CN109711016A - Bilateral SAR satellite imagery configuration simulation, dynamic emulation method and system - Google Patents
Bilateral SAR satellite imagery configuration simulation, dynamic emulation method and system Download PDFInfo
- Publication number
- CN109711016A CN109711016A CN201811536014.XA CN201811536014A CN109711016A CN 109711016 A CN109711016 A CN 109711016A CN 201811536014 A CN201811536014 A CN 201811536014A CN 109711016 A CN109711016 A CN 109711016A
- Authority
- CN
- China
- Prior art keywords
- satellite
- point
- bilateral
- tan
- sar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Radar Systems Or Details Thereof (AREA)
- Image Processing (AREA)
Abstract
The invention discloses a kind of bilateral SAR satellite imagery configuration simulation, dynamic emulation method and systems, and the specific imaging modalities type of SAR satellite is first judged according to the sensor parameters of the SAR satellite provided, specifically includes: calculating f (x, y)=a1+a2 *x+a3 *y+a4 *x2+a5 *x*X, it is f that f (x, y) obtained value is calculated when wherein x value is tan (minimum elevation)1, it is f that f (x, y) obtained value is calculated when x value is tan (maximum elevation)2, further according to tan (forward exclusion) and f2、f1Size relation determine image aspects；The type of the bilateral SAR satellite imagery form finally obtained according to judgement, is simulated using the image aspects of identical type.The present invention can the imaging modalities effectively to bilateral SAR satellite scanning area emulate, simulated effect is good, fast response time.
Description
Technical field
The present invention relates to the subjects application fields such as space flight, Earth Information Science technology, a kind of double with specifically, being related to
Side SAR satellite imagery configuration simulation, dynamic emulation method and system.
Background technique
Currently in the earth observation application of remote sensing satellite, the remote sensing satellite equipped with SAR sensor is because of its round-the-clock, whole day
It waits and has the characteristics that certain ground penetrating ability, in disaster monitoring, environmental monitoring, marine monitoring, resource exploration, farming
Be widely applied in object the yield by estimation, mapping and military affairs, also receive the attention of countries in the world, thus SAR sensor at
As form also needs further research and development.Compared with the remote sensing satellites such as optics, electronics, the sensor modality sample of SAR satellite
Formula is at most also the most complicated, also how not to carry out disclosure to the imaging modalities emulation mode of SAR satellite in the prior art, because
This how to the imaging modalities of SAR satellite carry out emulation be badly in need of further exploitation with it is perfect.
Summary of the invention
The technical problem to be solved in the present invention is that for prior art SAR satellite sensor modality more than and it is complicated,
The imaging modalities of SAR satellite emulate the technological deficiency being difficult to realize, and provide a kind of bilateral SAR satellite imagery configuration simulation, dynamic
State emulation mode and system.
Wherein one side according to the present invention, the technical solution adopted by the present invention to solve the technical problems is: construction one
Kind bilateral SAR satellite imagery configuration simulation method, comprises the following steps:
S1, the specific imaging modalities type that SAR satellite is judged according to the sensor parameters of the SAR satellite provided, the side of judgement
Method are as follows:
S11, f (x, y)=a is calculated1+a2*x+a3*y+a4*x2+a5*x*x；Wherein, y value is that satellite point is high to ground point
Degree, unit take kilometer, and it is f that f (x, y) obtained value is calculated when x value is tan (minimum elevation)1, x value is
It is f that f (x, y) obtained value is calculated when tan (maximum elevation)2；In formula, a1To a5For preset value, a1=
0.1729 ± 5%, a2=0.7444 ± 5%, a3=0.0002576 ± 5%, a4=0.07817 ± 5%, a5=0.07817 ±
5%；
S12, following judgements are carried out, as tan (forward exclusion) >=f2When, bilateral Sar satellite imagery form
For biparting Leaf pattern, as tan (forward exclusion)≤f1When, bilateral Sar satellite imagery form is concentric circles form,
Work as f1<tan(forward exclusion)<f2When, bilateral Sar satellite imagery form is ideal form；
Wherein, minimum elevation, maximum elevation respectively indicate minimum constructive height angle and maximum height
Angle, forward exclusion are indicated along rail to angle；
The type of S2, the bilateral SAR satellite imagery form obtained according to judgement are carried out using the image aspects of identical type
Simulation.
Further, in bilateral SAR satellite imagery configuration simulation method of the invention, in step S2, concentric circles form
Simulation include the following steps:
S211, inside and outside two circular cones are determined according to minimum elevation and maximum elevation respectively
Top subtended angle；Wherein, the vertex of circular cone is satellite position；
S212, the k that the height of circular cone is set as to satellite present level0Times, so that inside and outside two circular cone circular cones can be with ground
Ball intersection；
S213, the earth and inside and outside two circular cones are rendered in sequence, so that inside and outside two circular cones are by the screening of ground ball
Stopper point is invisible and is eliminated, to obtain the three-dimensional concentric circles form of bilateral SAR satellite.
Further, in bilateral SAR satellite imagery configuration simulation method of the invention, in step S2, biparting Leaf pattern
Be modeled as two unilateral side SAR satellite imagery morphological Simulations, the simulation of each unilateral side SAR satellite imagery form includes following step
It is rapid:
S221, the boundary that inner circle and outer circle are calculated separately out according to minimum clock angle and maximum clock angle, and on the boundary
N number of point is uniformly taken out in inside respectively, forms the side a 2N shape, in this, as fan ring；Wherein N is just whole more than or equal to 3
Number；Coordinate calculation formula of each point in satellite view coordinate is as follows:
For the point in fan ring outer circle:
X=h*tan (outerhalfangle) * cos (minclockangle* (N-1-i)/(N-1)+i*
maxclockangle/(N-1))；
Y=-h*tan (outerhalfangle) * sin (minclockangle* (N-1-i)/(N-1)+i*
maxclockangle/(N-1))；
For the point in fan ring outer circle:
X=h*tan (innerhalfangle) * cos (maxclockangle* (N-1-i)/(N-1)+i*
minclockangle/(N-1))；
Y=-h*tan (innerhalfangle) * sin (maxclockangle* (N-1-i)/(N-1)+i*
minclockangle/(N-1))；
Wherein, h represents the height * k of satellite from the ground0, outerhalfangle respectively represents with innerhalfangle
The half of outer cone angle and the half of female cone angle, when minclockangle and maxclockangle respectively represent minimum
Zhong Jiao and maximum clock angle, i=0,1 ..., N-1 represent the point on fan ring, k0For the constant greater than 1；Wherein, for satellite
For the right side for carrying out direction: minclockangle value is forward exclusion, and mxclockangle value is
180-forward exclusion, for satellite carries out the left side in direction, minclockangle value is-forward
Exclusion, maxclockangle value are forward exclusion-180；
S222, coordinate points where this 2N point and satellite are transformed into geocentric coordinate system from satellite view coordinate, converted
The line and earth model of this 2N point and satellite point are subjected to the coordinate set for asking friendship to obtain ground point afterwards；
S223, adjacent two o'clock taken out and the coordinate dot where satellite respectively in the topocentric coordinates set acquired
At triangular facet；
S224, the combination for drawing out those triangular facets obtain the three-dimensional configuration emulation of unilateral SAR satellite.
Further, in bilateral SAR satellite imagery configuration simulation method of the invention, in step S2, ideal form
Simulation comprises the following steps:
S231, image aspects project the bottom surface of formation on earth: projecting, tiltedly comprising internal conical projection, outer conical
Circular cone and outer conical intersection project；Wherein, the vertex of circular cone is satellite position, and oblique cone and outer conical intersection are double
Curve；
S232, basis obtain outer conical, and the projection circle progress of outer conical on earth is discrete, adopt when discrete
It is approached with using 2N point, N is the positive integer greater than 1；The coordinate of discrete point is calculated by following formula:
X=r*cos (i* π/N),
Y=r*sin (i* π/N)；
Wherein, r be projection circle radius, i be discrete point serial number, i=0,1 ..., 2N-1；
S233, when the 2N point is fallen in (F1, F2) or (G1, G2), replaced using the point on the hyperbola
Discrete point；Wherein, refer to when discrete point is located in (F1, F2) or (G1, G2), the abscissa of discrete point is located at the cross of F1 and F2
Between coordinate or between (G1, G2) abscissa.
S234, the 2N point that step S232 is obtained is connected with the point where satellite respectively, obtained straight line again respectively with
Earth spherical surface carries out asking friendship, then obtains 2N ground point, then successively distinguishes these ground points two-by-two according to adjacent sequence
Triangular facet is formed with the vertex where satellite, these triangular facets are rendered to come respectively, then be combined to obtain most with internal circular cone
The three-dimensional artificial of whole image aspects.
Further, in bilateral SAR satellite imagery configuration simulation method of the invention, the hyperbola are as follows:
Wherein, a=h2/((tan(θ)+tan(α)-tan(θ1))*(tan(θ)+tan(α)-tan(θ1))),
B=(h2*(-2*(cos(θ)-cos(θ1))-(cos(θ)-cos(θ1))2))/((1+cos(θ)-cos(θ1))2*
(tan(α)+tan(θ)-tan(θ1))2-tan2(α)；P1And P2For the highest point that front and back circular cone intersects with outer cone, P1And P2With
The projection of bottom surface is respectively K1And K2, by the P of the left and right sides in satellite direction of advance1、P2It projects on ground, obtains front and back circle
Cone and outer cone bottom surface crosspoint F1、F2、G1、G2；Wherein, P1、K1For the point in front of satellite, P2、K2For the point at satellite rear, θ is
Refer to that the angle between P2 and the line and ground of big circular cone bottom center, α refer to the base angle of big circular cone, θ1Refer to minimum
elevation,θ2Refer to that maximum elevation, c=-h, h represent the height * k of satellite from the ground0, k0It is normal greater than 1
Number；Discrete point is located in (F1, F2) or (G1, G2) and refers to that the abscissa of discrete point is located at In range.
Further, in bilateral SAR satellite imagery configuration simulation method of the invention, in step S231, internal circular cone
What projection and outer conical projected seeks comprising the following steps:
S2311, inside and outside two circular cones are determined according to minimum elevation and maximum elevation respectively
Top subtended angle；Wherein, the vertex of circular cone is satellite position；
S2312, the k that the height of circular cone is set as to satellite present level0Times, so that inside and outside two circular cones and earth phase
It hands over, intersection is internal conical projection and outer conical projection.
It further, further include two to imaging modalities in bilateral SAR satellite imagery configuration simulation method of the invention
Dimension emulation, including the coordinate of the point in circular cone and ground intersection is converted into latitude, and in the projection of the two-dimensional map of the earth
These longitude and latitude points are successively linked to be polygon, to obtain Two-dimensional morphology emulation.
According to another aspect of the present invention, the present invention is to solve its technical problem, additionally provide a kind of bilateral SAR satellite at
Picture configuration simulation system, bilateral SAR is carried out using bilateral SAR satellite imagery configuration simulation method described in any of the above embodiments and is defended
The emulation of star imaging modalities./
In accordance with a further aspect of the present invention, the present invention is to solve its technical problem, additionally provide a kind of bilateral SAR satellite at
As form dynamic emulation method, comprise the following steps:
A1, in the time started, when satellite remains static, according to bilateral SAR satellite imagery described in any of the above embodiments
Configuration simulation method emulates bilateral SAR satellite imagery form；
When A2, satellite motion, actual time successively is mapped to according to emulation refreshing frequency；
A3, the posture changing matrix for calculating satellite in the actual time；
A4, it is multiplied the three-dimensional configuration entity that time started emulation is drawn up to obtain new three-dimensional shaped with transformation matrix
State, to obtain position and the posture of current time satellite；
A5, the bottom surface point set for taking out new three-dimensional configuration, then ask friendship to obtain new bottom surface point set with the earth；
A5, three-dimensional and/or Two-dimensional morphology at this time are constructed using new bottom surface point set.
Last aspect according to the present invention, the present invention are to solve its technical problem, additionally provide a kind of bilateral SAR satellite
Imaging modalities dynamic simulation system carries out bilateral SAR using bilateral SAR satellite imagery form dynamic emulation method described above
Satellite imagery form dynamic simulation.
Implement bilateral SAR satellite imagery configuration simulation, dynamic emulation method and system of the invention, it can be effectively to bilateral
The imaging modalities of SAR satellite scanning area are emulated, and simulated effect is good, fast response time.
Detailed description of the invention
Present invention will be further explained below with reference to the attached drawings and examples, in attached drawing:
Fig. 1 is schematic diagram when unilateral SAR satellite is scanned；
Fig. 2 is ground fan ring schematic diagram when unilateral SAR satellite is scanned；
Fig. 3 is schematic diagram when bilateral SAR satellite is scanned；
Fig. 4 is the schematic diagram of front and back circular cone when bilateral SAR satellite is scanned；
Fig. 5 is the schematic diagram of ground region when bilateral SAR satellite is scanned；
Fig. 6 is bilateral SAR satellite imagery configuration simulation method flow diagram；
Fig. 7 be bilateral SAR satellite be scanned oblique cone it is smaller when surface sweeping situation schematic diagram；
Fig. 8 is surface sweeping situation schematic diagram when bilateral SAR satellite is scanned ideal situation；
Fig. 9 be bilateral SAR satellite be scanned oblique cone it is larger when surface sweeping situation schematic diagram；
Figure 10, Figure 11 are 3D, 2D schematic diagram of a scenario of biparting Leaf pattern；
Figure 12, Figure 13 are 3D, 2D schematic diagram of a scenario of concentric circles form；
Figure 14, Figure 15 are 3D, 2D schematic diagram of a scenario of ideal form；
Figure 16 is the intersection schematic diagram on two circular cones and ground；
Figure 17 is the section line schematic diagram of conical surface；
Figure 18 is front and back circular cone and big conical intersection schematic diagram；
Figure 19 is front and back circular cone and big conical intersection perspective view；
Figure 20 is the schematic diagram that point replaces discrete point on hyperbola；
Figure 21 is that fan cyclic co-ordinate when unilateral SAR satellite is scanned solves schematic diagram.
Specific embodiment
For a clearer understanding of the technical characteristics, objects and effects of the present invention, now control attached drawing is described in detail
A specific embodiment of the invention.
Unilateral SAR satellite usually carries out ground region scanning in the following manner, is illustrated in fig. 1 shown below.Satellite in X direction before
Into the circle that the ground region of instantaneous antenna scanning is done by two using satellite position point as the vertical substar direction in vertex is along cone
The projection concentric circles in face, inner circle circular cone angle, that is, minimum constructive height angle are innerHalfAngle*2, and outer circle circular cone angle is maximum
Elevation angle is the middle section (annulus) of outterHalfAngle*2, then takes and outer circular sector in this annulus
(maxclockangle-minclockangle, the sandwiched sector portion in maximum clock angle and minimum clock angle, sector are corresponding
The center of circle be satellite at the center of the orthographic projection of the earth) intersection, finally formed fan ring is illustrated in fig. 2 shown below, and fans ring and is
The scanning area of antenna on earth.
Similarly for for two-way SAR and two circular cones (top angle be respectively innerangle with
Outerangle) projection to the ground, as shown in Figure 3.The difference is that two-way sar take two before and after being satellite direction of advance
The floor projection of a circular cone and the two conical intersection parts.Former and later two circular cones are illustrated in fig. 4 shown below.Finally it is formed by ground
Region (ideally) is illustrated in fig. 5 shown below.
With reference to Fig. 6, this bilateral SAR satellite imagery configuration simulation method includes the following steps:
S1, the specific three-dimensional imaging form type that SAR satellite is judged according to the sensor parameters of the SAR satellite provided.
According to two-way SAR imaging modalities principle described above it is found that according to the angle (parameter provided three provided
Angle value is respectively as follows: external normal cone (outer cone) elevation angle (minimum elevation), internal normal cone (inner
Cone) elevation angle (maximum elevation), oblique cone subtended angle (forward exclusion or after
The two angles exclusion are generally equal) it is different, there are following three kinds different SAR imaging modalities.
When the subtended angle (forward exclusion) of oblique cone is smaller, the intersection of oblique cone and positive outer cone is complete
It falls in outer cone profile entirely, as shown in Figure 7.Ideally, oblique cone only has top half to intersect with outer cone, such as Fig. 8
It is shown.When the subtended angle (forward exclusion) of oblique cone is larger, the intersection point projection of oblique cone and outer cone falls in inside
In circular cone, as shown in Figure 9.
S11, it follows that the projection form and minimum elevation of SAR, maximum elevation,
These three angles of forward exclusion are related, provide this judgement formula by calculating are as follows:
F (x, y)=0.1729+0.7444*x+0.0002576*y+0.07817*x2+0.0782*x*x
Y value is satellite point to spot height (SO, unit take kilometer in figure) in the formula, if x value is tan
It is f1 that f (x, y) obtained value is calculated when (minimum elevation), when x value is tan (maximum elevation)
Calculating f (x, y)=obtained value is f2.
S12, following judgements are carried out: as tan (forward exclusion) >=f2When, Sar satellite three-dimensional/two-dimensional imaging
Biparting Leaf pattern is presented in form, as shown in Figure 10, Figure 11.As tan (forward exclusion)≤f1When, Sar satellite three
Concentric circles form is presented in dimension/two-dimensional imaging form, as shown in Figure 12 and Figure 13.Work as f1<tan(forward exclusion)<f2
When, ideal form is presented in Sar satellite three-dimensional/two-dimensional imaging form, as shown in Figure 14, Figure 15:
In step S2, the simulation of concentric circles form includes the following steps:
S211, inside and outside two circular cones are determined according to minimum elevation and maximum elevation respectively
Top subtended angle, wherein the vertex of circular cone be satellite position；
S212, the k that the height of circular cone is set as to satellite present level0Times, so that inside and outside two circular cone circular cones can be with ground
Ball intersection, k0For the constant greater than 1, such as k0=1.5, as shown in figure 16:
S213, the earth (sphere) and inside and outside two circular cones are rendered in sequence, two circular cones inside and outside in this way are by earth reality
The shield portions of body (sphere) are just eliminated naturally due to invisible, then obtain the three-dimensional concentric circles form of Sar satellite.
In step S2, the simulation of biparting Leaf pattern is inherently exactly the simulation of two circular cones, i.e. two unilateral side SAR satellites
The combination (each one of left and right) of imaging modalities, therefore specific three-dimensional configuration simulation may refer to subsequent unilateral side SAR satellite imagery
The simulation of form.
In step S2, the simulation of ideal form is comprised the following steps:
S231, ideal form sar three-dimensional body bottom be made of three parts: internal conical projection, outer conical throw
Shadow, oblique cone and outer conical section line project.Since the determination of inside and outside circular cone can be found in subsequent unilateral side SAR satellite imagery form
Emulation, therefore firstly the need of it is confirmed that oblique cone and outer conical section line and its union with outer conical projection.
With reference to Figure 17, since the section line of two conical intersections under such applicable cases is a Hyperbolic Equation, because
This is it needs to be determined that the point on hyperbola can solve Hyperbolic Equation.
● set Hyperbolic Equation are as follows:
Therefore it needs to be determined that the coordinate of two points solves the equation.Take positive millet cake P1And P2Such as Figure 18.
As shown in Figure 18, it is assumed that the vertical paper of view positive direction of the x-axis is outside, then P1And P2It is (i.e. outer for front and back circular cone and big circular cone
Circular cone, other parts are same) intersection highest point, the projection with bottom surface is respectively K1And K2, then the radius of big circular cone?P therefrom can be obtained1、P2、K1、K2Coordinate.
By the P of the left and right sides in satellite direction of advance1、P2It projects on ground and projects on ground, be illustrated in fig. 19 shown below,
Then front and back circular cone intersects to obtain F with big circular cone bottom surface1、F2、G1、G2, the distance of this four intersection points to D are great circle bevel radius R
Length.This makes it possible to obtain F1、F2、G1、G2Coordinate.Assuming that conical tip coordinate is (0,0,0).Then: c=-h (it is same, here
H can be using value as 1.5 times of satellite distance substar height)
However, the angle θ is made to be restricted (θ1、θ2Respectively correspond f1And f2), can not between 0-90 degree value, this just leads
Cause the coordinate value of point limited.Therefore it needs to make correction, so that the angle θ is in (θ1、θ2) between when changing, F1、F2、K1Abscissa
Value can level off to 0.Keep this 3 abscissas denominator it is constant in the case where, it is as follows that we obtain revised coordinate:
Take two o'clock k1,f1, so that it may to find out the Hyperbolic Equation.
A=h2/((tan(θ)+tan(α)-tan(θ1))*(tan(θ)+tan(α)-tan(θ1)))
B=(h2*(-2*(cos(θ)-cos(θ1))-(cos(θ)-cos(θ1))2))/((1+cos(θ)-cos(θ1))2*
(tan(α)+tan(θ)-tan(θ1))2-tan2(α)
Wherein, P1、K1For the point in front of satellite, P2、K2For the point at satellite rear, θ refers to P2 and big circular cone bottom center
Angle between line and ground, α refer to the base angle of big circular cone, θ1Refer to minimum elevation, θ2Refer to maximum
elevation。
Above, outer conical and its bottom surface circle can be readily calculated in we first for S231, basis.By the ground
Face circle progress is discrete, for example is approached using 32 points, then the coordinate in the circle of this bottom surface can calculate as follows: r is bottom surface
Radius of circle, i are discrete point serial number i=0,1....31
X=r*cos (π/16 i*)
Y=r*sin (π/16 i*)
S233, it has been found out due to the coordinate of Hyperbolic Equation and F1, F2, G1, G2.Therefore, when this 32 points
In certain points when falling in (F1, F2) or (G1, G2), replaced, obtained such as Figure 20 using the respective point on hyperbola.Its
In, discrete point refers to that the abscissa of discrete point is between F1 and the abscissa of F2 when being located in (F1, F2) or (G1, G2)
Or between (G1, G2) abscissa, that is, it is located atIn range.
S234,32 points obtained in the previous step are connected with the vertex where satellite respectively, obtained straight line again respectively with
Earth spherical surface carries out asking friendship, then obtains 32 sar ground points, then forms these points with the vertex where satellite respectively two-by-two
These triangular facets are rendered to come respectively, then are combined with female cone and have just obtained final final image aspects by triangular facet
Three-dimensional artificial.
About unilateral SAR satellite imagery form three-dimensional simulation, include the following steps:
S1, the fan ring position for determining unilateral side SAR satellite: being that left scan or right side scanning come according to unilateral side SAR satellite
Determine that fan ring occurs from the left side or right side of satellite direction of travel, the corresponding center location of fan ring is the fan-shaped corresponding center of circle
It is satellite at the center of the orthographic projection of the earth；
S2, the boundary that inner circle and outer circle are calculated separately out according to minimum clock angle and maximum clock angle, and in the boundary
Portion uniformly takes out N number of point respectively, forms the side a 2N shape, in this, as fan ring, specifically refers to Fig. 4 (by taking the SAR of right side as an example)；
Wherein N is the positive integer more than or equal to 3, in the present embodiment N=7；In satellite view coordinate, (origin is to defend to each point
Star point, Z axis be directed toward satellite in the subpoint on ground, i.e. substar) in coordinate calculation formula it is as follows:
For the point in fan ring outer circle:
X=h*tan (outerhalfangle) * cos (minclockangle* (N-1-i)/(N-1)+i*
maxclockangle/(N-1))；
Y=-h*tan (outerhalfangle) * sin (minclockangle* (N-1-i)/(N-1)+i*
maxclockangle/(N-1))；
For the point in fan ring outer circle:
X=h*tan (innerhalfangle) * cos (maxclockangle* (N-1-i)/(N-1)+i*
minclockangle/(N-1))；
Y=-h*tan (innerhalfangle) * sin (maxclockangle* (N-1-i)/(N-1)+i*
minclockangle/(N-1))；
Wherein, h represents the height * k of satellite from the ground0, outerhalfangle respectively represents with innerhalfangle
The half of outer cone angle and the half of female cone angle, when minclockangle and maxclockangle respectively represent minimum
Zhong Jiao and maximum clock angle, i=0,1 ..., N-1 represent the point on fan ring, k0It is the constant greater than 1 to guarantee circular cone and ground
Ball intersection, such as k0=1.5；
S3, coordinate points where this 2N point and satellite are transformed into geocentric coordinate system (i.e. upper from satellite view coordinate
The coordinate of 2N point and satellite point point that face is asked transforms to geocentric coordinate system from satellite view coordinate, this transformation
Transformation matrix can seek, be equal to and done the variation of rotation and translation, rotation is i.e. satellite in geocentric coordinate system
In coordinate to the direction vector that the coordinate in the geocentric coordinate system of substar is formed rotate to geocentric coordinate system it is vertical upward
(0,0,1) direction), it carries out the line and earth model of this 2N point and satellite point that friendship to be asked to obtain ground point after conversion
Coordinate set；
S4, it adjacent two o'clock is taken out respectively in the topocentric coordinates set acquired is formed with the coordinate points where satellite
Triangular facet；
S5, the combination for drawing out these triangular facets obtain the three-dimensional configuration emulation of unilateral SAR satellite.
When carrying out two-dimensional simulation, the coordinate of each point in step S3 in coordinate set is converted into latitude, and
These longitude and latitude points are successively linked to be polygon in the two-dimensional map projection of the earth, to obtain Two-dimensional morphology emulation.
The present invention also provides a kind of bilateral SAR satellite imagery configuration simulation systems, since satellite point is to change at the moment
, the posture of satellite is also constantly converting, so the essence that imaging modalities when SAR satellite motion are simulated is exactly according to satellite
Track and attitudes vibration constantly to adjust and simulate the two three-dimensional imaging forms of SAR.Steps are as follows:
A1, two three-dimensional configuration of SAR satellite sensor is emulated in time started (when stationary state).
When A2, movement, actual time successively is mapped to according to emulation refreshing frequency (1/60 second).
A3, satellite 4*4 transformation matrix in the actual time is calculated.
A4, the three-dimensional configuration entity that time started emulation is drawn up is multiplied with transformation matrix and (is incited somebody to action by transformation matrix
The transformation matrix of geocentric coordinate system is changed to from satellite view coordinate) new three-dimensional configuration is obtained, to obtain current time
The position of satellite and posture；Each top under the combination form of coordinate points and triangular facet where three-dimensional configuration entity refers to satellite
Point；
A5, the bottom surface point set for taking out new three-dimensional configuration (remove satellite in the vertex set of three-dimensional simulation entity
Point), then ask friendship to obtain new bottom surface point set with the earth.
A6, three-dimensional and/or Two-dimensional morphology at this time are constructed using new bottom surface point set.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited to above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of bilateral SAR satellite imagery configuration simulation method, which is characterized in that comprise the following steps:
S1, the specific imaging modalities type that SAR satellite is judged according to the sensor parameters of the SAR satellite provided, judgment method are as follows:
S11, f (x, y)=a is calculated1+a2*x+a3*y+a4*x2+a5*x*x；Wherein, y value is satellite point to spot height, single
Position takes kilometer, and it is f that f (x, y) obtained value is calculated when x value is tan (minimum elevation)1, x value is tan
It is f that f (x, y) obtained value is calculated when (maximum elevation)2；In formula, a1To a5For preset value, a1=0.1729 ±
5%, a2=0.7444 ± 5%, a3=0.0002576 ± 5%, a4=0.07817 ± 5%, a5=0.07817 ± 5%；
S12, following judgements are carried out, as tan (forward exclusion) >=f2When, bilateral Sar satellite imagery form is biparting
Leaf pattern, as tan (forward exclusion)≤f1When, bilateral Sar satellite imagery form is concentric circles form, works as f1<
tan(forward exclusion)<f2When, bilateral Sar satellite imagery form is ideal form；
Wherein, minimum elevation, maximum elevation respectively indicate minimum constructive height angle and maximum height angle,
Forward exclusion is indicated along rail to angle；
The type of S2, the bilateral SAR satellite imagery form obtained according to judgement carry out mould using the image aspects of identical type
It is quasi-.
2. bilateral SAR satellite imagery configuration simulation method according to claim 1, which is characterized in that in step S2, with one heart
The simulation of Circles includes the following steps:
S211, the top for determining inside and outside two circular cones according to minimum elevation and maximum elevation respectively
Portion's subtended angle；Wherein, the vertex of circular cone is satellite position；
S212, the k that the height of circular cone is set as to satellite present level0Times, so that inside and outside two circular cone circular cones can be with earth phase
It hands over, k0For the constant greater than 1；
S213, the earth and inside and outside two circular cones are rendered in sequence, so that inside and outside two circular cones are by the occlusion part of ground ball
Divide invisible and be eliminated, to obtain the three-dimensional concentric circles form of bilateral SAR satellite.
3. bilateral SAR satellite imagery configuration simulation method according to claim 1, which is characterized in that biparting in step S2
Leaf pattern is modeled as two unilateral side SAR satellite imagery morphological Simulations, and the simulation of each unilateral side SAR satellite imagery form includes such as
Lower step:
S221, the boundary that inner circle and outer circle are calculated separately out according to minimum clock angle and maximum clock angle, and in the border inner
N number of point is uniformly taken out respectively, forms the side a 2N shape, in this, as fan ring；Wherein N is the positive integer more than or equal to 3；Often
Coordinate calculation formula of a point in satellite view coordinate is as follows:
For the point in fan ring outer circle:
X=h*tan (outerhalfangle) * cos (minclockangle* (N-1-i)/(N-1)+i*maxclockangle/
(N-1))；
Y=-h*tan (outerhalfangle) * sin (minclockangle* (N-1-i)/(N-1)+i*
maxclockangle/(N-1))；
For the point in fan ring outer circle:
X=h*tan (innerhalfangle) * cos (maxclockangle* (N-1-i)/(N-1)+i*minclockangle/
(N-1))；
Y=-h*tan (innerhalfangle) * sin (maxclockangle* (N-1-i)/(N-1)+i*
minclockangle/(N-1))；
Wherein, h represents the height * k of satellite from the ground0, outerhalfangle and innerhalfangle respectively represent outer cone
The half of the half of angle and female cone angle, minclockangle and maxclockangle respectively represent minimum clock angle with
Maximum clock angle, i=0,1 ..., N-1 represent fan ring on point, k0For the constant greater than 1；Wherein, direction is carried out for satellite
Right side for: minclockangle value is forward exclusion, and mxclockangle value is, for satellite into
For the left side of line direction, minclockangle value is-forward exclusion, and maxclockangle value is
forward exclusion-180；
S222, coordinate points where this 2N point and satellite are transformed into geocentric coordinate system from satellite view coordinate, it will after conversion
The line and earth model of this 2N point and satellite point carry out the coordinate set for asking friendship to obtain ground point；
S223, adjacent two o'clock is taken out respectively in the topocentric coordinates set acquired and coordinate points where satellite form three
Edged surface；
S224, the combination for drawing out those triangular facets obtain the three-dimensional configuration emulation of unilateral SAR satellite.
4. bilateral SAR satellite imagery configuration simulation method according to claim 1, which is characterized in that ideal in step S2
The simulation of form comprises the following steps:
S231, image aspects project the bottom surface of formation on earth: including internal conical projection, outer conical projection, oblique cone
It is projected with outer conical intersection；Wherein, the vertex of circular cone is satellite position, and oblique cone and outer conical intersection are hyperbolic
Line；
S232, basis obtain outer conical, and the projection circle progress of outer conical on earth is discrete, adopt when discrete
It is approached with 2N point, N is the positive integer greater than 1；The coordinate of discrete point is calculated by following formula:
X=r*cos (i* π/N),
Y=r*sin (i* π/N)；
Wherein, r be projection circle radius, i be discrete point serial number, i=0,1 ..., 2N-1；
S233, when the 2N point is fallen in (F1, F2) or (G1, G2), it is discrete to replace using the point on the hyperbola
Point；Wherein, refer to when discrete point is located in (F1, F2) or (G1, G2), the abscissa of discrete point is located at the abscissa of F1 and F2
Between or (G1, G2) abscissa between.
S234, the 2N point that step S232 is obtained is connected with the point where satellite respectively, obtained straight line again respectively with the earth
Spherical surface carries out asking friendship, then obtains 2N ground point, then by these ground points according to adjacent sequence successively two-by-two respectively with defend
Vertex where star forms triangular facet, these triangular facets are rendered to come respectively, then with internal circular cone is combined to obtain final
The three-dimensional artificial of image aspects.
5. bilateral SAR satellite imagery configuration simulation method according to claim 4, which is characterized in that the hyperbola are as follows:
Wherein, a=h2/((tan(θ)+tan(α)-tan(θ1))*(tan(θ)+tan(α)-tan(θ1))),
B=(h2*(-2*(cos(θ)-cos(θ1))-(cos(θ)-cos(θ1))2))/((1+cos(θ)-cos(θ1))2*(tan
(α)+tan(θ)-tan(θ1))2-tan2(α)；P1And P2For the highest point that front and back circular cone intersects with outer cone, P1And P2With bottom surface
Projection be respectively K1And K2, by the P of the left and right sides in satellite direction of advance1、P2Project on ground, obtain front and back circular cone with
Outer cone bottom surface crosspoint F1、F2、G1、G2；Wherein, P1、K1For the point in front of satellite, P2、K2For the point at satellite rear, θ refers to P2
Angle between the line and ground of big circular cone bottom center, α refer to the base angle of big circular cone, θ1Refer to minimum
elevation,θ2Refer to that maximum elevation, c=-h, h represent the height * k of satellite from the ground0, k0It is normal greater than 1
Number；Discrete point is located in (F1, F2) or (G1, G2) and refers to that the abscissa of discrete point is located at In range.
6. bilateral SAR satellite imagery configuration simulation method according to claim 4, which is characterized in that interior in step S231
What portion's conical projection and outer conical projected seeks comprising the following steps:
S2311, the top for determining inside and outside two circular cones according to minimum elevation and maximum elevation respectively
Portion's subtended angle；Wherein, the vertex of circular cone is satellite position；
S2312, the k that the height of circular cone is set as to satellite present level0Times, so that inside and outside two circular cones intersect with the earth, hand over
Line is internal conical projection and outer conical projection.
7. according to the described in any item bilateral SAR satellite imagery configuration simulation methods of claim 4-6, which is characterized in that also wrap
The two-dimensional simulation to imaging modalities is included, including the coordinate of the point in circular cone and ground intersection is converted into latitude, and in the earth
Two-dimensional map projection in these longitude and latitude points are successively linked to be polygon, to obtain Two-dimensional morphology emulation.
8. a kind of bilateral SAR satellite imagery configuration simulation system, which is characterized in that using as described in claim any one of 1-6
Bilateral SAR satellite imagery configuration simulation method carry out bilateral SAR satellite imagery form emulation./
9. a kind of bilateral SAR satellite imagery form dynamic emulation method, which is characterized in that comprise the following steps:
A1, in the time started, when satellite remains static, bilateral SAR satellite according to claim 1-6 at
As configuration simulation method emulates bilateral SAR satellite imagery form；
When A2, satellite motion, actual time successively is mapped to according to emulation refreshing frequency；
A3, the posture changing matrix for calculating satellite in the actual time；
A4, it is multiplied the three-dimensional configuration entity that time started emulation is drawn up to obtain new three-dimensional configuration with transformation matrix, from
And obtain position and the posture of current time satellite；
A5, the bottom surface point set for taking out new three-dimensional configuration, then ask friendship to obtain new bottom surface point set with the earth；
A5, three-dimensional and/or Two-dimensional morphology at this time are constructed using new bottom surface point set.
10. a kind of bilateral SAR satellite imagery form dynamic simulation system, which is characterized in that using as claimed in claim 9 double
Side SAR satellite imagery form dynamic emulation method carries out bilateral SAR satellite imagery form dynamic simulation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811536014.XA CN109711016B (en) | 2018-12-14 | 2018-12-14 | Method and system for simulating imaging form and dynamically simulating two-sided SAR (synthetic Aperture Radar) satellite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811536014.XA CN109711016B (en) | 2018-12-14 | 2018-12-14 | Method and system for simulating imaging form and dynamically simulating two-sided SAR (synthetic Aperture Radar) satellite |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109711016A true CN109711016A (en) | 2019-05-03 |
| CN109711016B CN109711016B (en) | 2020-09-04 |
Family
ID=66256556
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811536014.XA Expired - Fee Related CN109711016B (en) | 2018-12-14 | 2018-12-14 | Method and system for simulating imaging form and dynamically simulating two-sided SAR (synthetic Aperture Radar) satellite |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109711016B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102073035A (en) * | 2010-12-13 | 2011-05-25 | 中国人民解放军国防科学技术大学 | Method for evaluating simulation performance of spaceborne interferometric synthetic aperture radar system |
| CN105512479A (en) * | 2015-12-03 | 2016-04-20 | 中国地质大学（武汉） | Evaluation method and device of multi-satellite earth observation task planning algorithms |
| CN106054145A (en) * | 2016-05-19 | 2016-10-26 | 杭州电子科技大学 | Reconnaissance identification method for work mode of satellite-borne synthetic aperture radar |
| CN106408587A (en) * | 2016-09-19 | 2017-02-15 | 辽宁工程技术大学 | Multi-view SAR image segmentation method and device |
| CN106767705A (en) * | 2016-11-22 | 2017-05-31 | 航天恒星科技有限公司 | Imaging posture modeling method during a kind of Optical remote satellite point target observation mission is dynamic |
-
2018
- 2018-12-14 CN CN201811536014.XA patent/CN109711016B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102073035A (en) * | 2010-12-13 | 2011-05-25 | 中国人民解放军国防科学技术大学 | Method for evaluating simulation performance of spaceborne interferometric synthetic aperture radar system |
| CN105512479A (en) * | 2015-12-03 | 2016-04-20 | 中国地质大学（武汉） | Evaluation method and device of multi-satellite earth observation task planning algorithms |
| CN106054145A (en) * | 2016-05-19 | 2016-10-26 | 杭州电子科技大学 | Reconnaissance identification method for work mode of satellite-borne synthetic aperture radar |
| CN106408587A (en) * | 2016-09-19 | 2017-02-15 | 辽宁工程技术大学 | Multi-view SAR image segmentation method and device |
| CN106767705A (en) * | 2016-11-22 | 2017-05-31 | 航天恒星科技有限公司 | Imaging posture modeling method during a kind of Optical remote satellite point target observation mission is dynamic |
Non-Patent Citations (1)
| Title |
|---|
| 孙进平 等: "用于SAR成像教学的TanDEM卫星轨道仿真", 《第十届全国信号和智能信息处理与应用学术会议专刊》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109711016B (en) | 2020-09-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP6987508B2 (en) | Shape estimation device and method | |
| JP7035112B2 (en) | Computer vision methods and systems | |
| JP4185052B2 (en) | Enhanced virtual environment | |
| JP3461980B2 (en) | High-speed drawing method and apparatus | |
| WO2019140945A1 (en) | Mixed reality method applied to flight simulator | |
| CN110060284A (en) | A kind of binocular vision environmental detecting system and method based on tactilely-perceptible | |
| CN110930508A (en) | Two-dimensional photoelectric video and three-dimensional scene fusion method | |
| CN105513063A (en) | Calibration of parabolic refraction and reflection camera through Veronese mapping and checkerboard | |
| US20090185719A1 (en) | Modeling motion capture volumes with distance fields | |
| CN115690336A (en) | Satellite beam coverage area visualization method, server and storage medium | |
| US10664947B2 (en) | Image processing apparatus and image processing method to represent part of spherical image in planar image using equidistant cylindrical projection | |
| CN107871304B (en) | Panoramic video frame rectangular mapping method based on spherical surface circular cutting and affine transformation | |
| CN117036612A (en) | Three-dimensional reconstruction method based on nerve radiation field | |
| CN109711016A (en) | Bilateral SAR satellite imagery configuration simulation, dynamic emulation method and system | |
| KR20030016477A (en) | Remeshing optimizing method and apparatus for polyhedral surface | |
| JP7150460B2 (en) | Image processing device and image processing method | |
| CN109581374A (en) | Unilateral SAR satellite imagery configuration simulation, dynamic emulation method and system | |
| KR102442545B1 (en) | Method and apparatus of detecting object using deep learning of omni directional image, method of autonomous driving of vehicle and drone using the method | |
| Lhuillier | From photogrammetric reconstruction to immersive VR environment | |
| CN105354840A (en) | Method for calibrating parabolic catadioptric camera by using separated two-ball image and orthogonal vanishing point | |
| CN113781654B (en) | Method for extracting three-dimensional grid model skeleton of hand by using spherical expansion side writing | |
| CN106503351A (en) | A kind of behavior modeling method of moving vehicle in virtual environment | |
| KR20190066804A (en) | Method of generating sphere-shaped image, method of playing back sphere-shaped image, and apparatuses thereof | |
| Xu et al. | Research on digital modeling and optimization of virtual reality scene | |
| Lui et al. | An omnidirectional vision system for outdoor mobile robots |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information |
Inventor after: Yu Xiangyu Inventor after: Duan Lequan Inventor after: Chen Xin Inventor before: Yu Xiangyu |
|
| CB03 | Change of inventor or designer information | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200904 Termination date: 20211214 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |