CN108254728B - Frequency modulation continuous wave SAR motion compensation method based on local linear error model - Google Patents

Frequency modulation continuous wave SAR motion compensation method based on local linear error model Download PDF

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CN108254728B
CN108254728B CN201711370093.7A CN201711370093A CN108254728B CN 108254728 B CN108254728 B CN 108254728B CN 201711370093 A CN201711370093 A CN 201711370093A CN 108254728 B CN108254728 B CN 108254728B
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CN108254728A (en
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董勇伟
李焱磊
梁兴东
丁赤飚
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Abstract

The invention discloses a frequency modulation continuous wave SAR motion compensation method based on a local linear error model, which comprises the following steps: acquiring position information of a radar echo data starting point; according to the obtained position information of the radar echo data starting point, performing piecewise linear fitting on the motion error of the antenna phase center in each radar working pulse by adopting a local linear error model; and constructing an intra-pulse motion compensation function by combining the motion errors of the piecewise linear fitting. The method only needs one multiplication for the calculated amount of each point motion error in the pulse, compared with the traditional motion compensation method in the pulse, the calculated amount is greatly reduced, and the target focusing effect after motion compensation is good; the method is suitable for platforms with the acceleration within 100g, and the application range is wide.

Description

Frequency modulation continuous wave SAR motion compensation method based on local linear error model
Technical Field
The disclosure belongs to the technical field of radar information acquisition and processing, and relates to a frequency modulation continuous wave SAR motion compensation method based on a local linear error model.
Background
The frequency modulated continuous wave synthetic aperture radar (FMCW SAR) combines the frequency modulated continuous wave technology and the synthetic aperture radar technology, has the characteristics of small volume, light weight and low power, and plays an increasingly important role in the field of earth observation, particularly military application.
In the pulse system SAR, because the duty ratio is small (usually not greater than 10%), a "stop-and-go" model can be used to calculate the motion error, i.e., assuming that the motion error is not changed when receiving the echo signal, the radar motion during signal transmission and the radar motion during transmitting and receiving signals are ignored, as shown in fig. 1, the motion error is represented by a horizontal line, in other words, the assumption corresponds to a local constant error model.
In the frequency modulation continuous wave system SAR, the duty ratio reaches 100%, and the platform obviously moves during the data receiving period, so that a stop-go model is not established any more, and a traditional local constant error model is not established any more. At present, the motion compensation of the frequency modulation continuous wave SAR can utilize the motion data of the antenna phase center to perform point-by-point compensation on the motion error in each pulse, but the true value of each data point is correspondingly processed, the number of the data points in each pulse is large, and the calculation amount for performing the point-by-point compensation is too large, so that the processing efficiency of the frequency modulation continuous wave SAR is influenced.
Disclosure of Invention
Technical problem to be solved
The present disclosure provides a method for motion compensation of a frequency modulated continuous wave SAR based on a local linear error model to at least partially solve the above-mentioned technical problem.
(II) technical scheme
According to one aspect of the disclosure, a method for motion compensation of a frequency modulated continuous wave SAR based on a local linear error model is provided, which includes: acquiring position information of a radar echo data starting point; according to the obtained position information of the radar echo data starting point, performing piecewise linear fitting on the motion error of the antenna phase center in each radar working pulse by adopting a local linear error model; and constructing an intra-pulse motion compensation function by combining the motion errors of the piecewise linear fitting.
In some embodiments of the present disclosure, a method for motion compensation of a frequency modulated continuous wave SAR, further comprises: and carrying out motion compensation and imaging processing on the radar echo data according to the intra-pulse motion compensation function.
In some embodiments of the present disclosure, the position information of the starting point of the radar echo data is extracted according to a relation between the acquisition time of the radar echo data and the acquisition time of the antenna phase center motion trajectory.
In some embodiments of the present disclosure, the acquisition time of the radar echo data and the acquisition time of the antenna phase center motion trajectory are established on a uniform UTC time reference, and the position information of the radar echo data starting point is extracted from the antenna phase center motion trajectory data corresponding to the radar echo data starting point time.
In some embodiments of the present disclosure, a local linear error model is used to perform piecewise linear fitting on the motion error of the antenna phase center in each radar working pulse, where the motion error satisfies:
Figure BDA0001512150780000021
wherein, Δ R (nPRT + t)r) Motion errors from the nth pulse to the (n +1) th pulse; PRT is the pulse repetition period; t is trFor a fast time, t is more than or equal to 0r< PRT; Δ R ((n +1) PRT) is the motion error for the (n +1) th pulse; Δ r (nprt) is the motion error for the nth pulse.
In some embodiments of the present disclosure, the intra-pulse motion compensation function constructed in conjunction with motion errors of piecewise linear fitting satisfies:
Figure BDA0001512150780000022
wherein, h (R, t)r) As an intra-pulse motion compensation function; k is signal frequency modulation; f. ofcIs the carrier frequency; and c is the speed of light.
In some embodiments of the present disclosure, the intra-pulse motion compensation function is used to perform motion compensation on the radar echo data point by point.
In some embodiments of the present disclosure, the motion function h (f) of the motion compensated radar echo datar) Satisfies the following conditions:
Figure BDA0001512150780000023
wherein, Δ r (nprt) is the motion error corresponding to the nth pulse; Δ Rref(nPRT) is the reference slope motion error for the nth pulse.
In some embodiments of the present disclosure, the radar echo data is received by subjecting a frequency modulated continuous wave signal to a frequency modulation process.
In some embodiments of the present disclosure, the radar echo data satisfies:
Figure BDA0001512150780000031
wherein, s (t)r) For radar echoes after detuning receptionData; t is trFor a fast time, t is more than or equal to 0r< PRT; k is signal frequency modulation; f. ofcIs the carrier frequency; c is the speed of light; r (nPRT) is the distance from the phase center of the nth pulse antenna to the target; Δ R (nPRT + t)r) The motion error in the nth pulse to the (n +1) th pulse.
(III) advantageous effects
According to the technical scheme, the frequency modulation continuous wave SAR motion compensation method based on the local linear error model has the following beneficial effects:
the motion error of the antenna phase center in each radar working pulse is subjected to piecewise linear fitting by adopting a local linear error model, then an intra-pulse complete motion compensation factor is constructed, the calculated amount of the motion error of each point in the pulse only needs one multiplication, compared with the traditional intra-pulse motion compensation method, the calculated amount is greatly reduced, and the target focusing effect after motion compensation is good; the method is suitable for the platform with the acceleration within 100g (g is the gravity acceleration), and the application range is wide.
Drawings
FIG. 1 is a diagram of a prior art local constant error model.
Fig. 2 is a flowchart of a local linear error model-based frequency modulated continuous wave SAR motion compensation method according to an embodiment of the present disclosure.
Fig. 3 is a diagram of a specific implementation process of a local linear error model-based frequency modulated continuous wave SAR motion compensation method according to an embodiment of the present disclosure.
Fig. 4 is a system block diagram of a frequency modulated continuous wave SAR according to an embodiment of the present disclosure.
FIG. 5 is a schematic diagram of a local linear error model according to an embodiment of the present disclosure.
Fig. 6A is a schematic diagram of the imaging result of the target after the target at the non-reference distance is compensated by the intra-pulse motion compensation function for the reference slope distance.
Fig. 6B is a schematic diagram of the target imaging result after the targets at the non-reference distance are completely compensated point by using the intra-pulse motion compensation function.
Fig. 7 is a schematic diagram of a target imaging result after a local linear error model-based frequency modulated continuous wave SAR motion compensation method is adopted for a target at a non-reference distance according to an embodiment of the present disclosure.
Detailed Description
The local linear error model is adopted to carry out piecewise linear fitting on the motion error of the antenna phase center in each radar working pulse, then an intra-pulse complete motion compensation factor is constructed, the calculated amount of the motion error of each point in the pulse only needs one multiplication, compared with the traditional intra-pulse motion compensation method, the calculated amount is greatly reduced, and the target focusing effect after motion compensation is good; the method is suitable for the platform with the acceleration within 100g (g is the gravity acceleration), and the application range is wide.
In this disclosure, "PRT" means the duration of a pulse, also called the pulse repetition period, and means the time interval between one pulse and the next, in time dimension, equal to the inverse of the pulse repetition frequency; "PRF" denotes Pulse-repetition-Frequency (PRF) which refers to the number of trigger pulses generated per second, and is a measure of the Frequency dimension.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
In a first exemplary embodiment of the present disclosure, a method for motion compensation of a frequency modulated continuous wave SAR based on a local linear error model is provided.
Fig. 2 is a flowchart of a local linear error model-based frequency modulated continuous wave SAR motion compensation method according to an embodiment of the present disclosure. Fig. 3 is a diagram of a specific implementation process of a local linear error model-based frequency modulated continuous wave SAR motion compensation method according to an embodiment of the present disclosure.
Referring to fig. 2 and 3, the disclosed local linearity error model-based motion compensation method for frequency modulated continuous wave SAR includes:
step S202: extracting position information of a radar echo data starting point according to the relation between the radar echo data acquisition time and the motion trail time;
in step S202, referring to fig. 3, the acquisition time of the radar echo data and the acquisition time of the SAR antenna phase center motion trajectory are established on a unified UTC time reference; and then extracting the position information of the radar starting point from the antenna phase center motion track data corresponding to the radar data starting point time according to the relation between the radar data acquisition time and the motion track acquisition time.
Step S204: according to the obtained position information of the radar echo data starting point, performing piecewise linear fitting on the motion error of the antenna phase center in each radar working pulse by adopting a local linear error model;
fig. 4 is a system block diagram of a frequency modulated continuous wave SAR according to an embodiment of the present disclosure; FIG. 5 is a schematic diagram of a local linear error model according to an embodiment of the present disclosure.
Referring to fig. 4, the fm continuous wave signal generated by the signal source is transmitted from the transmitting antenna through a channel corresponding to the transmitting channel Ct(ii) a The other path of signal enters the mixer through another channel as a reference signal, and the other channel is corresponding to a reference channel Cref(ii) a The echo signals received by the receiving antenna pass through a receiving channel CrEntering a mixer, and performing frequency-modulation-removing receiving processing CsAnd then outputs a signal through an Analog-to-Digital Converter (ADC).
The radar echo data after frequency modulation removal and reception meets the following expression:
Figure BDA0001512150780000051
wherein, s (t)r) Radar echo data after frequency modulation is removed and received; t is trFor a fast time, t is more than or equal to 0r< PRT; k is signal frequency modulation; f. ofcIs the carrier frequency; c is the speed of light; r (nPRT) is the distance from the phase center of the nth pulse antenna to the target; Δ R (nPRT + t)r) The motion error in the nth pulse to the (n +1) th pulse.
And (3) performing piecewise linear fitting on the motion error of the antenna phase center in each radar working pulse by adopting a local linear error model, wherein the fitting formula is as follows:
Figure BDA0001512150780000052
wherein the slope of the motion error at the nth PRF is:
Figure BDA0001512150780000053
wherein, Δ R ((n +1) PRT) is the motion error corresponding to the (n +1) th pulse; Δ r (nprt) is the motion error for the nth pulse.
Step S206: constructing an intra-pulse motion compensation function by combining motion errors of piecewise linear fitting;
general intra-pulse motion compensation function h (R, t)r) Satisfies the following conditions:
Figure BDA0001512150780000054
wherein, Δ R0(nPRT+tr) Representing the motion error in the nth pulse to the (n +1) th pulse obtained using conventional methods.
Because intra-pulse motion compensation needs to be carried out in a time domain, and target intra-pulse compensation functions on different slope distances R are different, point-by-point compensation needs to be carried out on data of each point in each pulse, and each point motion error calculation amount comprises 5 times of addition, 3 times of multiplication and 1 time of evolution, so that a large amount of calculation resources are consumed.
In this embodiment, taking an airborne Ku-band frequency modulated continuous wave SAR system, a bandwidth of 500MHz, and a signal pulse width of 1ms as an example, results of a mode of performing compensation by using an intra-pulse motion compensation function for a reference slope distance and performing complete compensation point by using the intra-pulse motion compensation function are compared and explained, and then an optimized compensation mode is determined.
Fig. 6A is a schematic diagram of the imaging result of the target after the target at the non-reference distance is compensated by the intra-pulse motion compensation function for the reference slope distance. Fig. 6B is a schematic diagram of the target imaging result after the targets at the non-reference distance are completely compensated point by using the intra-pulse motion compensation function.
Compensating with the intra-pulse patch function for the reference slope distance results in residual errors, and the results shown in fig. 6A show that the defocus occurs in the azimuth direction. The result of point-by-point complete compensation using the intra-pulse motion compensation function is shown in fig. 6B, and the focusing effect of the target is good.
Therefore, in this embodiment, it is preferable that the intra-pulse motion compensation function performs error compensation in a manner of performing complete compensation point by point, and the motion error in the compensation factor is calculated by using the motion error of the piecewise linear fit obtained in step S204.
In this embodiment, an intra-pulse motion compensation function constructed by combining motion errors of piecewise linear fitting satisfies the following expression:
Figure BDA0001512150780000061
wherein, Δ R (nPRT + t)r) Is the motion error obtained in equation (2).
Therefore, the calculation amount of the motion error of each point in the pulse only needs one multiplication, and compared with the traditional intra-pulse motion compensation method, the calculation amount is greatly reduced.
Step S208: performing motion compensation and imaging processing on radar echo data according to the intra-pulse motion compensation function;
in step S208, the motion function h (f) after motion compensation is performedr) Satisfies the following conditions:
Figure BDA0001512150780000071
wherein, Δ Rref(nPRT) is the reference slope motion error for the nth pulse.
The frequency-modulated continuous wave SAR motion compensation method based on the local linear error model of the embodiment is utilized to carry out imaging experiments on targets at non-reference distances.
Fig. 7 is a schematic diagram of a target imaging result after a local linear error model-based frequency modulated continuous wave SAR motion compensation method is adopted for a target at a non-reference distance according to an embodiment of the present disclosure. Referring to fig. 7, the target focusing effect after compensation by the frequency-modulated continuous wave SAR motion compensation method based on the local linear error model is good.
In addition, for the Ku-band SAR, the allowable residual motion error is analyzed by combining the imaging result to be one sixteenth of the wavelength, and the requirements of the speed and the acceleration of the aircraft platform are further derived by combining the small SAR parameters, so that the following conclusion is reached: most platforms with the acceleration of 100g (g is the acceleration of gravity) can use the method provided by the disclosure, and it can be seen that the motion compensation method of the disclosure also has the advantage of wide application range.
In summary, the present disclosure provides a frequency modulated continuous wave SAR motion compensation method based on a local linear error model, which performs piecewise linear fitting on a motion error of an antenna phase center in each radar working pulse by using the local linear error model, and then constructs an intra-pulse complete motion compensation factor, wherein only one multiplication is required for a calculation amount of the motion error of each point in the pulse, compared with a conventional intra-pulse motion compensation method, the calculation amount is greatly reduced, and a target focusing effect after motion compensation is good; the method is suitable for the platform with the acceleration within 100g (g is the gravity acceleration), and the application range is wide.
Of course, according to actual needs, the method for motion compensation of frequency modulated continuous wave SAR based on a local linear error model according to the present disclosure further includes other methods and steps, which are not described herein again since they are not related to the innovations of the present disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims (8)

1. A frequency modulation continuous wave SAR motion compensation method based on a local linear error model comprises the following steps:
acquiring position information of a radar echo data starting point;
according to the obtained position information of the radar echo data starting point, performing piecewise linear fitting on the motion error of the antenna phase center in each radar working pulse by adopting a local linear error model; and
constructing an intra-pulse motion compensation function by combining motion errors of piecewise linear fitting;
the motion error of the antenna phase center in each radar working pulse is subjected to piecewise linear fitting by adopting a local linear error model, and the motion error meets the following requirements:
Figure FDA0002373957730000011
wherein, Δ R (nPRT + t)r) Motion errors from the nth pulse to the (n +1) th pulse; PRT is the pulse repetition period; t is trFor a fast time, t is more than or equal to 0r< PRT; Δ R ((n +1) PRT) is the motion error for the (n +1) th pulse; Δ r (nprt) is the motion error for the nth pulse;
the intra-pulse motion compensation function constructed by combining the motion error of the piecewise linear fitting meets the following requirements:
Figure FDA0002373957730000012
wherein, h (R, t)r) As an intra-pulse motion compensation function; r is the slope distance; k is signal frequency modulation; f. ofcIs the carrier frequency; and c is the speed of light.
2. The frequency modulated continuous wave SAR motion compensation method of claim 1, further comprising:
and carrying out motion compensation and imaging processing on the radar echo data according to the intra-pulse motion compensation function.
3. The method of claim 1, wherein the position information of the starting point of the radar echo data is extracted according to the relationship between the acquisition time of the radar echo data and the acquisition time of the antenna phase center motion trajectory.
4. The method for motion compensation of a frequency modulated continuous wave SAR of claim 3, wherein the acquisition time of the radar echo data and the acquisition time of the antenna phase center motion trajectory are established on a uniform UTC time reference, and the position information of the radar echo data starting point is extracted from the antenna phase center motion trajectory data corresponding to the radar echo data starting point time.
5. The frequency modulated continuous wave SAR motion compensation method of claim 2, wherein said radar echo data is motion compensated in a way that said intra-pulse motion compensation function compensates point by point.
6. The frequency modulated continuous wave SAR motion compensation method of claim 2, wherein the motion function h (f) of the motion compensated radar echo datar) Satisfies the following conditions:
Figure FDA0002373957730000021
wherein, Δ r (nprt) is the motion error corresponding to the nth pulse; Δ Rref(nPRT) is the reference slope motion error for the nth pulse.
7. The method of motion compensation for a frequency modulated continuous wave SAR of any of claims 1 to 6, wherein said radar echo data is received by subjecting a frequency modulated continuous wave signal to a frequency modulation process.
8. The frequency modulated continuous wave SAR motion compensation method of claim 7, wherein said radar echo data satisfies:
Figure FDA0002373957730000022
wherein, s (t)r) Radar echo data after frequency modulation is removed and received; t is trFor a fast time, t is more than or equal to 0r< PRT; k is signal frequency modulation; f. ofcIs the carrier frequency; c is the speed of light; r (nPRT) is the distance from the phase center of the nth pulse antenna to the target; Δ R (nPRT + t)r) The motion error in the nth pulse to the (n +1) th pulse.
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