CN109358329A - The motor-driven Bistatic SAR echo model method for building up of pulse propagation time inner platform - Google Patents
The motor-driven Bistatic SAR echo model method for building up of pulse propagation time inner platform Download PDFInfo
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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
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- 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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- G01S13/9058—Bistatic or multistatic SAR
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- 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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Abstract
The present invention discloses a kind of Bistatic SAR echo model method for building up that pulse propagation time inner platform is motor-driven, " stopping walking to stop " is all based on it is assumed that aiming at the problem that sizable propagation delay error and orientation quadratic phase error can be caused the echo models for motor platform list base SAR and Bistatic SAR all at present；Platform is motor-driven during present invention consideration pulse propagation, correct traditional pulse propagation time delay equation assumed based on " stopping walking to stop ", to establish accurate pulse propagation time delay equation, and by carrying out the high accuracy approximation analytical expression that approximation solves the accurate pulse propagation time delay solution of equation from history higher order term to reception stop spacing, then first order Taylor expansion is carried out about the fast time to high accuracy approximation analytical expression, high-precision Bistatic SAR echo model is finally established, various Bistatic SAR situations can be suitable for.
Description
Technical field
The invention belongs to synthetic aperture radar (Synthetic Aperture Radar, SAR) technical field of imaging, especially
It is related to a kind of echo model establishing techniques.
Background technique
SAR has special round-the-clock round-the-clock high-resolution imaging ability, more and more emerging high motor platform (high
Maneuvering platform, HMP) such as unmanned vehicle, hypersonic aircraft wish to promote its environment by carrying SAR
Sensing capability.Data processing of the echo model in SAR plays key effect.
" stopping walking to stop " is assumed to be widely adopted in echo modeling at present.It but is invalid in some type of system
, such as many emerging SAR systems with high-resolution or high speed.
In order to solve this problem, part document proposes some improvement echo moulds for not depending on " stopping walking to stop " hypothesis
Type.For example, based on linear uniform motion it is assumed that document " Echo model analyses and imaging algorithm
for high-resolution SAR on highspeed platform,IEEE Trans.Geosci.Remote Sens.,
Vol.50, no.3, pp.933-950, Mar.2012. " propose a kind of accurately at the uniform velocity straight based on pulse propagation time inner platform
The echo model that line moves (linear-moving-during-propagation, LDP) is used for Low Earth Orbit (LEO) SAR；
Based on quadravalence Doppler parameter model, document " The accurate focusing and resolution analysis
method in geosynchronous SAR,IEEE Trans.Geosci.Remote Sens.,vol.49,no.10,
Pp.3548-3563, Oct.2011. " propose a kind of accurate echo model for being used for Geo-synchronous (GEO) SAR.However, by
In the intrinsic of them it is assumed that such as uniform rectilinear or satellite orbit motion, these existing echo models may not apply to have
There is motor-driven ordinary circumstance (i.e. non-linear uniform motion, this is very common in round SAR, motor platform SAR etc.) and double
The configuration of base configuration；Document " Fully polarimetric high-resolution 3-D imaging with
circular SAR at L-Band,IEEE Trans.Geosci.Remote Sens.,vol.52,no.6,pp.3074–
3090, Jun.2014 ", document " Feature-independent aperture evaluator for the
curvilinear SAR,IEEE Geosci.Remote Sens.Lett.,vol.4,no.2,pp.191–195,Apr.2007”
With document " Acceleration model analyses and imaging algorithm for highly squinted
airborne spotlight mode SAR with maneuvers,IEEE J.Sel.Topics Appl.Earth
Observ.in Remote Sens., vol.8, no.3, pp.1120-1131, Mar.2015 " are (single using the configuration of bistatic configuration
Base station configuration can be considered the special case of bistatic configuration configuration) motor platform echo acquirement geometrical model (can flexibly change speed
Spend size or directional velocity), which is applicable to circular motion, curvilinear motion or motor-driven SAR etc..However, according to we institute
Know, the echo models for motor platform list base SAR and Bistatic SAR all at present are all based on " stopping walking to stop " hypothesis.
Summary of the invention
In order to solve the above technical problems, the present invention proposes a kind of Bistatic SAR echo that pulse propagation time inner platform is motor-driven
Method for establishing model, it is contemplated that the linear movement and nonlinear motion of platform during pulse propagation avoid " stopping walking to stop " vacation
If with platform linear uniform motion it is assumed that being suitable for various Bistatic SAR situations.
The technical solution adopted by the present invention are as follows: the motor-driven Bistatic SAR echo model foundation side of pulse propagation time inner platform
Method the characteristics of according to fast reserve platform, considers the motor-driven of platform during pulse propagation, corrects traditional based on " stopping walking to stop "
The pulse propagation time delay equation of hypothesis, establishes accurate pulse propagation time delay equation, and by receiving stop spacing from history height
Rank carries out the high accuracy approximation analytical expression that approximation solves the accurate pulse propagation time delay solution of equation, then to high-precision
Approximate analysis expression formula carries out first order Taylor expansion about the fast time, finally establishes high-precision Bistatic SAR echo model.
A, establish accurate pulse propagation time delay equation the following steps are included:
Pulse propagation time delay equation under A1, determination " stopping walking to stop " hypothesis:
A2, motor-driven in view of pulse propagation time inner platform, the pulse propagation under assuming " stopping walking to stop " in step A1
Time delay equation is modified, and obtains accurate pulse propagation time delay equation；
Wherein, τdFor accurate pulse propagation time delay, c is propagation velocity of electromagnetic wave, and η indicates slow time, tsIndicate opposite arteries and veins
Emission time is rushed, (η+ts) indicating absolute pulse emission time, t indicates the fast time；
B, the high-precision analytical expression of the accurate pulse propagation time delay equation is solved, comprising the following steps:
B1, to the R in accurate pulse propagation time delay equationR(η+t) is done with lower aprons:
B2, according to the R in B1R(η+t) is updated accurate pulse propagation time delay equation and simplifies to obtain with lower section
Journey:
(c2-|vR|2)τd 2-2(c|rT|+vR·rR)τd=| rR|2-|rT|2,
Wherein,
The equation that B3, solution procedure B2 are obtained, and remove extraneous root, then it obtains high accuracy approximation time delay and (is denoted as τHP) expression formula
Are as follows:
C, first order Taylor expansion is carried out about the fast time to high accuracy approximation analytical expression, specifically includes the following steps:
C1, Taylor series expansion is carried out to high accuracy approximation analytical expression, obtained
τHP(η,ts)≈τa(η)+ξ(η)ts,
Wherein, τa(η) indicates pulse signal center propagation delay,ξ (η) indicates pulse propagation
Time delay with the impulse ejection moment change rate,
The parameter τ in Taylor expansion that C2, solution procedure C1 are obtaineda(η) and ξ (η)；
①
②
Wherein
It enables
It enables
By
By
C3, the parameter τ acquired using step C2a(η) and ξ (η) updates the Taylor expansion of step C1, according to step C1
Updated Taylor expansion obtains the expression formula of fast time t；
T=ts+τd
≈ts+τHP(η,ts)
≈ts+τa(η)+ξ(η)ts
=(1+ ξ (η)) ts+τa(η)
C4, the expression formula according to the fast time t of the Taylor expansion and step C3 of step C1, obtain high-precision time-delay τHP
First order Taylor about t:
D, high-precision Bistatic SAR echo model is established, specifically: the high-precision time-delay τ obtained according to step C4HPAbout
The first order Taylor of t obtains high-precision Bistatic SAR echo model:
Wherein, σ indicates radar cross section product RCS, ωr() and ωa() respectively indicates distance to the window letter with orientation
Number, KrIndicate chirp signal frequency modulation rate, fcIndicate the frequency of carrier frequency.
Beneficial effects of the present invention: method of the invention, it is contemplated that the linear movement of platform and non-during pulse propagation
Linear movement, and the height that approximation is derived pulse propagation time delay is carried out by the higher order term of the accurate distance history to receiving station
Precision analytic solutions；Assume with platform linear uniform motion due to avoiding " stopping walking to stop " it is assumed that echo mould established by the present invention
Type can be applied to various Bistatic SAR situations, including traditional slow linear uniform motion platform Bistatic SAR and emerging quick machine
Moving platform Bistatic SAR etc.；Method of the invention has following advantages:
1, sizable propagation delay error and orientation quadratic phase error can be caused compared to traditional model, the present invention is logical
It crosses and the high-precision analytic solutions that approximation is derived pulse propagation time delay is carried out to the higher order term of the accurate distance history of receiving station；It is built
Vertical echo model is high precision；
2, since the motor-driven Bistatic SAR echo model of pulse propagation time inner platform proposed by the present invention is not to platform
Movement simply carry out " stopping walking to stop " it is assumed that but fully considered movement of the platform in pulse propagation time, thus this hair
The model of bright proposition is more accurate, and emulation proves that the imaging algorithm based on the established echo model of the present invention can be well to mesh
Mark echo is focused, and traditional model then cannot.
Detailed description of the invention
Fig. 1 is the solution of the present invention flow chart；
Fig. 2 is that motor platform Bistatic SAR echo enrolls geometrical model；
Fig. 3 is pulse propagation Actual path and imaginary path and the signal of respective propagation Time Delay Model under " stopping walking to stop " hypothesis
Figure,
Fig. 4 is the pulse propagation time delay error schematic diagram of different echo models:
Wherein, Fig. 4 (a) is motor-driven (MDP) model in the arteries and veins that is proposed；Fig. 4 (b) is even straight movement (LDP) model in arteries and veins；
Fig. 4 (c) is " stopping walking to stop " (SAG) model；
Fig. 5 is variation schematic diagram of receiving station's orientation quadratic phase error with different parameters:
Wherein, Fig. 5 (a) is the variation with acceleration；Fig. 5 (b) is the variation with acceleration；
Fig. 6 is the geometry distribution for emulating point target；
Fig. 7 is backpropagation (back-projection, BP) algorithm imaging results based on different echo models:
Wherein, Fig. 7 (a) is motor-driven (MDP) model in arteries and veins proposed by the invention；Fig. 7 (b) is even straight movement in arteries and veins
(LDP) model；Fig. 7 (c) is " stopping walking to stop " (SAG) model；
Fig. 8 is the impulse response of BP algorithm；
Wherein, Fig. 8 (a) is target B；Fig. 8 (b) is target C.
Specific embodiment
For convenient for those skilled in the art understand that technology contents of the invention, with reference to the accompanying drawing to the content of present invention into one
Step is illustrated.
It is as shown in Figure 1 the solution of the present invention flow chart, the technical solution adopted by the present invention includes: flat according to fast reserve
The characteristics of platform, platform is motor-driven during consideration pulse propagation, when correcting traditional pulse propagation assumed based on " stopping walking to stop "
Prolong equation, establishes accurate pulse propagation time delay equation, and carry out by the higher order term of the accurate distance history to receiving station
Approximation solves the high-precision analytical expression of the accurate pulse propagation time delay equation, then to accurate pulse propagation time delay side
Journey carries out first order Taylor expansion about the fast time, finally establishes high-precision Bistatic SAR echo model.
Establish accurate pulse propagation time delay equation the following steps are included:
Pulse propagation time delay equation under A1, determination " stopping walking to stop " hypothesis:
Wherein, η indicates slow time, RT(η) is indicated " stop walking to stop " assume lower transmitting station apart from history, RR(η) expression " stops
Walk to stop " assume lower receiving station apart from history, vT(vR)、aT(aR)、jT(jR) respectively indicate the speed that transmitting station (receiving station) moves
Degree, acceleration, acceleration, rPIndicate the position vector of point target；
In A2, " stopping walking to stop " model, transmitting station in receiving station's this period is traveled to from transmitting station in pulse signal and is connect
It receives platform and is assumed to stationary state；It actually travels in receiving station's this period and emits from transmitting station in pulse signal
Standing and receive platform is not stationary state, and " stopping walking to stop " as shown in Figure 3 assumes that the calculating that will lead to pulse propagation time delay occurs
Error；
This step is motor-driven in view of pulse propagation time inner platform, and the pulse under assuming " stopping walking to stop " in step A1 passes
Sowing time prolongs equation and is modified, and obtains accurate pulse propagation time delay equation and is
Wherein, τdFor accurate pulse propagation time delay, c is propagation velocity of electromagnetic wave, and η indicates slow time, tsIndicate opposite arteries and veins
Emission time is rushed, (η+ts) indicating absolute pulse emission time, t indicates the fast time；
Solve the high-precision analytical expression of the accurate pulse propagation time delay equation, comprising the following steps:
B1, to the R in accurate pulse propagation time delay equationR(η+t) is done with lower aprons:
B2, according to the R in B1R(η+t) is updated accurate pulse propagation time delay equation and simplifies to obtain with lower section
Journey:
(c2-|vR|2)τd 2-2(c|rT|+vR·rR)τd=| rR|2-|rT|2,
Wherein,
The equation that B3, solution procedure B2 are obtained, and remove extraneous root, then obtain high-precision time-delay expression formula are as follows:
High-precision Bistatic SAR echo model is established, specifically includes the following steps:
C1, Taylor series expansion is carried out to the high-precision time-delay expression formula in step B3, specifically:
To high-precision time-delay τHPAbout tsMake first order Taylor expansion, obtains
τHP(η,ts)≈τa(η)+ξ(η)ts,
Wherein,Indicate pulse signal center propagation delay,It indicates
Pulse propagation time delay with the impulse ejection moment change rate；
The parameter τ in Taylor expansion that C2, solution procedure C1 are obtaineda(η) and ξ (η)；
1. seeking τa(η):
It enables
It is available
2. asking ξ (η):
It enables
It enables
By
By
To sum up,
C3, the parameter τ acquired using step C2a(η) and ξ (η) updates the Taylor expansion of step C1, according to step C1
Updated Taylor expansion obtains the expression formula of fast time t；
T=ts+τd
≈ts+τHP(η,ts)
≈ts+τa(η)+ξ(η)ts
=(1+ ξ (η)) ts+τa(η)
C4, the expression formula according to the fast time t of the Taylor expansion and step C3 of step C1, obtain high-precision time-delay τHP
First order Taylor about t:
High-precision Bistatic SAR echo model is established, specifically: the high-precision time-delay τ obtained according to step C4HPAbout t
First order Taylor, obtain high-precision Bistatic SAR echo model:
Wherein, σ indicates radar cross section product RCS, ωr() and ωa() respectively indicates distance to the window letter with orientation
Number, KrIndicate chirp signal frequency modulation rate, fcIndicate the frequency of carrier frequency.
It is illustrated in figure 4 the pulse propagation time delay error schematic diagram of different echo models, echo mould proposed by the invention
The pulse propagation time delay error that type introduces much smaller than fast time sampling unit thus can be ignored, and existing two kinds of echoes
Model can introduce the pulse propagation time delay error that can not ignore；Echo model of the invention is more accurate；
Receiving station's orientation quadratic phase error is illustrated in figure 5 with the variation schematic diagram of different parameters, the present invention is mentioned
The orientation quadratic phase error that echo model out introduces much smaller than π/4 thus can ignore, and existing two kinds of echo models
The orientation quadratic phase error that can not ignore can be introduced；Know that echo model proposed by the invention is very accurate.
Below in conjunction with specific data, technical effect of the invention is illustrated.
The simulation parameter used as shown in table 1 for the present embodiment, the motor-driven BSAR of the present embodiment obtain the geometry mould of echo
Type is as shown in Fig. 2, the geometry of emulation point target is distributed as shown in fig. 6, obtained simulation result is as shown in Figure 7, Figure 8.
It can be seen from Fig. 7 (a) when using MDP echo model proposed by the invention, target can gather well
It is burnt.In contrast, when straight movement (LDP) model even in the arteries and veins using Fig. 7 (b) and " stopping walking to stop " (SAG) model of Fig. 7 (c)
When, target cannot be focused；And there are geometric warpings for image；As shown in figure 8, based on echo model proposed by the invention
BP algorithm can obtain good target pulse response, and the accuracy of this model has been confirmed in side.Pass through simulation result Fig. 7, Fig. 8
Show validity and necessity of the method for the present invention in Bistatic SAR imaging.
1 simulation parameter of table
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.For ability
For the technical staff in domain, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made
Any modification, equivalent substitution, improvement and etc. should be included within scope of the presently claimed invention.
Claims (6)
1. the motor-driven Bistatic SAR echo model method for building up of pulse propagation time inner platform, which is characterized in that consider pulse propagation
Platform is motor-driven in the process, corrects traditional pulse propagation time delay equation assumed based on " stopping walking to stop ", to establish accurate
Pulse propagation time delay equation, and by receive stop spacing from history higher order term carry out approximation solve the accurate pulse propagation when
Prolong the high accuracy approximation analytical expression of solution of equation, it is safe then to carry out single order about the fast time to high accuracy approximation analytical expression
Expansion is strangled, high-precision Bistatic SAR echo model is finally established.
2. the motor-driven Bistatic SAR echo model method for building up of pulse propagation time inner platform according to claim 1, special
Sign is, accurate pulse propagation time delay equation are as follows:
Wherein, τdFor accurate pulse propagation time delay, c is propagation velocity of electromagnetic wave, and η indicates slow time, tsIndicate relative pulse hair
The moment is penetrated, (η+ts) indicating absolute pulse emission time, t indicates the fast time,
3. the motor-driven Bistatic SAR echo model method for building up of pulse propagation time inner platform according to claim 2, special
Sign is, solves the high-precision analytical expression of the accurate pulse propagation time delay equation, comprising the following steps:
B1, to the receiving station in accurate pulse propagation time delay equation apart from history higher order term RR(η+t) is done with lower aprons:
Wherein, τSAGIndicate the pulse propagation time delay under " stopping walking to stop " is assumed, vRIndicate the speed of receiving station's movement, aRIt indicates to receive
Stand movement acceleration, jRIndicate the acceleration of receiving station's movement, rPIndicate the position vector of point target；rR0Indicate receiving station
Initial position；
B2, the R according to step B1 after approximateR(η+t), accurate pulse propagation time delay equation is updated and simplifies to obtain with
Lower equation:
(c2-|vR|2)τd 2-2(c|rT|+vR·rR)τd=| rR|2-|rT|2,
Wherein,
rT0Indicate transmitting station's initial position, aTIndicate hair
Penetrate the acceleration of station movement, vTIndicate the speed of transmitting station's movement,
The equation that B3, solution procedure B2 are obtained, and remove extraneous root, then obtain high accuracy approximation delay expression are as follows:
4. the motor-driven Bistatic SAR echo model method for building up of pulse propagation time inner platform according to claim 3, special
Sign is, traditional pulse propagation time delay equation assumed based on " stopping walking to stop " are as follows:
Wherein, RT(η) indicate " stopping walking to stop " assume lower transmitting station apart from history, RR(η) indicates that " stopping walking to stop " assumes lower receiving station
Apart from history.
5. the motor-driven Bistatic SAR echo model method for building up of pulse propagation time inner platform according to claim 4, special
Sign is, carries out first order Taylor expansion about the fast time to high accuracy approximation analytical expression, specifically includes the following steps:
C1, Taylor series expansion is carried out to high accuracy approximation analytical expression, obtained
τHP(η,ts)≈τa(η)+ξ(η)ts,
Wherein, τa(η) indicates pulse signal center propagation delay,ξ (η) indicates pulse propagation time delay
With the change rate at impulse ejection moment,
The parameter τ in Taylor expansion that C2, solution procedure C1 are obtaineda(η) and ξ (η)；
C3, the parameter τ acquired using step C2a(η) and ξ (η) updates the Taylor expansion of step C1, after being updated according to step C1
Taylor expansion obtain the expression formula of fast time t；
T=ts+τd
≈ts+τHP(η,ts)
≈ts+τa(η)+ξ(η)ts
=(1+ ξ (η)) ts+τa(η)
C4, the expression formula according to the fast time t of the Taylor expansion and step C3 of step C1, obtain high-precision time-delay τHPAbout
The first order Taylor of t:
6. the motor-driven Bistatic SAR echo model method for building up of pulse propagation time inner platform according to claim 5, special
Sign is, establishes high-precision Bistatic SAR echo model, specifically: the high-precision time-delay τ obtained according to step C4HPAbout t's
First order Taylor obtains high-precision Bistatic SAR echo model:
Wherein, σ indicates radar cross section product RCS, ωr() and ωa() respectively indicates distance to the window function with orientation,
KrIndicate chirp signal frequency modulation rate, fcIndicate the frequency of carrier frequency.
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| CN113671475A (en) * | 2021-06-29 | 2021-11-19 | 哈尔滨工程大学 | High-precision speed measurement method for underwater mobile platform based on time delay information |
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| QIANGHUI ZHANG等: "《Non-Stop-and-Go Echo Model for Hypersonic-Vehicle-Borne Bistatic Forward-Looking Sar》", 《 IGARSS 2018 - 2018 IEEE INTERNATIONAL GEOSCIENCE AND REMOTE SENSING SYMPOSIUM》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111856458A (en) * | 2020-06-17 | 2020-10-30 | 西安电子科技大学 | Satellite-borne bistatic SAR echo time delay calculation method based on non-stop-go mode |
| CN113671475A (en) * | 2021-06-29 | 2021-11-19 | 哈尔滨工程大学 | High-precision speed measurement method for underwater mobile platform based on time delay information |
| CN113671475B (en) * | 2021-06-29 | 2022-06-14 | 哈尔滨工程大学 | High-precision speed measurement method for underwater mobile platform based on time delay information |
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| Publication number | Publication date |
|---|---|
| CN109358329B (en) | 2020-06-30 |
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