * 2009-02-11 2009-08-19 北京航空航天大学 Moving target detecting method based on different superpose degree of double sub-bore-diameters
CN101609151A (en) * 2009-07-17 2009-12-23 重庆大学 A kind of moving target detection method that decomposes based on single-channel synthetic aperture radar (SAR) image sequence characteristic value
CN101858976A (en) * 2010-05-25 2010-10-13 重庆大学 Moving target detection method based on multiple sub-apertures of single-channel SAR
US9547081B2 (en) * 2011-12-29 2017-01-17 Selex Es S.P.A. Synthetic-aperture-radar apparatus and method for production of synthetic-aperture-radar images of moving objects

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101509975A (en) * 2009-02-11 2009-08-19 北京航空航天大学 Moving target detecting method based on different superpose degree of double sub-bore-diameters
CN101609151A (en) * 2009-07-17 2009-12-23 重庆大学 A kind of moving target detection method that decomposes based on single-channel synthetic aperture radar (SAR) image sequence characteristic value
CN101858976A (en) * 2010-05-25 2010-10-13 重庆大学 Moving target detection method based on multiple sub-apertures of single-channel SAR
US9547081B2 (en) * 2011-12-29 2017-01-17 Selex Es S.P.A. Synthetic-aperture-radar apparatus and method for production of synthetic-aperture-radar images of moving objects

Non-Patent Citations (2)

* Cited by examiner, † Cited by third party
Title
A 3D Reconstruction Strategy of Vehicle Outline Based on Single-Pass Single-Polarization CSAR Data;Leping Chen et al.;《IEEE Transactions on Image Processing》;20170815;第26卷(第11期);第5545-5554页 *
可结合CSAR时域成像处理的改进PGA方法;罗雨潇 等;《信号处理》;20170925;第33卷(第9期);第1153-1161页 *

Also Published As

Publication number Publication date
CN108196240A (en) 2018-06-22

Similar Documents

Publication Publication Date Title
CN108196240B (en) Ground moving target track reconstruction method suitable for CSAR imaging
CN106597411B (en) Method for processing radar signals
CN110456343B (en) Instant positioning method and system based on FMCW millimeter wave radar
CN109856635A (en) CSAR ground moving target refocusing imaging method
US7675458B2 (en) Dual beam radar system
Köpp et al. Characterization of aircraft wake vortices by 2-μm pulsed Doppler lidar
CN100365429C (en) Synthetic aperture radar moving target imaging method
Capraro et al. Implementing digital terrain data in knowledge-aided space-time adaptive processing
Bruderer et al. Short-range high-precision surveillance of nocturnal migration and tracking of single targets
CN110161474A (en) A kind of low slow small target detection method based on digital beam forming technology
CN102955158B (en) Multiple baseline design method for improving indication performance of ground moving target
CN109407071A (en) Radar range finding method, radar range unit, unmanned plane and storage medium
CN106908781B (en) The velocity vector acquisition methods of linear motion moving-target based on single channel circular track SAR
CN102243298A (en) Method for eliminating ground clutter of airborne weather radar based on digital elevation model (DEM)
CN110286373A (en) It is a kind of complexity weather conditions under FOD radar precipitation clutter suppressing method
CN103487798A (en) Method for measuring height of phase array radar
CN111983602A (en) Small target detection radar device
EP2278355A1 (en) Radar system
CN113985376B (en) Radar comprehensive display and control excitation system
Page et al. Detection and tracking of moving vehicles with Gotcha radar systems
CN102830394B (en) Weak target detection method based on multispectral accumulation
Lee et al. Enhanced ISAR imaging for surveillance of multiple drones in urban areas
CN103675777A (en) Airborne radar clutter analogy method and device based on fitting method
Joshi et al. Range-Doppler tracking of ships using single-channel airborne radar data
Zhangwei et al. Research on improving detection capability of small and medium scales based on dual polarization weather radar

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant