CN109254270A - A kind of spaceborne X-band interfering synthetic aperture radar calibrating method - Google Patents
A kind of spaceborne X-band interfering synthetic aperture radar calibrating method Download PDFInfo
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Abstract
The invention discloses a kind of spaceborne X-band interfering synthetic aperture radar calibrating methods, include the steps of determining that synthetic aperture radar three-dimensional reconstruction model waits for scaling parameter: baseline b, oblique square r, Doppler parameter f, interferometric phase；Coordinate system is established, spaceborne X-band synthetic aperture radar three-dimensional reconstruction model is constructed；The sensitivity coefficient to scaling parameter is calculated, spaceborne X-band synthetic aperture radar three-dimensional reconstruction model is solved；Spaceborne X-band synthetic aperture radar three-dimensional reconstruction model is improved using regularization method；It solves and improves spaceborne X-band synthetic aperture radar three-dimensional reconstruction model.Height accuracy and plane precision fundamentally improve the height accuracy and plane precision of the data that synthetic aperture radar obtains, provide the Law of DEM Data service of high quality.
Description
Technical field
The invention belongs to the radar exploration technique field more particularly to a kind of spaceborne X-band interfering synthetic aperture radar calibrations
Method.
Background technique
Digital elevation model (DEM) plays more in fields such as disaster monitoring, environmental planning, national economy, defense military
Carry out more important role.Interference synthetic aperture radar technology have do not influenced by cloud and mist weather, round-the-clock, large area imaging etc. it is excellent
Gesture has been widely used in obtaining global high accuracy DEM data.Due to the essence of the DEM obtained using synthetic aperture radar technique
Spend it is closely bound up with the precision of interferometric parameter, in order to improve DEM precision, need using ground control point to all kinds of interferometric parameters into
Row error correction, i.e., usually said interference calibration.
Since the partial system parameters errors such as the local oscillation error of SAR equipment itself, phase shift errors can be in SAR
Dimensioning phase correction, therefore on the one hand the acquisition of high accuracy DEM data depends on synthetic aperture radar (synthetic aperture radar) flat
Platform index Design.On the other hand, the parameter error of baseline, oblique distance, position of platform and speed etc. still can in DEM manufacturing process shadow
Ring DEM precision, these errors are corrected be synthetic aperture radar extract high accuracy DEM important means, high accuracy DEM number
According to acquisition largely also depend on the guarantees of all kinds of calibration technologies.
Presently the most common satellite-borne synthetic aperture radar interference calibrating method is by establishing the quick school of multinomial model
Positive interference parameter error, to improve DEM precision.But this method can only improve the height accuracy of DEM to a certain extent, can not
Evaluate DEM plane precision.Presently the most common satellite-borne synthetic aperture radar interference calibrating method main thought is: first system point
Influence of every interferometric parameter to DEM precision is analysed, is then established according to each interferometric parameter characteristic and is based on corresponding error polynomial
Model recycles each multinomial model to be corrected thick DEM, final to improve DEM precision.This star based on error term analysis
Borne synthetic aperture radar interference calibrating method can be improved the height accuracy of dem data, but on the one hand this method ignores control
The plane information of point is made, the building of another aspect multinomial model is complex.It is difficult to obtain a large amount of calibrations points of arbitrary region
According to.
Summary of the invention
The object of the invention is that providing a kind of spaceborne X-band interfering synthetic aperture radar to solve the above-mentioned problems
Calibrating method includes the following steps:
S1: determining that synthetic aperture radar three-dimensional reconstruction model waits for scaling parameter, including baseline parameter b, oblique square parameter r, more
General Le parameter f, interferometric phase parameter
S2: it establishes the TCN coordinate system for baseline parameter expression, carry out visual direction amount for synthetic aperture radar three-dimensional reconstruction
The VPQ coordinate system of decomposition, the earth's core rectangular coordinate system in space XYZ coordinate system construct spaceborne X-band synthetic aperture radar three-dimensional and rebuild
Model；
S3: the sensitivity coefficient to scaling parameter is calculated, spaceborne X-band synthetic aperture radar three-dimensional reconstruction model is solved；
S4: spaceborne X-band synthetic aperture radar three-dimensional reconstruction model is improved using regularization method；
S5: it solves and improves spaceborne X-band synthetic aperture radar three-dimensional reconstruction model.
Further, the S2 step includes:
S21: it establishes the TCN coordinate system for baseline parameter expression, carry out visual direction for synthetic aperture radar three-dimensional reconstruction
The VPQ coordinate system decomposed, the earth's core rectangular coordinate system in space XYZ coordinate system are measured, if: C orienting line initial value is bc0, rate vc0,
N orienting line initial value is bn0, rate initial value be vn0, initial tiltedly square is r0, f0、f1、f2Respectively Doppler frequency is to the earth's core space
Rectangular coordinate system X, Y, Z-direction component, S are arrow of the synthetic aperture radar antenna phase center in the rectangular coordinate system in space of the earth's core
Amount, P are position vector of the target point in the rectangular coordinate system in space of the earth's core, R1For S to the vector of target point P；If target point exists
Speed in the rectangular coordinate system in space of the earth's core is v, is respectively v in the component of reference axisxi、vyi、vzi；
It is according to the three-dimensional coordinate being calculated to scaling parameter；
[Pxi Pyi Pzi] it is the three-dimensional coordinate that control point provides；
If:
S22: synthetic aperture radar three-dimensional reconstruction model equation:
Then Three-dimension Reconstruction Model equation are as follows:
Further, the sensitivity coefficient is the local derviation that Three-dimension Reconstruction Model treats scaling parameter, is included the following steps:
S31: the baseline parameter includes parallel baseline and vertical parallax, if: parallel baseline is bv,Vertical parallax is bpv,B be carrier aircraft coordinate system baseline to
Amount, b are the basic lineal vector of rectangular coordinate system in space, rvThe unit visual direction amount projection components for being visual direction amount in V axis direction, rpFor
Unit visual direction amount projection components of the visual direction amount in P axis direction, rqThe unit projection visual direction amount for being visual direction amount in Q axis direction point
Amount, r0For initial oblique square, fdopFor doppler centroid；S32:(1 local derviation) is asked to baseline parameter:
Parallel baseline is to baseline parameter derivation:
Vertical parallax is to baseline parameter derivation:
(2) local derviation is asked to initial tiltedly square parameter:
Wherein, derivative of the unit visual direction amount projection components to initial tiltedly square are as follows:
(3) local derviation is asked to Doppler frequency parameter:
(4) local derviation is asked to interferometric phase parameter:
Further, the S4 step includes: to set: matrix A is the sensitivity coefficient to scaling parameter to three-dimensional coordinate, and three
Dimension module equation curve curvature is k (λ), and λ is the optimal mould when threedimensional model equation curve maximum curvature under scaling parameter
Shape parameter, x are that then improved regularization thought non trivial solution, I are unit matrix, and b is the solution of original equation, then x=(A+ λ I)- 1b。
Further, the threedimensional model equation curve curvature are as follows:
Wherein u=| | xλ| |, v=| | Axλ- b | |, when k (λ) maximum, corresponding λ is the optimal model parameters.
The a large amount of calibration point datas for being difficult to obtain arbitrary region are efficiently solved the beneficial effects of the present invention are: the present invention
The problem of；The phenomenon that avoiding sensitivity matrix morbid state that calibration model resolving is caused to fail；It is improved using regularization method dry
Relate to calibration model, it is ensured that under conditions of scaling parameter is more, obtains accurate parameter corrected value, obtain reliable equation
Solution fundamentally improves the height accuracy and plane precision of the dem data that synthetic aperture radar obtains, provides the number of high quality
Elevation model data service.
Detailed description of the invention
Fig. 1 is a kind of spaceborne X-band interfering synthetic aperture radar calibrating method flow chart.
Fig. 2 is spaceborne InSAR mapping geometrical relationship schematic diagram.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings:
As shown in Figure 1, a kind of spaceborne X-band interfering synthetic aperture radar calibrating method of the present invention,
Interferometric parameter involved in synthetic aperture radar three-dimensional reconstruction model mainly has baseline, oblique distance, Doppler frequency, solution
Twine phase, primary position and primary speed.Below for spaceborne X-band SAR satellite platform, joined with the system of TanDEM-X image
For number, the characteristic and error source of this 6 parameters are analyzed:
(1) lubber line error
Existing research shows that straight rail orienting line error can be eliminated in the registration stage in cross rail interferometry, so nothing
It needs to consider.Interference baseline is decomposed into TCN coordinate system, the direction T is consistent with straight rail direction, there is no need to calibrate T durection component,
The direction C, N orienting line component need to only be calibrated.Baseline is the amount changed over time, therefore baseline can be decomposed into baseline
Initial value and baseline rate with time correlation, with the situation of change of single order polynomial repressentation baseline.In TanDEM-X task in order to
Reduce DEM relative elevation error, the optimal baseline accuracy of setting is 1 millimeter, and practical Inter-satellite Baseline measurement accuracy can only achieve 2
To 4 millimeter magnitudes, there are also a certain distance with setting accuracy for this.Baseline accuracy and synthetic aperture radar measurement of higher degree precision breath breath
Correlation, being must corrected parameter.
(2) oblique distance error
Oblique distance measurement is determined by calculating transmitting pulse and receiving the time delay between pulse.Oblique distance error is to Three-dimensional Gravity
Build precision influence show as oblique distance to it is whole reduce or lifting, influence level land phase accuracy.Oblique distance measurement error is main
As caused by radar timing system error, belong to systematic error, should be set to scaling parameter.
(3) Doppler parameter error
In TanDEM-X task, Doppler frequency influences very little to X-direction, this is because in cross rail interferometry
In, satellite by north orientation south or from south to north flight when, with X-direction near normal.Doppler frequency mainly influences Y-direction and the side Z
To measurement accuracy.Doppler coefficient f0、f1And f2Influence magnitude to reconstruction accuracy is different.0.001 hertz of f0、f1、
f2The corresponding Doppler frequency error of system errors is respectively 0.001 hertz, 0.0038 hertz and 11.027 hertz.So being
Number f2Influence to Doppler frequency is maximum, and the influence to reconstruction accuracy is more sensitive.In general, 0.1 hertz how general
0.1 meter of three-dimensional reconstruction error will be caused by strangling frequency error, and Doppler frequency is affected to reconstruction accuracy, should be true
It is set to scaling parameter.
(4) Interferometric phase error
Interferometric phase error is another error source that synthetic aperture radar three-dimensional is rebuild.10 ° or so of phase error is
It can produce the vertical error and plane error more than 1 meter, and the influence to plane positioning precision is bigger.Interferometric phase error and baseline
Influence of the measurement error to altimetry precision is suitable, and when baseline length is longer, Interferometric phase error plays measurement of higher degree precision
Decisive role.Random error in Interferometric phase error comprising being introduced in remaining systematic error and data handling procedure.Interference
Phase error is main error source during three-dimensional reconstruction, should be set to scaling parameter.
(5) primary location error
Satellite absolute position is to be calculated according to orbital data, and orbit measurement is usually to be loaded by satellite
GPS receiver carries out satellite Autonomous positioning.Existing research finds that GPS precise orbit determination error is continuous: under short-term time scale
Orbit error linear change, and change rate very little；Orbit error under long time scale changes at random.Due to obtaining for a scape image
Take the time very short, therefore can be by primary location error as fixed value.In view of TanDEM-X system orbit determination with higher
Absolute precision, therefore not using primary location error as interference scaling parameter.
(6) primary velocity error
Satellite velocities can be closely related with Satellite Orbit Determination precision by asking single order local derviation to obtain satellite orbit data,
It therefore can also be by primary velocity error as constant systematic error.It is determined in TanDEM-X system by double-frequency GPS technology
Satellite velocities precision is in submillimeter level, influence very little of the primary velocity error to polarization sensitive synthetic aperture radar system, can be neglected.
To sum up, using baseline parameter, initial oblique distance, Doppler coefficient, interferometric phase as to scaling parameter, that is, interferometric parameter.
If TCN coordinate system C orienting line initial value bc0With rate vc0, N orienting line initial value bn0With rate vn0, initial oblique distance
r0, Doppler coefficient f0、f1And f2, interferometric phaseIf baseline component be b, rate v, ifThen
For the three-dimensional coordinate obtained according to each interferometric parameter；[Pxi Pyi Pzi] it is control point three-dimensional coordinate, PxIndicate target point P on ground
X-coordinate in heart rectangular coordinate system in space；PyIndicate Y coordinate of the target point P in the rectangular coordinate system in space of the earth's core；PzIndicate mesh
Z coordinate of the punctuate P in the rectangular coordinate system in space of the earth's core.
If matrix A is respectively to scaling parameter to the susceptibility of three-dimensional coordinate, system parameter corrected value
WithIndicate spin matrixThen synthetic aperture radar three-dimensional
Reconstruction model equation can simplify are as follows:
Above formula can be rewritten as:
If V is parameter value to be corrected.V=[vx1 vy1 vz1 ... vxn vyn vzn]。
Then Three-dimension Reconstruction Model error equation are as follows:
Above formula can simplify are as follows: V=A Δ x-l；V is parameter value to be corrected.Matrix A:
If X is that the sensitivity coefficient of interferometric parameter is decomposed into three-dimensional coordinate to the local derviation of interferometric parameter to scaling parameter:
(1) local derviation is asked to baseline:
If B is the basic lineal vector of carrier aircraft coordinate system, b is the basic lineal vector of rectangular coordinate system in space,It is rotation
Torque battle array.Then the baseline under TCN coordinate system indicates are as follows:
By baseline by TCN coordinate system [Bt Bc Bn]T[b is gone under rectangular coordinate system in spacex by bz]T, baseline conversion formula
Are as follows:
According to vector multiplication cross principle, the matrix that TCN coordinate system is transformed into the earth's core rectangular coordinate system in space can be obtainedIt is detailed
Thin expression formula:
Wherein:
Then baseline conversion formula indicates are as follows:
Similarly, the detailed expressions for the VPQ coordinate system being calculated by vector multiplication cross formula are as follows:
Wherein:
[px py pz] to the derivative of baseline parameter are as follows:
[qx qy qz] to the derivative of baseline parameter are as follows:
Parallel baseline bvIt may be expressed as:
Then derivative of the parallel baseline to baseline parameter are as follows:
Vertical parallax bpvWith parallel baseline bv, baseline b form right angle triangle relation, meet lower relation of plane:
Then derivative of the vertical parallax to baseline parameter are as follows:
1. to Bc0、Bn0Derivative:
B is indicated with xc0And Bn0, unit visual direction amount isThree-dimensional coordinate is to Bc0、Bn0Derivative be expressed as:
Wherein, unit visual direction amountTo Bc0、Bn0DerivativeIt indicates are as follows:
Spin matrix is to Bc0、Bn0Derivation:
It indicates are as follows:
2. to vc0、vn0Derivative
With x expression parameter vc0、vn0.Three-dimensional coordinate is to vc0、vn0Derivative may be expressed as:
Wherein, unit visual direction amountTo vc0、vn0DerivativeIt indicates are as follows:
Spin matrixTo vc0、vn0Derivative may be expressed as:
(2) local derviation is asked to initial oblique distance
Initial oblique distance r0The derivative of three-dimensional localization is expressed as:
Wherein, unit visual direction amountTo r0Derivative are as follows:
In above formulaAccording to synthetic aperture radar platform difference, in spaceborne synthetic aperture radar (SAR) system
(3) local derviation is asked to Doppler frequency
The Doppler coefficient that different SAR systems provide will be different, and the local derviation of TanDEM-X Satellite Doppler Method coefficient can
It is indicated with following formula:
I=0 in above formula, 1,2, R1For target point to primary antenna phase center distance.Unit visual direction amountTo fiDerivative are as follows:
It has nothing in common with each other, should be changed according to real data format, TanDEM-X number to the derivative of Doppler coefficient
According toIt indicates are as follows:
Wherein, the corresponding cell coordinate of the t expression corresponding time.
(4) local derviation is asked to interferometric phase
To interferometric phaseLocal derviation is sought, is obtained:
Wherein,
Attached drawing 2 is the basic principle that InSAR obtains DEM, and S1, S2 respectively indicate main and auxiliary antenna phase center,
For vector of the major-minor antenna phase center in the rectangular coordinate system in space of the earth's core,It is target point P in the earth's core rectangular space coordinate
Position vector in system,The respectively vector of S1, S2 to target point P.
Vector expression of the target point P under the rectangular coordinate system in space of the earth's core:
In formula, fdopFor doppler centroid；For satellite velocity vector；λ is radar wavelength；R1For target point to main day
Phase of line centre distance；R2Supplemented by antenna to target point distance；φ is winding phase；K is the complete cycle number of interferometric phase；For
Absolute interferometric phase；Repeat track interference pattern Q is 2, and double antenna interference pattern Q is 1.
Using visual direction amount proper orthogonal decomposition to solution InSAR Three-dimension Reconstruction Model.First by visual direction amountDecompose mobile seat
Mark system, is then transformed into the earth's core rectangular coordinate system in space for the visual direction amount under moving coordinate system again.Then above-mentioned vector expression can
Conversion are as follows:
In formula,Effect be that the visual direction amount under VPQ coordinate system is transformed into the earth's core rectangular coordinate system in space.It indicates
Visual direction amountUnit vector in V axis, P axis, Q axis direction:
rvIndicate unit projection of the visual direction amount in V axis direction, expression formula are as follows:
rpIt is visual direction amount unit projection component in P axis direction, may be expressed as:
In formula, the component that baseline decomposes directional velocity isBaseline decomposes the component perpendicular to directional velocity
ForEach symbol meaning is same as above.
rqIt may be expressed as:
rqHeading, left and right side view are related when the calculating of middle sign is imaged to InSAR.
Joint rv、rp、rqExpression formula, unit projection component of the visual direction amount under VPQ moving coordinate system are as follows:
Vector expression after substituting the above to conversion, can be obtained the complete expression of Three-dimension Reconstruction Model:
When solving Δ x using least square, need to ATPA finding the inverse matrix.Matrix A indicates that each system parameter sits three-dimensional
Target susceptibility.Since the susceptibility of each interferometric parameter is not in the same magnitude, it is smaller that matrix will appear a certain train value, and certain
The very big situation of one train value.In this case, the A of compositionTPA will appear the problem of Singular Value, Matrix condition number even energy
Reach 1026Magnitude, seriously affect equation solver precision.It is asked in consideration of it, the present invention solves this using the regularization method of L-curve
Topic: by choosing regularization parameter, A matrix is transformed using regularization parameter, then finding the inverse matrix, finally obtains and most connect
The solution of nearly original equation.
L-curve is the full curve under logarithmic scale about parameter lambda, the regularization parameter that L-curve is chosen be L-curve most
Corresponding parameter lambda at deep camber.If maximum curvature calculation formula are as follows:
Wherein u=| | xλ| |, v=| | Axλ- b | |, when k (λ) maximum, corresponding λ is optimized parameter.
Final non trivial solution: x=(A+ λ I)-1b。
The present invention solves the problems, such as a large amount of calibration point datas for being difficult to obtain arbitrary region；Avoid sensitivity matrix
The phenomenon that morbid state causes calibration model resolving to fail；Interference calibration model is improved using regularization method, it is ensured that fixed
Under conditions of mark parameter is more, accurate parameter corrected value is obtained, reliable solution of equation is obtained, fundamentally improves synthetic aperture
The height accuracy and plane precision for the dem data that radar obtains, provide the Law of DEM Data service of high quality.
The limitation that technical solution of the present invention is not limited to the above specific embodiments, it is all to do according to the technique and scheme of the present invention
Technology deformation out, falls within the scope of protection of the present invention.
Claims (5)
1. a kind of spaceborne X-band interfering synthetic aperture radar calibrating method, which comprises the steps of:
S1: determine that synthetic aperture radar three-dimensional reconstruction model waits for scaling parameter, including baseline parameter b, oblique square parameter r, Doppler
Parameter f, interferometric phase parameter
S2: it establishes the TCN coordinate system for baseline parameter expression, carry out the decomposition of visual direction amount for synthetic aperture radar three-dimensional reconstruction
VPQ coordinate system, the earth's core rectangular coordinate system in space XYZ coordinate system, construct spaceborne X-band synthetic aperture radar three-dimensional and rebuild mould
Type；
S3: the sensitivity coefficient to scaling parameter is calculated, spaceborne X-band synthetic aperture radar three-dimensional reconstruction model is solved；
S4: spaceborne X-band synthetic aperture radar three-dimensional reconstruction model is improved using regularization method；
S5: it solves and improves spaceborne X-band synthetic aperture radar three-dimensional reconstruction model.
2. a kind of spaceborne X-band interfering synthetic aperture radar calibrating method according to claim 1, which is characterized in that described
S2 step includes:
S21: it establishes the TCN coordinate system for baseline parameter expression, carry out visual direction amount point for synthetic aperture radar three-dimensional reconstruction
The VPQ coordinate system of solution, the earth's core rectangular coordinate system in space XYZ coordinate system, if: C orienting line initial value is bc0, rate vc0, the side N
It is b to baseline initial valuen0, rate initial value be vn0, initial tiltedly square is r0, f0、f1、f2Respectively Doppler frequency is straight to the earth's core space
Angular coordinate system X, Y, Z-direction component, S are arrow of the synthetic aperture radar antenna phase center in the rectangular coordinate system in space of the earth's core
Amount, P are position vector of the target point in the rectangular coordinate system in space of the earth's core, R1For S to the vector of target point P；If target point exists
Speed in the rectangular coordinate system in space of the earth's core is v, is respectively v in the component of reference axisxi、vyi、vzi；
It is the three-dimensional coordinate being calculated in basis to scaling parameter,
[Pxi Pyi Pzi] it is the three-dimensional coordinate that control point provides；
If:
S22: synthetic aperture radar three-dimensional reconstruction model equation:
Then Three-dimension Reconstruction Model equation are as follows:
3. a kind of spaceborne X-band interfering synthetic aperture radar calibrating method according to claim 1, which is characterized in that described
Sensitivity coefficient is the local derviation that Three-dimension Reconstruction Model treats scaling parameter, is included the following steps:
S31: the baseline parameter includes parallel baseline and vertical parallax, if: parallel baseline is bv,
Vertical parallax is bpv,B is the basic lineal vector of carrier aircraft coordinate system, and b is rectangular coordinate system in space
Basic lineal vector, rvThe unit visual direction amount projection components for being visual direction amount in V axis direction, rpFor list of the visual direction amount in P axis direction
Position visual direction amount projection components, rqThe unit projection for being visual direction amount in Q axis direction regards component of a vector, r0For initial oblique square, fdopFor
Doppler centroid；
S32:(1 local derviation) is asked to baseline parameter:
Parallel baseline is to baseline parameter derivation:
Vertical parallax is to baseline parameter derivation:
(2) local derviation is asked to initial tiltedly square parameter:
Wherein, derivative of the unit visual direction amount projection components to initial tiltedly square are as follows:
(3) local derviation is asked to Doppler frequency parameter:
(4) local derviation is asked to interferometric phase parameter:
4. a kind of spaceborne X-band interfering synthetic aperture radar calibrating method according to claim 1, which is characterized in that described
S4 step includes: to set: for matrix A as the sensitivity coefficient to scaling parameter to three-dimensional coordinate, threedimensional model equation curve curvature is k
(λ), λ are optimal model parameters when the threedimensional model equation curve maximum curvature under scaling parameter, x be then it is improved just
Then change thought non trivial solution, I is unit matrix, and b is the solution of original equation, then x=(A+ λ I)-1b。
5. a kind of spaceborne X-band interfering synthetic aperture radar calibrating method according to claim 4, which is characterized in that described
Threedimensional model equation curve curvature are as follows:
Wherein u=| | xλ| |, v=| | Axλ- b | |, when k (λ) maximum, corresponding λ is the optimal model parameters.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110907932A (en) * | 2019-11-26 | 2020-03-24 | 上海卫星工程研究所 | Distributed InSAR satellite height measurement precision influence factor analysis method and system |
| CN111239736A (en) * | 2020-03-19 | 2020-06-05 | 中南大学 | Single-baseline-based surface elevation correction method, device, equipment and storage medium |
| CN111812645A (en) * | 2020-06-10 | 2020-10-23 | 西南交通大学 | Satellite interferometry method for deformation of frozen soil in season |
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