CN109444827B - Direction interpolation method for radar video echo display - Google Patents
Direction interpolation method for radar video echo display Download PDFInfo
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Abstract
The azimuth interpolation method for radar video echo display is characterized by comprising the following steps of establishing a corresponding relation between pixel points and sampling points according to a coordinate conversion relation
θ p Calculate pixel (X, Y) and sampling (R, θ) points =atan (Y/X) p ) Forming a data table for storing the radius value of the corresponding distance ring; counting the number S of pixel points on rings with different distances R According to n=round (log 2 (S R ) Quantized number of pixels, i.e. number of pixels S in subsequent display processing R According to 2 N Performing point interpolation; compared with the prior art, the method can better adapt to radar products with different working modes and different waveforms, and better adapt to the requirements of different azimuth sampling rates, in particular to a high-resolution long-distance radar; the algorithm can be well adapted to radar working modes of different systems.
Description
Technical Field
The invention relates to an azimuth interpolation method for radar video echo display, which is particularly suitable for near zone video flickering in a near zone and small targets are easy to lose; and (3) visual display of radar video with dead address phenomenon in a far zone.
Background
The rotary scanning type radars occupy a large proportion, and the rotary scanning type radars are mostly displayed in a plane position display mode, and the visual display of radar videos is a main presentation form of radar detection results. The planar position display presents a wide range of background areas, forming navigational information and situational information for the target, and common radars include navigational radars, empty search or warning radars.
The radar plane position display mode causes two types of problems of radar video display: and displaying the dead zone phenomenon and the dead address phenomenon. The display dead zone phenomenon occurs in a radar near zone, and because the display resolution in the near zone is lower than the radar sampling rate, video data of different pulses of the display near zone are written on the same video memory address, so that near zone video flicker and small targets are easy to lose; the dead address phenomenon appears as occurring in the far region of the radar where the resolution of the radar decreases and the data density is lower as the radius increases, the display pixels have blank pixels that are not covered, and appear as black dots.
One approach to solve the dead address phenomenon is to increase the frequency of the transmit-receive pulse of the radar, increase the azimuth sampling rate, and ensure that the transmitted pulse at a remote position is relatively redundant and does not have a dead address display. The hardware cost of the radar is greatly increased, and more radars adopt a software processing mode.
Disclosure of Invention
The invention aims to provide an azimuth interpolation method for radar video echo display, and when a radar fails to meet the condition of full azimuth sampling, a plane position display mode can still better present scene information. An azimuth interpolation method for radar video echo display is characterized by comprising the following steps,
step one, establishing a corresponding relation between pixel points and sampling points
According to the coordinate conversion relation
θ p Calculate pixel (X, Y) and sampling (R, θ) points =atan (Y/X) p ) Forming a data table for storing the radius value of the corresponding distance ring;
counting the number S of pixel points on rings with different distances R According to n=round (log 2 (S R ) Quantized number of pixels, i.e. number of pixels S in subsequent display processing R According to 2 N Performing point interpolation;
step two, displaying the radar echo of the direction interpolation
According to radar system parameters, radar pulse repetition frequency and antenna rotating speed are obtained, and the number of sampling points of the radar display single-circle azimuth is calculated according to the following formula:
wherein PRF is the repetition frequency of radar pulse, n is the rotation speed of antenna;
step three, display pixel region division
Dividing a display pixel area corresponding to the radar sampling area into three areas of a near area, a middle area and a far area:
comparing the number of distance loop quantization processing points with the number of pulses formed by a single scan, if N < round (log) is satisfied 2 (S A ) Dividing display pixel points on the corresponding distance ring into a near area;
if n=round (log) 2 (S A ) The display pixel point on the corresponding distance ring is marked as a middle area;
if N > round (log) 2 (S A ) The display pixel points on the corresponding distance ring are marked as far areas, wherein N is; round (log) 2 (S A ) Is a number of the components of the device),
step four, display pixel region classification processing
The downsampling of the near zone eliminates redundant display data, the middle zone does not perform variable sampling processing, and the upsampling and interpolation processing of the far zone processes the display data;
2. the azimuth interpolation method for radar video echo display according to claim 1, wherein the step four is a display pixel region classification process, specifically
a. Near zone redundancy elimination processing
Performing time-frequency transformation (fast Fourier transform, FFT) on sampling points with corresponding distances of display pixels, performing low-pass filtering on frequency domain signals, and reserving 2 in the frequency domain Nr The point is subjected to video inverse transformation, namely inverse fast Fourier transformation and IFFT, by the number of the rear azimuth matching points; the extracted data are used for selecting display pixel points with similar angles of adjacent sampling points;
b. middle area display processing
The radar direct sampling points are used as subsequent display candidate points without time-frequency conversion and inverse conversion; the radar directly samples data and selects display pixel points by using angles of adjacent sampling points to be similar.
c. Remote area interpolation processing
The sampling points with the corresponding distance of the display pixels are subjected to time-frequency transformation, namely fast Fourier transformation, FFT, frequency domain informationFiltering with 3.6-selection high-resistance filter to form 2 with zero-filling value of high-frequency component Nr The point frequency domain signal, then the azimuth matching point carries out video inverse transformation, namely inverse fast Fourier transformation, IFFT; and selecting display pixel points by using the adjacent sampling point angles to be similar to the interpolated data through FFT point curves and corresponding tables which are adopted on different radiuses.
Compared with the prior art, the method can better adapt to radar products with different working modes and different waveforms, and better adapt to the requirements of different azimuth sampling rates, in particular to a high-resolution long-distance radar; the algorithm can be well adapted to radar working modes of different systems.
The invention has the following advantages:
1) The method is better suitable for radar products with different working modes and different waveforms, and better meets the requirements of different azimuth sampling rates, in particular to a high-resolution long-distance radar; the algorithm can be well adapted to radar working modes of different systems;
2) The requirement of a radar rotating mechanism is reduced, and the working flow of the algorithm is not influenced by the increase and decrease of the number of azimuth sampling points caused by rotation speed deviation;
3) The algorithm is relatively stable, the corresponding relation between the sampling points and the video pixel points is relatively stable, and the video display cannot be obviously changed under the condition that the radar rotation speed is affected;
4) The algorithm is close to the traditional method, azimuth sampling is virtually realized, and other subsequent processing can be kept continuously;
5) The radar signals mostly adopt a frequency domain processing technology, and the radar echo video interpolation processing adopts a similar technology; the radar display uses the signal processing technology for reference, and is favorable for coordination and unified planning of the front end and the rear end.
Drawings
FIG. 1, a flow chart of azimuth interpolation processing of the present invention
FIG. 2 shows the radius numbers corresponding to the pixel points of the present invention
FIG. 3 is a schematic diagram of the number of interpolation points on rings with different distances according to the present invention
FIG. 4 is a view showing a radar display section according to the present invention
FIG. 5-1 is a diagram of FFT point numbers of different distance loops according to the present invention;
fig. 5-2, lists of different distance loop FFT points of the present invention.
FIG. 6 is a flow chart of the process for selecting the proximity sampling point angle approximation;
FIG. 7 is a truncated Gaussian function diagram (Gaussian function definition domain is an infinite interval where the truncated center region forms a truncated Gaussian function) according to the invention.
FIG. 8-1, a low pass filter display diagram of the present invention;
FIG. 8-2 shows a high-resistance filter of the present invention.
Detailed Description
An azimuth interpolation method for radar video echo display is characterized by comprising the following steps,
step one, establishing a corresponding relation between pixel points and sampling points
According to the coordinate conversion relation
θ p Calculate pixel (X, Y) and sampling (R, θ) points =atan (Y/X) p ) Forming a data table for storing the radius value of the corresponding distance ring;
counting the number S of pixel points on rings with different distances R According to n=round (log 2 (S R ) Quantized number of pixels, i.e. number of pixels S in subsequent display processing R According to 2 N Performing point interpolation;
step two, displaying the radar echo of the direction interpolation
According to radar system parameters, radar pulse repetition frequency and antenna rotating speed are obtained, and the number of sampling points of the radar display single-circle azimuth is calculated according to the following formula:
wherein PRF is the repetition frequency of radar pulse, n is the rotation speed of antenna;
step three, display pixel region division
Dividing a display pixel area corresponding to the radar sampling area into three areas of a near area, a middle area and a far area:
comparing the number of distance loop quantization processing points with the number of pulses formed by a single scan, if N < round (log) is satisfied 2 (S A ) Dividing display pixel points on the corresponding distance ring into a near area;
if n=round (log) 2 (S A ) The display pixel point on the corresponding distance ring is marked as a middle area;
if N > round (log) 2 (S A ) The display pixel points on the corresponding distance ring are marked as far areas, wherein N is; round (log) 2 (S A ) Is a number of the components of the device),
step four, display pixel region classification processing
The downsampling of the near zone eliminates redundant display data, the middle zone does not perform variable sampling processing, and the upsampling and interpolation processing of the far zone processes the display data;
2. the azimuth interpolation method for radar video echo display according to claim 1, wherein the step four is a display pixel region classification process, specifically
a. Near zone redundancy elimination processing
Performing time-frequency transformation (fast Fourier transform, FFT) on sampling points with corresponding distances of display pixels, performing low-pass filtering on frequency domain signals, and reserving 2 in the frequency domain Nr The point is subjected to video inverse transformation, namely inverse fast Fourier transformation and IFFT, by the number of the rear azimuth matching points; the extracted data are used for selecting display pixel points with similar angles of adjacent sampling points;
b. middle area display processing
The radar direct sampling points are used as subsequent display candidate points without time-frequency conversion and inverse conversion; the radar directly samples data and selects display pixel points by using angles of adjacent sampling points to be similar.
c. Remote area interpolation processing
The sampling points with the corresponding distance of the display pixels are subjected to time-frequency transformation, namely fast Fourier transformation, FFT, and the frequency domain signals are filtered by a 3.6-selection high-resistance filter, and the high frequency is carried outComponent zero padding value forms 2 Nr The point frequency domain signal, then the azimuth matching point carries out video inverse transformation, namely inverse fast Fourier transformation, IFFT; and selecting display pixel points by using the adjacent sampling point angles to be similar to the interpolated data through FFT point curves and corresponding tables which are adopted on different radiuses.
The invention relates to a software approach for solving the dead address phenomenon, which is to read out the original data in a video memory and write back the written data by weighting operation in a scanning area.
The essence of the method is that random errors of the initial phase of the circular scanning of the search radar are utilized to increase the azimuth coverage density of the radar, and blind spots of radar azimuth sampling are reduced.
2R multiplied by sin (360/2N) is less than or equal to 12 pi R, and the true calculation result is shown as a graph pi R 2 The method comprises the steps of carrying out a first treatment on the surface of the The actual sampling point number of the radar is about 2 pi R 2 The traditional method of the figure is constrained by hardware conditions, the hardware constraint can be reduced by adopting a software technology, the position approximation and the equivalence of azimuth dimension sampling points and coordinate points are simplified, the fast Fourier transformation data becomes sampling, the frequency domain information control and the like become the most characteristic contents of the technology. The azimuth interpolation is carried out by the method, so that the practical application range of the radar is expanded, and the constraint condition of the traditional video display of the radar due to hardware is solved.
The azimuth interpolation method for radar video echo display provides a category of azimuth interpolation software method with strong adaptability, and when the radar fails to meet the condition of full azimuth sampling, the plane position display mode can still better present scene information. The distance ring is innovatively divided into a near zone, a middle zone and a far zone, azimuth sampling requirements on different distance rings are met through interpolation processing or extraction processing, interpolation processing is not needed when the middle zone distance ring is subjected to sampling matching, the near zone distance ring adopts extraction processing due to too many azimuth sampling points, and the far zone distance ring can supplement sampling points through interpolation due to the fact that the sampling points are in an undersampling state. The radar video azimuth interpolation technology flow chart is divided into four main steps of radar data sampling preprocessing, data segmentation processing, partition processing and adjacent sampling point angle approximation selection processing, and fig. 1 is a flow chart corresponding to the azimuth interpolation technology.
3.1 establishing a corresponding relation between the pixel points and the sampling points
According to the coordinate conversion relation
θ p Calculate pixel (X, Y) and sampling (R, θ) points =atan (Y/X) p ) Forming a data table for storing the radius value of the corresponding distance ring; the actual storage area only retains a quarter area, and fig. 2 is a diagram of radius values corresponding to different display pixels.
Counting the number S of pixel points on rings with different distances R According to n=round (log 2 (S R ) Quantized number of pixels, i.e. number of pixels S in subsequent display processing R According to 2 N And (5) point interpolation. FIG. 3 is a schematic diagram of the number of interpolation points on different distance rings.
3.2 azimuth interpolation radar echo display processing flow
Firstly, according to radar system parameters, radar Pulse Repetition Frequency (PRF) and antenna rotating speed (n) are obtained, the radar pulse transmitting speed and the antenna rotating speed are respectively corresponding, and the number of sampling points of the radar display single-circle edge direction is calculated according to the following formula.
3.3 display Pixel area division
The following process divides the radar sampling area into three areas, near zone, middle zone and far zone:
comparing the number of distance loop quantization processing points with the number of pulses formed by a single scan, if N < round (log) is satisfied 2 (S A ) Dividing display pixel points on the corresponding distance ring into a near area;
if n=round (log) 2 (S A ) The display pixel point on the corresponding distance ring is marked as a middle area;
if n=round (log) 2 (S A ) The display pixel point on the corresponding distance ring is marked as a far zone. FIG. 4 is a view showing a radar display area from insideOutward is a near zone, a middle zone and a far zone in this order.
3.4 display Pixel area Classification processing
The display area is respectively processed according to different sections, the near area downsampling eliminates redundant display data, the middle area does not carry out variable sampling processing, and the far area upsampling interpolation processes the display data.
Near zone redundancy elimination processing
Performing time-frequency conversion (fast Fourier transform, FFT) on sampling points with corresponding distances of display pixels, performing 3.6-section low-pass filtering on frequency domain signals, and reserving 2 in the frequency domain Nr The point, the backward direction matching point carries on the video inverse transformation (inverse fast Fourier transform, IFFT); and the extracted data are similar to the display pixel points according to the angles of 3.5 sections of adjacent sampling points.
Middle area display processing
The radar direct sampling points are used as subsequent display candidate points without time-frequency conversion and inverse conversion; and the radar directly samples data and selects display pixel points according to the angle of 3.5 sections of adjacent sampling points.
Remote area interpolation processing
The sampling points with the corresponding distance of the display pixels are subjected to time-frequency transformation (fast Fourier transformation, FFT), the frequency domain signal is filtered by a 3.6-selection high-resistance filter, and the zero padding value of the high-frequency component is formed into 2 Nr The point frequency domain signal, then the azimuth matching point performs video inverse transformation (inverse fast fourier transform, IFFT); fig. 5 is a graph of FFT points taken over different radii and corresponding tables. And selecting display pixel points according to the adjacent sampling point angles of 3.5 sections after interpolation.
3.5 method for selecting adjacent sampling point angles in similar manner
And selecting and processing adjacent sampling points, and selecting and displaying adjacent candidate points at the pixel points according to the angle relation. And introducing a virtual azimuth drift amount, iteratively matching sampling points corresponding to the pixel points to minimize the error angle, and displaying gray values of the sampling points corresponding to the pixel points.
FIG. 6 is a flow chart of a technique for proximity sampling point angle approximation selection processing.
3.5.1 sample points and pixel points are respectively ordered
The sampling points and the pixel points are sequentially arranged from small to large in distance ring radius according to the distance resolution;
angular alignment of radar sampling points (R, θ p ) Points on rings of different distances are taken along theta p In order of decreasing clockwise order, where the angle θ p The value range of the sampling point is 0-360 degrees (not including 360 degrees), and the angles among the sampling points are the same in size and are expressed as delta theta;
the display pixel points are divided into different distance rings with 1 interval along the radius, the pixel points (X, Y) are arranged in the distance rings, the arrangement sequence of the data points (X, Y) is from big to small, and Y is from small to big;
3.5.2 matching pixels
Initializing: from the initial display pixel point (X 0 0) start, find θ p Time closest to 0 is taken as t 0 Initial sampling point (R, θ p (t 0 ) Angle theta) of match d Namely, as the angular rotation difference of two coordinates, θ d ＝θ p (t 0 )；
Recursively calculating the polar coordinates of the next display pixel point (X, Y) as (R, θ (t) 1 ) A) the matched sampling points, the pixel points satisfy x=rcos θ (t) 1 )，Y＝Rsinθ(t 1 )。
The mark { Rcos θ ] d ，Rsinθ d Cos delta theta, sin delta theta is a set of historical triangles, which are continually updated in the inner loop until a new radius begins, the above formula being calculated from the set of historical triangles and X, Y.
Updating the history triangle set forms a new history triangle set { Rcos (θ) d +Δθ)，Rsin(θ d +Δθ), cos Δθ, sin Δθ, and updating the formula to Rcos (θ) d +Δθ)＝Rcosθ d cosΔθ-Rsinθ d sinΔθ， Rsin(θ d +Δθ)＝Rsinθ d cosΔθ+Rcosθ d sin delta theta. Calculation (R) 2 cos(θ(t 1 )-θ d )， R 2 sin(θ(t 1 )-θ d ) The calculation formula is as follows
R 2 cos(θ(t 1 )-θ d )＝Rcos(θ(t 1 ))Rcos(θ d )+Rsin(θ(t 1 ))Rsin(θ d )，
R 2 sin(θ(t 1 )-θ d )＝Rsin(θ(t 1 ))Rcos(θ d )-Rcos(θ(t 1 ))Rsin(θ d )。
Calculating whether the sequential sampling points match the display pixel point (R 2 cos(θ(t 1 )-θ d -Δθ)，
R 2 sin(θ(t 1 )-θ d -delta theta)), the calculation formula is
R 2 cos(θ(t 1 )-θ d -Δθ)＝Rcos(θ(t 1 ))Rcos(θ d +Δθ)
+Rsin(θ(t 1 ))Rsin(θ d +Δθ)
R 2 sin(θ(t 1 )-θ d -Δθ)＝Rsin(θ(t 1 ))Rcos(θ d +Δθ)
-Rcos(θ(t 1 ))Rsin(θ d +Δθ)
The same processing step calculates the following radar sampling points (R, θ d +nΔθ) and the current display point, and updating the set of history triangles to { cos Δθ, sin Δθ, rcos (θ) d +nΔθ)，Rsin(θ d +nΔθ)}。
From the set of triangular values (R 2 Cos(θ(t 1 )-θ d -nΔθ)，R 2 sin(θ(t 1 )-θ d -nΔθ), the calculation formula is as follows
R 2 Cos(θ(t 1 )-θ d -nΔθ)＝Rcos(θ(t 1 ))Rcos(θ d +nΔθ)
+Rsin(θ(t 1 ))Rsin(θ d +nΔθ)
R 2 sin(θ(t 1 )-θ d -nΔθ)＝Rsin(θ(t 1 ))Rcos(θ d +nΔθ)
-Rcos(θ(t 1 ))Rsin(θ d +nΔθ)
Up to the current value R 2 sin(θ(t 1 )-θ d -nΔθ) satisfies R 2 sin(θ(t 1 )-θ d -nΔθ) is less than or equal to 0 condition, and enter a matching condition judgment;
matching judgment processing
Calculating abs (R) 2 sin(θ(t 1 )-θ d -nΔθ)) and abs (R) 2 sin(θ(t 1 )-θ d - (n-1) Δθ)) as a final result, the corresponding sampling points correspond to (R, θ), respectively d +nΔθ)，(R， θ d ++ (n-1) Δθ), and updating the historical triangle value as the corresponding point.
Carrying out next cycle calculation to obtain corresponding sampling points of coordinates (X, Y), wherein an initial sampling value is defined as the sampling point selected last time;
if the current sampling point meets R 2 If sin is less than or equal to 0, directly selecting the current unique point; otherwise, continuing to perform matching calculation of the next sampling point at 3.5.2.
3.5.3 next outer ring pixel point matching
The computation of the set of historical trigonometric values is restarted and then the corresponding point computation of the next radius is started.
The adjacent sampling point angle similar selection method optimizes the calculation process, and the calculation process mainly uses addition and multiplication, and the sine value sin delta theta and the cosine value cos delta theta of part constants can be used for reducing the data storage space.
3.6 Filter selection processing
The filter is used to control the image display quality and to set the operating parameters when used by the user. The filter selection is divided into two types of control parameters, namely a filter type and a filter bandwidth control parameter.
The filter types are set to three classes: truncated gaussian filter, triangular filter, rectangular filter; the truncated gaussian filter and the triangular filter are divided into three parameter forms with set bandwidths: -three of a 3dB bandwidth, -30dB bandwidth and-60 dB bandwidth; fig. 7 and 8 are a truncated gaussian low pass filter and a truncated gaussian high resistance filter.
The invention provides an azimuth interpolation method for radar video echo display, which has the following technical characteristics:
1. dividing the pixel points into three areas of a near area, a middle area and a far area according to the distribution characteristics of the sampling points and the pixel points;
2. each partition adopts 2 Nr The point is subjected to fast Fourier and inverse fast Fourier processing technology, and is suitable for digital signal software processing;
3. the truncated Gaussian filter is designed to form a low-pass filter and a high-resistance filter, and is used for low-pass filtering and high-resistance suppression of signals;
4. an adjacent sampling point angle approximation selection processing technology is designed and used for interpolation point selection processing.
Claims (2)
1. An azimuth interpolation method for radar video echo display, comprising the steps of:
step one, establishing a corresponding relation between pixel points and sampling points
According to the coordinate conversion relation
θ p Calculate pixel (X, Y) and sampling (R, θ) points =atan (Y/X) p ) Forming a data table for storing the radius value of the corresponding distance ring;
counting the number S of pixel points on rings with different distances R According to n=round (log 2 (S R ) Quantized number of pixels, i.e. number of pixels S in subsequent display processing R According to 2 N Performing point interpolation;
step two, displaying the radar echo of the direction interpolation
According to radar system parameters, radar pulse repetition frequency and antenna rotating speed are obtained, and the number of sampling points of the radar display single-circle azimuth is calculated according to the following formula:
wherein PRF is the repetition frequency of radar pulse, n is the rotation speed of antenna;
step three, display pixel region division
Dividing a display pixel area corresponding to the radar sampling area into three areas of a near area, a middle area and a far area:
comparing the number of distance loop quantization processing points with the number of pulses formed by single-turn scanning, if N is satisfied<round(log 2 (S A ) Dividing display pixel points on the corresponding distance ring into a near area;
if n=round (log) 2 (S A ) The display pixel point on the corresponding distance ring is marked as a middle area;
if satisfy N>round(log 2 (S A ) The display pixel points on the corresponding distance ring are marked as far areas;
step four, display pixel region classification processing
The down sampling of the near zone eliminates redundant display data, the middle zone does not perform variable sampling processing, and the up sampling interpolation processing of the far zone processes the display data.
2. The azimuth interpolation method for radar video echo display according to claim 1, wherein the step four is a display pixel region classification process, specifically
a. Near zone redundancy elimination processing
Performing Fast Fourier Transform (FFT) on sampling points with corresponding distances of display pixels, performing low-pass filtering on frequency domain signals, and reserving 2 in the frequency domain Nr Performing Inverse Fast Fourier Transform (IFFT) on the point number of the azimuth matching point; the extracted data are used for selecting display pixel points by using angles close to the sampling points;
b. middle area display processing
The radar direct sampling points are used as subsequent display candidate points without time-frequency conversion and inverse conversion; the radar directly samples data and selects display pixel points by using angles of adjacent sampling points to be similar;
c. remote area interpolation processing
Fast Fourier Transform (FFT) is carried out on sampling points with corresponding distances of display pixels, a frequency domain signal is filtered by a high-resistance filter, and a high-frequency component zero padding value is formed into 2 Nr The point frequency domain signal is then subjected to inverse fast Fourier transform by the azimuth matching point, IFFT; and selecting display pixel points by using the adjacent sampling point angles to approximate the interpolated data through FFT point curves and corresponding tables adopted on different radiuses.
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| 光栅扫描雷达显示系统关键技术问题解决方案;毕红葵等;《系统工程与电子技术》;20020520;第24卷(第05期);第14、15、19页 * |
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