CN109541595A - A kind of velocity error modification method and system based on Circular scanning radar images match - Google Patents
A kind of velocity error modification method and system based on Circular scanning radar images match Download PDFInfo
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- CN109541595A CN109541595A CN201811351708.6A CN201811351708A CN109541595A CN 109541595 A CN109541595 A CN 109541595A CN 201811351708 A CN201811351708 A CN 201811351708A CN 109541595 A CN109541595 A CN 109541595A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/904—SAR modes
- G01S13/9088—Circular SAR [CSAR, C-SAR]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/9021—SAR image post-processing techniques
- G01S13/9029—SAR image post-processing techniques specially adapted for moving target detection within a single SAR image or within multiple SAR images taken at the same time
-
- 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
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/50—Systems of measurement based on relative movement of target
- G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
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- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of velocity error modification method based on Circular scanning radar images match comprising steps of building the velocity error update the system based on Circular scanning radar images match；Circular scanning radar is generated using radar satellite image, altitude data, track data emulation to scheme in real time；According to track information interception sub-district, sub-district is matched and judges its matching result validity；The calculating speed estimation error factor, and judge that velocity error amendment can be carried out；Matching result is modified when meeting velocity error correction conditions.Estimation to inertial navigation velocity error, and the amendment influenced on it are realized using the present invention.
Description
Technical field
The present invention relates to velocity errors to correct field, more particularly to the velocity error based on Circular scanning radar images match is repaired
Just.
Background technique
Radar Scene Matching technology due to being influenced small, feature with high accuracy by weather, be widely used in aircraft navigation and
Missile guidance field.In imaging process, inertial navigation velocity error will lead to scene in real-time figure and be subjected to displacement, therefore match in image
In the case where standard, due to not knowing that inertial navigation velocity error, caused matching error can not be corrected.
Summary of the invention
In view of the above technical problems, it is an object of that present invention to provide one kind based on the matched velocity error amendment of radar image
Method solves the problems, such as that matching error caused by inertial navigation velocity error can not be corrected in radar image matching process.
A kind of velocity error modification method specific steps based on Circular scanning radar images match are as follows:
S1, the velocity error update the system based on Circular scanning radar images match is built；
S2, schemed in real time using radar satellite image, altitude data, track data emulation generation Circular scanning radar；
S3, according to track information interception sub-district, sub-district is matched and judges its matching result validity；
S4, the calculating speed estimation error factor, and judge that velocity error amendment can be carried out；
S5, matching result is modified when meeting velocity error correction conditions.
Further, the velocity error update the system in the step S1 includes real time image emulation module, image
With module, velocity error estimation factor computing module and velocity error correction module.
Further, emulation generation Circular scanning radar is schemed in real time specifically, being corrected by the velocity error in the step S2
Real time image emulation module in system generates echo according to the radar satellite image of input, altitude data, track data, adopts
Emulation Circular scanning radar is generated with synthetic aperture imaging method to scheme in real time.
Further, the step S3 is completed by the images match module in the velocity error update the system, specifically:
In the emulation real-time figure of Circular scanning radar, using picture centre as origin, track horizontal direction is that reference axis establishes coordinate
System, with reference axis angle ± 30 °, ± 45 °, ± 60 °, ± 90 °, intercepts out 14 sons according to the centrosymmetric principle of origin
Area carries out matching primitives；
Mean value and standard deviation sigma are calculated to 14 obtained matching results, if the difference at a distance from a certain matching result and mean value
Greater than 3 σ, then it is assumed that sub-district matching is invalid, recalculates mean value and standard deviation to remaining sub-district and carries out Effective judgement, directly
It is matched to remaining sub-district effectively.
Further, when carrying out Effective judgement, if effectively sub-district is less than 3, will estimate without velocity error.
Further, the step S4 estimates factor computing module by the velocity error in the velocity error update the system
It executes.
Further, the calculating speed estimation error factor specifically:
It enablesIn formula: i=1 ..., 14；(xi0,zi0) it is the load that i-th of sub-district matching primitives obtains
Body position；
Enabling velocity error is G to position error influence coefficient matrix,
In formula: (Axi,Azi) it is i-th of sub-district Δ VXCaused position error influences coefficient；(Bxi,Bzi) it is i-th of sub-district
ΔVYCaused position error influences coefficient；(Cxi,Czi) it is i-th of sub-district Δ VZCaused position error influences coefficient；(Axj,
Azj) it is j-th of sub-district Δ VXCaused position error influences coefficient；(Bxj,Bzj) it is j-th of sub-district Δ VYCaused position error
Influence coefficient；(Cxj,Czj) it is i-th of sub-district Δ VZCaused position error influences coefficient；Wherein i, j=1 ..., 14；ΔVX,
ΔVY, Δ VZFor component of the velocity error in coordinate system X, Y, Z-direction；
The velocity error matrix is enabled to be,
Due to GX=b, then velocity error X=(GTG)-1GTB,
Matching error is Δ X=(G to the influence that velocity error is estimatedTG)-1GTΔb。
Further, judge whether to meet velocity error correction conditions specifically:
Writ state matrix H=(GTG)-1GT, judge whether that meeting speed misses by judgment matrix H the elements in a main diagonal size
Poor correction conditions.
Further, in the step S5 influence of the erection rate error to matching result by the velocity error correct be
Velocity error correction module in system executes, specifically:
If judgment matrix H meets velocity error correction conditions, effective sub-district matching result is matched to each and is repaired
Positive Xid=Xi0+ΔVXAXi+ΔVYBXi+ΔVZBXi,Zid=Zi0+ΔVXAZi+ΔVYBZi+ΔVZBZi, to all revised sub-districts
Matching result, which is averaging, obtains final matching results.
It include: real time image the present invention also provides a kind of velocity error update the system based on Circular scanning radar images match
Emulation module, images match module, velocity error estimation factor computing module and velocity error correction module, wherein
Real time image emulation module, for generating ring using radar satellite image, altitude data, track data emulation and sweeping
Real time image；
Images match module, for being matched to sub-district and judging its matching result according to track information interception sub-district
Validity；
Can velocity error estimates factor computing module, is used for the calculating speed estimation error factor, and judge carry out speed
Error correction；
Velocity error correction module, for being modified when meeting velocity error correction conditions to matching result.
Solving matching error caused by inertial navigation velocity error in radar image matching process using the present invention can not correct
The problem of, realize the estimation to inertial navigation velocity error, and the amendment influenced on it.
Detailed description of the invention
Fig. 1 is velocity error modification method flow chart of the present invention；
Fig. 2 is velocity error update the system structure chart of the present invention.
Specific embodiment
Technical solution of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
The present invention provides a kind of velocity error modification method based on Circular scanning radar images match, as shown in Figure 1, including step
It is rapid:
S1, the velocity error update the system based on Circular scanning radar images match is built.
Velocity error update the system includes real time image emulation module, images match module, the velocity error estimation factor
Computing module and velocity error correction module.
S2, schemed in real time using radar satellite image, altitude data, track data emulation generation Circular scanning radar.
Real time image emulation module generates echo according to the radar satellite image of input, altitude data, track data, adopts
Emulation Circular scanning radar is generated with synthetic aperture imaging method to scheme in real time.
S3, according to track information interception sub-district, sub-district is matched and judges its matching result validity.
In the emulation real-time figure of Circular scanning radar, using picture centre as origin, track horizontal direction is that reference axis establishes coordinate
System, with reference axis angle ± 30 °, ± 45 °, ± 60 °, ± 90 °, intercepts out 14 sons according to the centrosymmetric principle of origin
Area carries out matching primitives；
Mean value and standard deviation sigma are calculated to 14 obtained matching results, if the difference at a distance from a certain matching result and mean value
Greater than 3 σ, then it is assumed that sub-district matching is invalid, recalculates mean value and standard deviation to remaining sub-district and carries out Effective judgement, directly
It is matched to remaining sub-district effectively.If effective sub-district is less than 3, will estimate without velocity error.
S4, the calculating speed estimation error factor, and judge that velocity error amendment can be carried out.
It enablesIn formula: i=1 ..., 14；(xi0,zi0) it is the load that i-th of sub-district matching primitives obtains
Body position；
Enabling velocity error is G to position error influence coefficient matrix,
In formula: (Axi,Azi) it is i-th of sub-district Δ VXCaused position error influences coefficient；(Bxi,Bzi) it is i-th of sub-district
ΔVYCaused position error influences coefficient；(Cxi,Czi) it is i-th of sub-district Δ VZCaused position error influences coefficient；(Axj,
Azj) it is j-th of sub-district Δ VXCaused position error influences coefficient；(Bxj,Bzj) it is j-th of sub-district Δ VYCaused position error
Influence coefficient；(Cxj,Czj) it is i-th of sub-district Δ VZCaused position error influences coefficient；Wherein i, j=1 ..., 14；ΔVX,
ΔVY, Δ VZFor component of the velocity error in coordinate system X, Y, Z-direction；Coefficient in matrix can be according to the track number of input
According to being calculated, calculation method is described in the book of teaching of be described radar imagery.
The velocity error matrix is enabled to beThree direction velocity errors are result to be asked in matrix.
Equation GX=b is established, X=(G is releasedTG)-1GTb.Since matrix b is obtained by matching result, matrix G is by track
Data obtain, therefore can find out velocity error.
Think that images match error is being image registration within 3 pixels in engineering, therefore images match error variance
σwcFor the resolution ratio of 1 pixel.Matching error is Δ X=(G to the influence that velocity error is estimatedTG)-1GTΔ b, wherein Δ b be
Previously given.
Writ state matrix H=(GTG)-1GT, judge whether that meeting speed misses by judgment matrix H the elements in a main diagonal size
Poor correction conditions.The index request of inertial navigation velocity error and radar image resolution ratio is totally to give, with inertial navigation velocity error
Image resolution ratio is sentenced, acquired results are matrix H leading diagonal judgment threshold, are to meet correction conditions less than threshold value.
S5, matching result is modified when meeting velocity error correction conditions.
If judgment matrix H meets velocity error correction conditions, effective sub-district matching result is matched to each and is repaired
Positive Xid=Xi0+ΔVXAXi+ΔVYBXi+ΔVZBXi,Zid=Zi0+ΔVXAZi+ΔVYBZi+ΔVZBZi, to all revised sub-districts
Matching result, which is averaging, obtains final matching results.
So far the velocity error amendment based on Circular scanning radar images match is completed.
The present invention also provides a kind of velocity error update the systems using velocity error modification method, and the structure chart of system is such as
Shown in Fig. 2.Velocity error update the system includes: real time image emulation module, images match module, the velocity error estimation factor
Computing module and velocity error correction module, wherein
Real time image emulation module, for generating ring using radar satellite image, altitude data, track data emulation and sweeping
Real time image；
Images match module, for being matched to sub-district and judging its matching result according to track information interception sub-district
Validity；
Can velocity error estimates factor computing module, is used for the calculating speed estimation error factor, and judge carry out speed
Error correction；
Velocity error correction module, for being modified when meeting velocity error correction conditions to matching result.
Obviously, above embodiment is only intended to clearly illustrate example, rather than the restriction to embodiment.It is right
For person of an ordinary skill in the technical field, other various forms of changes can also be made on the basis of the above description
Change or changes.There is no necessity and possibility to exhaust all the enbodiments.And obvious change extended from this
Change or change and still falls among the protection scope of the invention.
Claims (10)
1. a kind of velocity error modification method based on Circular scanning radar images match, which is characterized in that specific steps are as follows:
S1, the velocity error update the system based on Circular scanning radar images match is built；
S2, schemed in real time using radar satellite image, altitude data, track data emulation generation Circular scanning radar；
S3, according to track information interception sub-district, sub-district is matched and judges its matching result validity；
S4, the calculating speed estimation error factor, and judge that velocity error amendment can be carried out；
S5, matching result is modified when meeting velocity error correction conditions.
2. velocity error modification method as described in claim 1, which is characterized in that the velocity error amendment in the step S1
System includes that real time image emulation module, images match module, velocity error estimation factor computing module and velocity error are repaired
Positive module.
3. velocity error modification method as claimed in claim 2, which is characterized in that emulation generates ring clearance in the step S2
Up to real-time figure specifically, by the real time image emulation module in the velocity error update the system according to the radar satellite of input
Image, altitude data, track data generate echo, generate emulation Circular scanning radar using synthetic aperture imaging method and scheme in real time.
4. velocity error modification method as claimed in claim 2, which is characterized in that the step S3 is repaired by the velocity error
Images match module in positive system is completed, specifically:
In the emulation real-time figure of Circular scanning radar, using picture centre as origin, track horizontal direction is that reference axis establishes coordinate system, with
Reference axis angle ± 30 °, ± 45 °, ± 60 °, ± 90 ° intercept out 14 sub-districts according to the centrosymmetric principle of origin, carry out
Matching primitives；
Mean value and standard deviation sigma are calculated to 14 obtained matching results, if the difference at a distance from a certain matching result and mean value is greater than 3
σ, then it is assumed that sub-district matching is invalid, recalculates mean value and standard deviation to remaining sub-district and carries out Effective judgement, until surplus
Minor area matches effectively.
5. velocity error modification method as claimed in claim 4, which is characterized in that when carrying out Effective judgement, if effectively son
Area is less than 3, will estimate without velocity error.
6. velocity error modification method as claimed in claim 2, which is characterized in that the step S4 is repaired by the velocity error
Velocity error estimation factor computing module in positive system executes.
7. velocity error modification method as claimed in claim 6, which is characterized in that the calculating speed estimation error factor tool
Body are as follows:
It enablesIn formula: i=1 ..., 14；(xi0,zi0) it is the carrier positions that i-th of sub-district matching primitives obtains；
Enabling velocity error is G to position error influence coefficient matrix,
In formula: (Axi,Azi) it is i-th of sub-district Δ VXCaused position error influences coefficient；(Bxi,Bzi) it is i-th of sub-district Δ VY
Caused position error influences coefficient；(Cxi,Czi) it is i-th of sub-district Δ VZCaused position error influences coefficient；(Axj,Azj)
For j-th of sub-district Δ VXCaused position error influences coefficient；(Bxj,Bzj) it is j-th of sub-district Δ VYCaused position error shadow
Ring coefficient；(Cxj,Czj) it is i-th of sub-district Δ VZCaused position error influences coefficient；Wherein i, j=1 ..., 14；ΔVX, Δ
VY, Δ VZFor component of the velocity error in coordinate system X, Y, Z-direction；
The velocity error matrix is enabled to be,
Due to GX=b, then velocity error X=(GTG)-1GTB,
Matching error is Δ X=(G to the influence that velocity error is estimatedTG)-1GTΔb。
8. velocity error modification method as claimed in claim 7, which is characterized in that judge whether to meet velocity error amendment item
Part specifically:
Writ state matrix H=(GTG)-1GT, judge whether that meeting velocity error repairs by judgment matrix H the elements in a main diagonal size
Positive condition.
9. velocity error modification method as claimed in claim 8, which is characterized in that erection rate error pair in the step S5
The influence of matching result is executed by the velocity error correction module in the velocity error update the system, specifically:
If judgment matrix H meets velocity error correction conditions, effective sub-district matching result is matched to each and is modified Xid
=Xi0+ΔVXAXi+ΔVYBXi+ΔVZBXi,Zid=Zi0+ΔVXAZi+ΔVYBZi+ΔVZBZi, all revised sub-districts are matched
As a result it is averaging and obtains final matching results.
10. a kind of missed using the speed based on Circular scanning radar images match of velocity error modification method described in claim 1-9
Poor update the system characterized by comprising real time image emulation module, images match module, velocity error estimate factor meter
Module and velocity error correction module are calculated, wherein
Real time image emulation module, for generating Circular scanning radar using radar satellite image, altitude data, track data emulation
Figure in real time；
Images match module, for being matched to sub-district and judging that its matching result is effective according to track information interception sub-district
Property；
Can velocity error estimates factor computing module, is used for the calculating speed estimation error factor, and judge carry out velocity error
Amendment；
Velocity error correction module, for being modified when meeting velocity error correction conditions to matching result.
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