CN109143239A - A kind of imaging method of the circumferential synthetic aperture radar based on one-dimensional range profile - Google Patents
A kind of imaging method of the circumferential synthetic aperture radar based on one-dimensional range profile Download PDFInfo
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- CN109143239A CN109143239A CN201811189745.1A CN201811189745A CN109143239A CN 109143239 A CN109143239 A CN 109143239A CN 201811189745 A CN201811189745 A CN 201811189745A CN 109143239 A CN109143239 A CN 109143239A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/904—SAR modes
- G01S13/9088—Circular SAR [CSAR, C-SAR]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/9004—SAR image acquisition techniques
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Abstract
The invention discloses a kind of imaging methods of circumferential synthetic aperture radar based on one-dimensional range profile, belong to radar imaging technology field.To solve the problems, such as conventional imaging method inefficiency, a kind of imaging method of circumferential synthetic aperture radar based on one-dimensional range profile is proposed.The method specifically: synthetic aperture radar image-forming system three-dimensional geometrical structure model is established, if target is made of a scattering point；The scattered information that each scattering point is successively obtained by iteration, then eliminates the influence of the scattering point from echo-signal, until obtaining all scattered informations, completes the imaging of target.The present invention makes full use of the geometrical property of circumference SAR, and algorithm is easy, improves the computational efficiency of imaging.
Description
Technical field
The present invention relates to radar imaging technology field, especially a kind of circumferential synthetic aperture radar based on one-dimensional range profile
Imaging method.
Background technique
Synthetic aperture radar is a kind of two-dimensional imaging radar, usually emits big time width bandwidth signals, is obtained and is believed by bandwidth
Number distance resolution, utilize the relative motion of radar platform and target, obtain azimuth resolution.Lesser basic matrix
Obtain bigger resolution ratio.Circumferential synthetic aperture radar is a kind of new three-dimensional imaging mode, by USA New York Mehrdad
Professor Soumekh proposes (Soumekh M.Synthetic aperture radar signal processing [M] first
.New York:Wiley, 1999.), moved by track platform, radar moves in a circle in certain height, and wave beam is always
It is directed toward scene center, the limitation of straight line SAR observed bearing angle is breached, the high-resolution imaging of target may be implemented, and
With height to imaging capability.
Circumference synthesis hole radar imagery correlative study has been achieved for centainly being in progress, external Sweden's Defence Research Establishment, the U.S.
Air Force Research Laboratory, French Space Agency and German Aerospace Center etc. have conducted extensive research in succession, domestic Chinese Academy of Sciences's electricity
Zi Xue research institute and microwave Imaging Technique National Key Laboratory expand experimental study, also achieve some research achievements, exhibition
The unique advantage and application potential of circumference SAR are shown.Existing circumferential synthetic aperture radar imaging method mainly has wave-front reconstruction
Method, backprojection method, polar format method.It is backprojection method that wherein wavefront reconstruction algorithm, which needs method the most direct,
This method imaging precision is high, and has higher robustness, but computational efficiency is too low, has researcher to propose for this problem
Several improved methods improve the efficiency of calculating, but all do not make full use of the geometrical property of circumference SAR, the complexity of algorithm
It spends also to be improved.
Summary of the invention
Therefore, in view of the above problems in the prior art, the present invention is to solve the problems, such as conventional imaging method inefficiency, this
Invention proposes a kind of imaging method of circumferential synthetic aperture radar based on one-dimensional range profile.
Specifically, the method specifically: synthetic aperture radar image-forming system three-dimensional geometrical structure model is established, if target
It is made of N number of scattering point；Then the scattered information that each scattering point is successively obtained by iteration is eliminated this from echo-signal and is dissipated
The influence of exit point completes the imaging of target until obtaining all scattered informations.
Further, synthetic aperture radar image-forming system three-dimensional geometrical structure model in the method specifically:
Radar platform is moved in a circle in the plane that height is h with radius R, and platform movement velocity size is v, angle speed
Degree is ω=v/R, and wave beam is directed toward bottom center always obliquely in observation process, and circle observation zone radius is r；With circumference rail
Mark is origin O in the center of circle that bottom surface projects, and establishes three-dimensional cartesian coordinate system, to be parallel to the plane of radar platform operation as ρ-α
Plane, using perpendicular to ρ-α plane and cross origin upward axis as Z axis, center oblique distanceInclination angle of inclined plane θz=
Arctan (h/R), along track target angle θρ=arcsin (r/R) is determining constant；Radar bearing angle θ is defined as radar and arrives
Angle of the origin line in X-Y plane projection and X-axis positive direction；
It is assumed that radar emission signal is p (t), T is pulse width, f0For signal frequency, γ is frequency modulation rate, expression
For formula 1:
P (t)=exp (j2 π f0t)exp(jπγt2) (0≤t≤T) formula 1.
Further, the scattered information of each scattering point is successively obtained in the method by iteration, is then believed from echo
The specific steps that the influence of the scattering point is eliminated in number include:
Step 1 carries out distance to compression, shows index map after compression to radar return matched filtering；
Index map is converted to binary map by step 2, is refined using morphological method, and coordinate meaning and size are retained；
Step 3 removes bianry image branch point and crosspoint, and it is discontinuous that curve is divided into multistage；
Step 4, in distance summation upwards, determines maximum distance difference R according to the mutated site of nonzero value to binary mapPmaxi
With minimum range RPmini；
Step 5 is in maximum distance RPmax1On, and, azimuth is determined using continuous nonzero element number
Step 6 is in point (RP, θ) and=(RP1max, α) and the interior progress curve tracking of near zone, obtain one section of curve；
Step 7 carries out RANSAC algorithm fitting sine curve according to the curved section that tracking obtains, and estimates ginseng
NumberAnd it records；
Step 8 is by parameterEquation is substituted into, obtains removing the curve from binary map apart from orientation curve；
Step 9 repeats step 3 to step 8, until data do not have to stop iteration when sine curve.
Technical effect of the invention is, the present invention propose a kind of circumferential synthetic aperture radar based on one-dimensional range profile at
Image space method makes full use of the geometrical property of circumference SAR, and algorithm is easy, improves the computational efficiency of imaging.
Detailed description of the invention:
Fig. 1 is CSAR (synthetic aperture radar) imaging system geometric representation；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the side view of Fig. 1；
Fig. 4 is inverting point target three dimensional structure diagram；
Fig. 5 be echo distance to compression schematic diagram；
Fig. 6 is binary map；
Fig. 7 is skeletonizing processing figure；
Fig. 8 is removal branch point schematic diagram；
Fig. 9 be distance to summation schematic diagram；
Figure 10 is the partial distance curve graph that region growing obtains；
Figure 11 is the distance Curve schematic diagram that fitting obtains.
Specific embodiment
Description of specific embodiments of the present invention below:
Fig. 1 to Fig. 3 is CSAR (synthetic aperture radar) imaging system geometric representation, and radar platform is the flat of h in height
It on face, is moved in a circle with radius R, platform movement velocity size is v, and angular speed is ω=v/R, and wave beam is oblique in observation process
Under be directed toward bottom center always, circle observation zone radius is r.The center of circle projected using circular path in bottom surface is established as origin O
Three-dimensional cartesian coordinate system, to be parallel to the plane of radar platform operation as ρ-α plane, perpendicular to ρ-α plane and to cross origin
Upward axis is Z axis, crosses the center of circle with the distance according to figure radar platform to observation area center, i.e. center oblique distanceFor convenience of two angles of analytic definition: inclination angle of inclined plane (pitch angle) θz=arctan (h/R), along track target
Angle θρ=arcsin (r/R) is determining constant.Radar bearing angle θ be defined as radar to origin line X-Y plane projection with
The angle of X-axis positive direction.
It is assumed that radar emission signal is p (t), T is pulse width, f0For signal frequency, γ is frequency modulation rate, expression
Are as follows:
P (t)=exp (j2 π f0t)exp(jπγt2) (0≤t≤T)
(1)
During radar imagery, echo can be regarded as the sum of each scattering point echo, to show convenient for analyzing and discussing
Assuming that target is made of N number of scattering point, for scattering point P (ρi,αi,zi) (i=1,2 ..., N), scattering properties function is f
(ρi,αi,zi), echo-signal is the function of radar bearing angle θ and distance to fast time t, is expressed as s (t, θ).Ignore moment away from
From variation, point target P to radar platform distance
Above formula is arranged, is obtained
Under far field condition, i.e., | zi|,|ρi| < < R0When
To determining motion radar platform, point target P (ρi,αi,zi) apart from track can regard as only with own coordinate phase
The sine curve of pass.Therefore, if c is velocity of wave, the expression formula of available s (t, θ)
To improve resolution ratio, pulse compression is carried out, distance is handled to Dechirp, reference distance R0, reference signalThen its output is
Based on the fact that being located at the point target of (i.e. the rotary shaft of radar circular motion) on Z axis, no matter radar is run
To what orientation, the distance to point all be will not change, and other points can all have in radar operational process apart from the upper period
Property variation.There is the difference of direct current signal in the corresponding echo-peak track of point on Z axis.By distance to after compression, target
Echo is to focus upwards in distance, and peak value line of the point target in different direction is the sinusoidal signal stated such as formula (3)
Form is converted according to RUDON accordingly, can extract multiple sinusoidal signals and direct current signal and form, each signal period
It is that identical but each amplitude-phase and mean value be not identical, the orientation of target point can be obtained according to sinusoidal signal phase.
Since there are three variable (ρi,αi,zi) it needs to be determined that, this RUDON transformation needs to project to two-dimensional points three-dimensional space, calculates
Complexity is bigger, can reduce calculation amount by following method.
According to formula (3), the point for being ρ apart from origin is to the maximum distance of radar in radar platform operational process
Equally, it is the point of ρ apart from origin, is to the smallest distance of radar in radar platform operational process
Since the kinematic parameter R and h of platform can control, ρ can be calculated according to distance by radar.
Assuming that target is made of N number of scattering point.Here it is handled using CLEAN method, is successively obtained by iteration
Then the scattered information of each scattering point eliminates the influence of the scattering point from echo-signal, until obtaining all scattering letters
Breath, the specific steps are as follows:
(1) to radar return matched filtering, distance is carried out to compression, shows index map after compression；
(2) index map is converted to binary map, is refined using morphological method, retain coordinate meaning and size；
(3) bianry image branch point and crosspoint are removed, it is discontinuous that curve is divided into multistage；
(4) maximum distance difference R is determined according to the mutated site of nonzero value in distance summation upwards to binary mapPmaxiWith
Minimum range RPmini；
(5) in maximum distance RPmax1On, and, azimuth is determined using continuous nonzero element number
(6) in point (RP, θ) and=(RP1max, α) and the interior progress curve tracking of near zone, obtain one section of curve；
(7) curved section obtained according to tracking carries out RANSAC algorithm (RANSAC) fitting sine curve, estimates
Count out parameterAnd it records；
(8) by parameterEquation is substituted into, obtains being handled apart from orientation curve with CLEAN method, from two
The curve is removed in value figure；
(9) (3)-(8) are repeated the above process, until stopping iteration when data do not have sine curve.
Simulation example:
COMPUTER PARAMETER: processor Inter core i5 installs memory 8G, 64 10 operating systems of windows.
Simulation software: MATLABR2016.
Simulation parameter: transmitting signal is linear FM signal, and carrier frequency 5.52GHz, pulse width 25us, bandwidth is
400MHz, platform circumference operation orientation angles sampling interval take 0.5 °, and distance repeats frequency to signal sampling frequencies 100MHz, pulse
Rate 400MHz, distance unit number 720, observation frequency 720 times, platform runs height 500m, radius of a circle 200m.Observation area
Space is set as (x2+y2≤202, 0 < z < 10), target scattering point is 22.
Radar is to bottom surface observation area centre distance:
Radar pitch angle: θz=arctan (200/500)
Simulation process:
1 generates 22 scattering point targets in observation area at random by MATLAB, as shown in Figure 4.
The movement of 2 radar platforms is to be known as the slow time time, and the time of radar emission electromagnetic wave signal is known as the fast time, in thunder
When up in orientation θ, since electromagnetic transmission speed c is constant, radar to target point distance and time t used in electromagnetic transmission
Have a proportional relation, according to formula (1) (3) (4), echo-signal drawn with imagesc order in MATLAB program, distance to and just
Position carries out echo impulse compression to 720 units are taken, according to formula (5), obtains Fig. 5.
3 close the coordinate in Fig. 5, and unloading is jpg gray level image, removes boundary, image pixel is adjusted to 720 ×
720, grayscale image is converted to and takes binary map, and carries out two-value overturning, obtains Fig. 6.
4 pairs of obtained binary maps carry out skeletonizing processing, obtain Fig. 7, and remove branch point and crosspoint, curve is divided into
The discontinuous situation of multistage, obtains Fig. 8.
5 pairs of binary pictures 6, sum upwards in each distance, determine maximum distance difference according to the mutated site of nonzero value
RPmaxiWith minimum range RPmini, as shown in Figure 9.
6 in maximum distance RPmax1On, and, azimuth is primarily determined using first group of continuous nonzero element numberBy maximum distance RPmax1With corresponding orientation αiA point is obtained, carries out region growing by starting point of the point
Processing, obtains partial distance curve, by formula (3) (RP(θ)=R0-zisinθz-ρicos(θ-αi)cosθz) curve is sinusoidal letter
Several a part, as shown in Figure 10.Primarily determining azimuth angle alphaiCurve matching nearby is done, obtains estimation parameter
Determine an aiming spot
6 parameters obtained according to fittingComplete distance change process is fitted, as shown in figure 11, is used
CLEAN method removes the influence of this curve fitted, then carries out new maximum search, recycles the above process, until
Obtain whole scattering points.
It is the preferred embodiment of the present invention above, it is noted that for those skilled in the art,
Various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should be regarded as this
The protection scope of invention.
Claims (3)
1. a kind of imaging method of the circumferential synthetic aperture radar based on one-dimensional range profile, which is characterized in that the method is specific
Are as follows: synthetic aperture radar image-forming system three-dimensional geometrical structure model is established, if target is made of N number of scattering point；By iteration according to
The secondary scattered information for obtaining each scattering point, then eliminates the influence of the scattering point from echo-signal, until obtaining all
Scattered information completes the imaging of target.
2. the imaging method of the circumferential synthetic aperture radar based on one-dimensional range profile as described in claim 1, which is characterized in that
Synthetic aperture radar image-forming system three-dimensional geometrical structure model in the method specifically:
Radar platform is moved in a circle in the plane that height is h with radius R, and platform movement velocity size is v, and angular speed is
ω=v/R, wave beam is directed toward bottom center always obliquely in observation process, and circle observation zone radius is r；Existed with circular path
Bottom surface projection the center of circle be origin O, establish three-dimensional cartesian coordinate system, be parallel to radar platform operation plane for ρ-α plane,
Using perpendicular to ρ-α plane and cross origin upward axis as Z axis, center oblique distanceInclination angle of inclined plane θz=
Arctan (h/R), along track target angle θρ=arcsin (r/R) is determining constant；Radar bearing angle θ is defined as radar and arrives
Angle of the origin line in X-Y plane projection and X-axis positive direction；
It is assumed that radar emission signal is p (t), T is pulse width, f0For signal frequency, γ is frequency modulation rate, and expression is public affairs
Formula 1:
P (t)=exp (j2 π f0t)exp(jπγt2) (0≤t≤T) formula 1.
3. the imaging method of the circumferential synthetic aperture radar based on one-dimensional range profile as claimed in claim 2, which is characterized in that
The scattered information for successively obtaining each scattering point in the method by iteration, then eliminates the scattering point from echo-signal
The specific steps of influence include:
Step 1 carries out distance to compression, shows index map after compression to radar return matched filtering；
Index map is converted to binary map by step 2, is refined using morphological method, and coordinate meaning and size are retained；
Step 3 removes bianry image branch point and crosspoint, and it is discontinuous that curve is divided into multistage；
Step 4, in distance summation upwards, determines maximum distance difference R according to the mutated site of nonzero value to binary mapPmaxiWith most
Small distance RPmini；
Step 5 is in maximum distance RPmax1On, and, azimuth is determined using continuous nonzero element number
Step 6 is in point (RP, θ) and=(RP1max, α) and the interior progress curve tracking of near zone, obtain one section of curve；
Step 7 carries out RANSAC algorithm fitting sine curve according to the curved section that tracking obtains, and estimates parameterAnd it records；
Step 8 is by parameterEquation is substituted into, obtains removing the curve from binary map apart from orientation curve；
Step 9 repeats step 3 to step 8, until data do not have to stop iteration when sine curve.
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| CN110161500A (en) * | 2019-05-21 | 2019-08-23 | 西北工业大学 | A kind of improvement circumference SAR three-D imaging method based on Radon-Clean |
| CN112285711A (en) * | 2020-09-28 | 2021-01-29 | 西安航空学院 | Three-dimensional SAR image target identification method based on depth confidence network |
| CN112612026A (en) * | 2020-11-20 | 2021-04-06 | 哈尔滨工业大学 | Target angle resolution method based on dual-radar range profile fusion |
| CN113504540A (en) * | 2021-05-20 | 2021-10-15 | 西安电子科技大学 | RANSAC-based ISAR image three-dimensional reconstruction method |
| CN114396864A (en) * | 2021-08-20 | 2022-04-26 | 上海交通大学 | Microwave multi-dimensional deformation and vibration measuring method and system |
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| CN113504540A (en) * | 2021-05-20 | 2021-10-15 | 西安电子科技大学 | RANSAC-based ISAR image three-dimensional reconstruction method |
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