CN109143239B - Imaging method of circumferential synthetic aperture radar based on one-dimensional range profile - Google Patents

Imaging method of circumferential synthetic aperture radar based on one-dimensional range profile Download PDF

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CN109143239B
CN109143239B CN201811189745.1A CN201811189745A CN109143239B CN 109143239 B CN109143239 B CN 109143239B CN 201811189745 A CN201811189745 A CN 201811189745A CN 109143239 B CN109143239 B CN 109143239B
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CN109143239A (en
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许杰
邸国辉
耿晓琪
孟艳君
蔡立晶
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Heilongjiang Bayi Agricultural University
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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
    • 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]
    • 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 an imaging method of a circumferential synthetic aperture radar based on a one-dimensional range profile, and belongs to the technical field of radar imaging. In order to solve the problem of low efficiency of the traditional imaging method, the imaging method of the circumferential synthetic aperture radar based on the one-dimensional range profile is provided. The method specifically comprises the following steps: establishing a three-dimensional geometric structure model of a synthetic aperture radar imaging system, and setting a target to be composed of scattering points; and (3) obtaining the scattering information of each scattering point in turn through iteration, and then eliminating the influence of the scattering points from the echo signals until all the scattering information is obtained, thereby completing the imaging of the target. The invention fully utilizes the geometric characteristics of the circular SAR, has simple and convenient algorithm and improves the calculation efficiency of imaging.

Description

Imaging method of circumferential synthetic aperture radar based on one-dimensional range profile
Technical Field
The invention relates to the technical field of radar imaging, in particular to an imaging method of a circumferential synthetic aperture radar based on a one-dimensional range profile.
Background
Synthetic aperture radar is a two-dimensional imaging radar, which generally emits a large time-width bandwidth signal, obtains the range resolution of the signal through the bandwidth, and obtains the azimuth resolution by using the relative motion of a radar platform and a target. A smaller array can achieve a greater resolution. The circular synthetic aperture radar is a New three-dimensional imaging mode, is firstly proposed by professor Mehrdad Soumekh in New York, U.S. (Soumekh M. synthetic aperture radar signal processing [ M ]. New York: Wiley,1999.), and relies on the motion of a track platform, the radar makes circular motion at a certain height, and a beam always points to the center of a scene, so that the limitation of observing azimuth angles by a linear SAR is broken through, high-resolution imaging of a target can be realized, and the circular synthetic aperture radar has the capability of height-direction imaging.
The research related to the imaging of the circumferential synthetic aperture radar has made a certain progress, a great deal of research is carried out in succession by the national defense research institute of foreign sweden, the american air force research laboratory, the french space agency, the germany aerospace center and the like, the research of experiments is carried out by the electronics research institute of the domestic Chinese academy of sciences and the national key laboratory of the microwave imaging technology, some research results are also obtained, and the unique advantages and the application potential of the circumferential SAR are shown. The existing imaging method of the circumferential synthetic aperture radar mainly comprises a wave front reconstruction method, a back projection method and a polar coordinate format method. The most direct method required by the wavefront reconstruction algorithm is a back projection method, the method is high in imaging accuracy and strong in robustness, but the calculation efficiency is too low, researchers have proposed several improved methods aiming at the problem, the calculation efficiency is improved, but the geometric characteristics of the circular SAR are not fully utilized, and the complexity of the algorithm is to be improved.
Disclosure of Invention
Therefore, aiming at the above problems in the prior art, the invention provides an imaging method of a circumferential synthetic aperture radar based on a one-dimensional range profile, which aims to solve the problem that the traditional imaging method is low in efficiency.
Specifically, the method specifically comprises the following steps: establishing a three-dimensional geometric structure model of a synthetic aperture radar imaging system, and setting a target to be composed of N scattering points; and (3) obtaining the scattering information of each scattering point in turn through iteration, and then eliminating the influence of the scattering points from the echo signals until all the scattering information is obtained, thereby completing the imaging of the target.
Further, the three-dimensional geometric structure model of the synthetic aperture radar imaging system in the method specifically comprises:
the radar platform performs circular motion on a plane with the height h by using the radius R, the motion speed of the platform is v, the angular speed is omega-v/R, the wave beam always points to the center of the bottom surface obliquely downwards in the observation process, and the radius of a circular observation area is R; taking the center of a circle projected by the circular track on the bottom surface as an original point O, establishing a three-dimensional rectangular coordinate system, taking a plane running parallel to the radar platform as a rho-alpha plane, taking an upward axis which is perpendicular to the rho-alpha plane and passes through the original point as a Z axis, and taking the center slant distance
Figure BDA0001827203250000021
Inclination angle theta of inclined planezArctan (h/R), target angle theta along trackρArcsin (R/R), all are defined constants; radar azimuth theta is defined as radarThe included angle between the projection of the connecting line to the original point on the X-Y plane and the positive direction of the X axis;
suppose the radar transmits signals p (T), T is the pulse width, f0The signal frequency is shown, and the frequency is adjusted by gamma, and the specific expression is formula 1:
p(t)＝exp(j2πf0t)exp(jπγt2) (T is more than or equal to 0 and less than or equal to T) formula 1.
Further, the method sequentially obtains the scattering information of each scattering point through iteration, and then specifically includes the steps of eliminating the influence of the scattering point from the echo signal:
step 1, matching and filtering radar echoes, performing range compression, and displaying a compressed index map;
step 2, converting the index map into a binary map, refining by using a morphological method, and keeping the meaning and the size of coordinates;
step 3, removing the branch points and the cross points of the binary image, and dividing the curve into multiple sections of discontinuity;
step 4, summing the binary images in the distance direction, and determining the maximum distance difference value R according to the mutation positions of non-zero valuesPmaxiAt a minimum distance RPmini；
Step 5 at maximum distance RPmax1Determining the azimuth angle by using the sum of the number of consecutive non-zero elements
Figure BDA0001827203250000022
Step 6 at Point (R)P,θ)＝(RP1maxAlpha) carrying out curve tracking in a nearby area to obtain a section of curve;
step 7, fitting a sine curve by a random sampling consistency algorithm according to the curve segment obtained by tracking, and estimating parameters
Figure BDA0001827203250000023
And recording;
step 8 parameter comparison
Figure BDA0001827203250000024
Substituting the equation to obtain a distance and orientation curve, and extracting from the binary imageDividing the curve;
and 9, repeating the steps 3 to 8 until the data has no sine curve, and stopping iteration.
The invention has the technical effects that the invention provides the imaging method of the circumferential synthetic aperture radar based on the one-dimensional range profile, the geometric characteristics of the circumferential SAR are fully utilized, the algorithm is simple and convenient, and the imaging calculation efficiency is improved.
Description of the drawings:
FIG. 1 is a schematic diagram of a CSAR (synthetic aperture radar) imaging system geometry;
FIG. 2 is a top view of FIG. 1;
FIG. 3 is a side view of FIG. 1;
FIG. 4 is a schematic diagram of a three-dimensional structure of an inversion point target;
FIG. 5 is a schematic diagram of the echo range compression;
FIG. 6 is a binary graph;
FIG. 7 is a skeletonization process diagram;
FIG. 8 is a schematic diagram of branch point removal;
FIG. 9 is a schematic distance-wise summation;
FIG. 10 is a graph of partial distances resulting from region growing;
fig. 11 is a schematic diagram of the distance curve obtained by the fitting.
Detailed Description
The following describes embodiments of the present invention:
fig. 1 to 3 are geometric schematic diagrams of a CSAR (synthetic aperture radar) imaging system, in which a radar platform performs circular motion with a radius R on a plane with a height h, the platform motion speed is v, the angular velocity is ω ═ v/R, a beam always points to the center of a bottom surface obliquely downward in the observation process, and the radius of a circular observation area is R. Taking the circle center of the projection of the circular track on the bottom surface as an original point O, establishing a three-dimensional rectangular coordinate system, taking a plane running parallel to the radar platform as a rho-alpha plane, taking an upward axis which is perpendicular to the rho-alpha plane and passes through the original point as a Z axis, and taking the distance from the radar platform to the center of an observation area, namely the center slope distance, passing through the circle center according to a diagram
Figure BDA0001827203250000031
Two angles are defined for ease of analysis: angle of inclination of inclined plane (pitch angle) thetazArctan (h/R), target angle theta along trackρArcsin (R/R), all are deterministic constants. The radar azimuth angle theta is defined as the included angle between the projection of the radar to the origin line on the X-Y plane and the positive direction of the X axis.
Suppose the radar transmits signals p (T), T is the pulse width, f0The signal frequency is gamma, the modulation frequency is gamma, and the specific expression is as follows:
p(t)＝exp(j2πf0t)exp(jπγt2) (0≤t≤T)
(1)
in radar imaging, the echo can be regarded as the sum of echoes of scattering points, and for the purpose of analysis and discussion, it is assumed that the target is composed of N scattering points, and for the scattering point P (ρ)i,αi,zi) (i ═ 1,2,. cndot., N) with a scattering behavior function of f (ρ)i,αi,zi) The echo signal is a function of the radar azimuth angle θ and the range-fast time t, denoted as s (t, θ). Neglecting the instantaneous distance change, the distance from the point target P to the radar platform
Figure BDA0001827203250000041
The above formula is arranged to obtain
Figure BDA0001827203250000042
In far field conditions, i.e. | zi|,|ρi|＜＜R0Time-piece
Figure BDA0001827203250000043
For a fixed motion radar platform, point target P (ρ)i,αi,zi) Can be regarded as a sinusoid with respect to its own coordinates only. Thus, let c be the wave velocity, canObtaining an expression of s (t, theta)
Figure BDA0001827203250000044
For improving resolution, pulse compression is performed, distance is processed to Decirp, and reference distance is R0Reference signal
Figure BDA0001827203250000051
Its output is
Figure BDA0001827203250000052
Based on the fact that a point target located on the Z-axis (i.e. the rotation axis of the circular motion of the radar) has no change in distance to the point no matter what direction the radar is moving, and other points have periodic changes in distance during the radar operation. The corresponding echo peak tracks on the Z axis have direct current signal difference. After distance compression, target echoes are focused in the distance direction, peak connecting lines of point targets in different directions are in a sine signal form expressed by the formula (3), accordingly, according to the RUDON transformation, a plurality of sine signal and direct current signal sum forms can be extracted, each signal period is the same, but the amplitude phase and the mean value of each signal period are different, and the directions of target points can be obtained according to the sine signal phases. Since there are three variables (p)i,αi,zi) It needs to be determined that the RuDON transformation needs to project two-dimensional points to a three-dimensional space, the calculation complexity is high, and the calculation amount can be reduced by the following method.
According to the formula (3), the point with the distance rho from the origin point is the maximum distance from the radar in the running process of the radar platform
Figure BDA0001827203250000053
Similarly, the point with the distance from the origin point of rho is the minimum distance to the radar in the running process of the radar platform
Figure BDA0001827203250000061
Since the motion parameters R and h of the platform can be controlled, p can be calculated according to the radar distance.
Assume that the object consists of N scattering points. Processing by using a CLEAN method, obtaining scattering information of each scattering point in turn through iteration, and then eliminating the influence of the scattering point from an echo signal until all the scattering information is obtained, wherein the method comprises the following specific steps:
(1) matching and filtering radar echoes, performing range compression, and displaying a compressed index map;
(2) converting the index map into a binary map, refining by using a morphological method, and keeping the meaning and the size of coordinates;
(3) removing branch points and cross points of the binary image, and dividing the curve into multiple sections of discontinuity;
(4) summing the binary images in the distance direction, and determining the maximum distance difference R according to the position of the non-zero abrupt changePmaxiAt a minimum distance RPmini；
(5) At a maximum distance RPmax1Determining the azimuth angle by using the sum of the number of consecutive non-zero elements
Figure BDA0001827203250000062
(6) At point (R)P,θ)＝(RP1maxAlpha) carrying out curve tracking in a nearby area to obtain a section of curve;
(7) fitting a sine curve by random sample consensus (RANSAC) according to the tracked curve segment to estimate parameters
Figure BDA0001827203250000063
And recording;
(8) will be parameter
Figure BDA0001827203250000064
Substituting the equation to obtain a distance and orientation curve, processing by using a CLEAN method, and removing the curve from the binary image;
(9) the above processes (3) - (8) are repeated until the iteration stops when the data has no sinusoids.
Simulation example:
computer parameters: the processor Inter core i5 is provided with a memory 8G, 64-bit windows 10 operating system.
Simulation software: MATLABR 2016.
Simulation parameters: the transmitting signal is a linear frequency modulation signal, the carrier frequency is 5.52GHz, the pulse width is 25us, the bandwidth is 400MHz, the sampling interval of the circumferential operating azimuth angle of the platform is 0.5 degrees, the sampling frequency of the distance direction signal is 100MHz, the pulse repetition frequency is 400MHz, the number of distance units is 720, the observation times are 720, the operating height of the platform is 500m, and the circumferential radius is 200 m. The observation region space is set to (x)2+y2≤2020 < z < 10), the number of target scattering points is 22.
Distance between the center of the observation area of the bottom surface of the lightning:
Figure BDA0001827203250000071
radar pitch angle: thetaz＝arctan(200/500)
And (3) simulation process:
1 the 22 scatter point targets were randomly generated in the observation region by MATLAB as shown in fig. 4.
2, when the radar is in the azimuth theta, because the transmission speed c of the electromagnetic wave is constant, the distance between the radar and a target point and the time t for transmitting the electromagnetic wave have a direct proportion relation, drawing an echo signal by an imagesc command in an MATLAB program according to the formulas (1), (3) and (4), taking 720 units in the distance direction and the azimuth direction, and carrying out echo pulse compression according to the formula (5) to obtain the graph 5.
And 3, closing the coordinates in the figure 5, converting the coordinates into a jpg grayscale image, removing a boundary, adjusting the image pixel to 720 multiplied by 720, converting the grayscale image into a binary image, and performing binary inversion to obtain the figure 6.
And 4, performing skeletonization on the obtained binary image to obtain a graph 7, removing branch points and intersection points, and dividing the curve into multiple discontinuous sections to obtain a graph 8.
5, summing the two-valued graph 6 in each distance direction, and determining the maximum distance difference R according to the position of the non-zero mutationPmaxiAt a minimum distance RPminiAs shown in fig. 9.
6 at a maximum distance RPmax1Initially determining the azimuth angle using the first set of sums of consecutive non-zero element numbers
Figure BDA0001827203250000072
From the maximum distance RPmax1And corresponding orientation alphaiObtaining a point, performing region growing process with the point as the starting point to obtain a partial distance curve, and obtaining a partial distance curve according to the formula (3) (R)P(θ)＝R0-zisinθz-ρicos(θ-αi)cosθz) The curve is a portion of a sinusoidal function, as shown in FIG. 10. At the preliminary determined azimuth angle alphaiPerforming curve fitting nearby to obtain estimated parameters
Figure BDA0001827203250000073
I.e. a target point position is determined.
6 parameters obtained by fitting
Figure BDA0001827203250000081
The complete distance change process is fitted, as shown in fig. 11, the impact of the fitted curve is removed by CLEAN method, then a new maximum distance search is performed, and the above process is repeated until all scattering points are obtained.
The foregoing is a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should be considered as the protection scope of the present invention.

Claims (1)

1. An imaging method of a circumferential synthetic aperture radar based on a one-dimensional range profile is characterized by comprising the following steps: establishing a three-dimensional geometric structure model of a synthetic aperture radar imaging system, and setting a target to be composed of N scattering points; obtaining scattering information of each scattering point in turn through iteration, and then eliminating the influence of the scattering points from the echo signals until all the scattering information is obtained, thereby finishing the imaging of the target;
the three-dimensional geometric structure model of the synthetic aperture radar imaging system in the method specifically comprises the following steps:
the radar platform performs circular motion on a plane with the height h by using the radius R, the motion speed of the platform is v, the angular speed is omega-v/R, the wave beam always points to the center of the bottom surface obliquely downwards in the observation process, and the radius of a circular observation area is R; taking the center of a circle projected by the circular track on the bottom surface as an original point O, establishing a three-dimensional rectangular coordinate system, taking a plane running parallel to the radar platform as a rho-alpha plane, taking an upward axis which is perpendicular to the rho-alpha plane and passes through the original point as a Z axis, and taking the center slant distance
Figure FDA0003571254070000011
Inclination angle theta of inclined planezArctan (h/R), target angle theta along trackρArcsin (R/R), all are defined constants; the radar azimuth angle theta is defined as an included angle between the projection of a connecting line from the radar to the origin on an X-Y plane and the positive direction of the X axis;
suppose the radar transmits signals p (T), T is the pulse width, f0The signal frequency is shown, and the frequency is adjusted by gamma, and the specific expression is formula 1:
p(t)＝exp(j2πf0t)exp(jπγt2) (T is more than or equal to 0 and less than or equal to T) formula 1;
the method comprises the following specific steps of obtaining scattering information of each scattering point in turn through iteration, and then eliminating the influence of the scattering points from echo signals:
step 1, matching and filtering radar echoes, performing range compression, and displaying a compressed index map;
step 2, converting the index map into a binary map, refining by using a morphological method, and keeping the meaning and the size of coordinates;
step 3, removing the branch points and the cross points of the binary image, and dividing the curve into multiple sections of discontinuity;
step 4, summing the binary images in the distance direction, and determining the maximum distance difference value R according to the mutation positions of non-zero valuesPmaxiAt a minimum distance RPmini；
Step 5 at maximum distance RPmax1Determining the azimuth angle by using the sum of the number of consecutive non-zero elements
Figure FDA0003571254070000021
Step 6 at Point (R)P,θ)＝(RP1maxAlpha) carrying out curve tracking in a nearby area to obtain a section of curve;
step 7, fitting a sine curve by a random sampling consistency algorithm according to the curve segment obtained by tracking, and estimating parameters
Figure FDA0003571254070000022
And recording;
step 8 parameter comparison
Figure FDA0003571254070000023
Substituting the equation to obtain a distance and orientation curve, and removing the curve from the binary image;
and 9, repeating the steps 3 to 8 until the data has no sine curve, and stopping iteration.
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