CN110244267A - The tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave - Google Patents
The tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The invention discloses a kind of tangential Forward-looking SAR three-dimensional imaging model performance analysis methods of missile-borne millimeter wave, this method characterizes mathematical model according to echo-signal, in conjunction with radar parameter and kinematic parameter, analyze the three-dimensional space-variant coupled characteristic and three-dimensional space resolution capability of the tangential Forward-looking SAR three-dimensional imaging model of missile-borne millimeter wave, and with space all-direction mobility model be reference, using its influence to observation area space three-dimensional imaging results of BP algorithm comparative analysis, so as to accurately obtain the tangential Forward-looking SAR three-dimensional imaging model of missile-borne millimeter wave imaging capability performance parameter, designer is facilitated to advanced optimize model, to improve imaging model to the recognition capability of target.
Description
Technical field
The present invention relates to missile-borne high resolution radar guidance technologies, more particularly, to target radar immediately ahead of missile flight track
Three-dimensional imaging model is suitable for providing for missile borne SAR (Synthetic Aperture Radar, SAR) accurate
Forward sight three-dimensional imaging ability.
Background technique
Currently, missile borne SAR (SAR) target seeker uses Spotlight SAR Imaging Mode in guided missile descending branch, passes through
High resolution 2 d focal imaging is carried out to target scene, obtains the SAR imaging of target scene, and the SAR base with setting in real time
Quasi- image carries out matching positioning, to realize positioning and identification to target.
However, conventional synthetic aperture radar image-forming technology is by emitting big bandwidth signal and by the movement of carrier
Virtual large aperture is formed in space to obtain the high-resolution microwave imagery of distance and bearing respectively, and radar beam is directed toward and carries at this time
The heading of body needs certain angle, with virtual array aperture needed for obtaining orientation high-resolution imaging.Therefore, traditional
Missile-borne platform using SAR imaging technique detect and identify target when, it is necessary to the heading of guided missile with bullet interocular distance deposit
In certain angle, the orientation high resolution picture of target could be obtained, certain arching trajectory that finally needs to fly could hit mesh
Mark；This will greatly consume the energy of guided missile itself, increase the difficulty of Guidance and control；
Further, since traditional Missile-borne SAR target seeker does not have the ability of autonomous target-seeking target of attack, it is necessary to using matching
The mode target of attack of guidance, this greatly reduces the performances of guided missile precision strike target.For example, the static of ground is attacked
Or the Ship Target etc. that the armored target moved and sea move, it is difficult to find suitable matching area for positioning and attacking
Hit target.Meanwhile antimechanized missile or cruise missile, it is repeatedly covered due to caused by hypsography or wave, shade and synthesis hole
The limitation at observation visual angle in diameter integration time brings difficulty to SAR image interpretation and target identification.
Therefore, in view of the above-mentioned problems, those skilled in the art have carried out a large amount of research, and some solution party are proposed
Case.However, the validity of these schemes is difficult to accurately estimate, so that relevant research and engineer application are made slow progress.
Summary of the invention
In view of this, the present invention proposes a kind of tangential SAR imaging model method for analyzing performance of missile-borne millimeter wave forward sight, the party
The method Downward Trendline Spotlight SAR Imaging three-dimensional imaging model motor-driven based on trajectory, can be to the tangential SAR imaging performance of missile-borne millimeter wave forward sight
It is accurately analyzed, and then is provided for the tangential SAR imaging technique progress technological improvement of missile-borne millimeter wave forward sight and engineer application
Foundation.
To achieve the above object, the present invention adopts the following technical scheme:
A kind of tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave, the imaging model be based on
The motion model of trajectory Downward Trendline, and be to prevent from intercepting and the snakelike space three for evading kinetic characteristic construction of flight in conjunction with guided missile
Tangential aperture model is tieed up, this method comprises the following steps:
According to the motion model of guided missile Downward Trendline, and evade using guided missile the snakelike tangential motion characteristic of interception, in conjunction with it
Along course and height to motion feature, obtain characterization echo-signal mathematical model；
Mathematical model, which is characterized, according to above-mentioned echo-signal analyzes the imaging model in conjunction with radar parameter and kinematic parameter
Three-dimensional space-variant coupled characteristic and three-dimensional space resolution capability；
It is reference with space all-direction mobility model, using BP algorithm pair for the space three-dimensional tangential motion of imaging model
Than analyzing its influence to observation area space three-dimensional imaging results.
According to further embodiment, it whether there is equidistant course collection in analyzing three-dimensional imaging space, according to tool
Have with the presence or absence of scattering point in certain pixels of same distance course, whether the three-dimensional image space after judging imaging generates falseness
Pixel.
According to further embodiment, equidistant course collection is judged whether there is according to following equation group:
Wherein,WithFor any two point target in observation area,Indicate the position vector of initial radar platform
Information, C(N-1)×3It is the instantaneous velocity vector matrix of radar platform.
According to further embodiment, according to tangential aperture model cut course made good resolution ratio and height to along course
Coupling to resolution ratio, analyze the three-dimensional space-variant coupled characteristic and three-dimensional space resolution capability of the imaging model.
It is the omnidirectional moving mould by the tangential path representation of the tangential aperture model according to further embodiment
The sparse sampling of type.
According to further embodiment, select to cut course speed change model as the tangential path.
According to further embodiment, the full aperture for receiving signal and corresponding to all-direction mobility model of the imaging model
Face battle array wave number numeric field data is multiplied with sparse matrix.
The present invention characterizes mathematical model according to echo-signal, in conjunction with radar parameter and kinematic parameter, analyzes missile-borne millimeter wave
The three-dimensional space-variant coupled characteristic and three-dimensional space resolution capability of tangential Forward-looking SAR three-dimensional imaging model, and with space omnidirectional moving
Model is reference, using its influence to observation area space three-dimensional imaging results of BP algorithm comparative analysis, so as to accurate
The performance parameter for obtaining the imaging capability of the tangential Forward-looking SAR three-dimensional imaging model of missile-borne millimeter wave, facilitates designer to model
It advanced optimizes, to improve imaging model to the recognition capability of target.
Detailed description of the invention
Fig. 1 is the tangential SAR geometric configuration schematic diagram of missile-borne millimeter wave forward sight；
Fig. 2 is the tangential SAR method for analyzing performance flow chart of missile-borne millimeter wave forward sight according to the embodiment of the present invention；
Fig. 3 is the equidistant point set of spatial three-dimensional movement, in which: (a) is straight-line trajectory, (b) is curvilinear motion rail
Mark；
Fig. 4 is that curvilinear motion locus model analyzes schematic diagram；
Fig. 5 is three-dimensional gear shift curve tangential motion path schematic diagram, in which: (a) is height to variable motion, (b) is to cut
Course variable motion, (c) for along course variable motion；
Fig. 6 is the three-dimensional space angle schematic diagram of tangential aperture track；
Fig. 7 is point target space three-dimensional resolution ratio simulation result according to the present invention, in which: (a) is 3dB-3D focused view
Picture is (c) height to resolution ratio, (d) cuts course-along course sectioning image, (e) along course-height (b) to cut course resolution ratio
Tangential section image is spent, course-height tangential section image (f) is cut；
Fig. 8 is multiple spot three-dimensional imaging result, in which: (a) is 3dB three-dimensional BP imaging results, (b) is imaged for 10dB three-dimensional BP
As a result.
Specific embodiment
The present invention is explained in more detail with reference to the accompanying drawings and detailed description.
The tangential SAR imaging model method for analyzing performance of missile-borne millimeter wave forward sight proposed by the present invention, according to missile-borne millimeter wave
The three-dimensional motion characteristic of the tangential SAR configuration of forward sight, i.e., along course made good, cut course made good, highly to kinetic characteristic, analysis design not
Same kinematic parameter obtains the synthetic aperture of its space three-dimensional, and flat to missile-borne under ideal conditions using geometric vector analytic approach
The distance between platform and reference point target course are analyzed, and are judged whether there is equidistant course point set, are analyzed it to observation
The influence of regional space three-dimensional imaging result, to optimize the tangential path of space three-dimensional.
The tangential motion model of the SAR imaging model based on trajectory Downward Trendline of missile-borne millimeter wave forward sight, and combine guided missile
To prevent the snakelike kinetic characteristic of evading for intercepting and flying from constructing, therefore the model takes full advantage of the movement spy of missile trajectory
Point, therefore more meet real background.
The method specifically comprises the following steps:
Step 1: according to the motion model of guided missile Downward Trendline, and evade using guided missile the snakelike tangential motion characteristic of interception,
In conjunction with its along course and height to motion feature, obtain characterization echo-signal mathematical model；
The tangential aperture that space is realized based on the snakelike maneuverability that guided missile is evaded, can be to avoid traditional Missile-borne SAR model
In for realize orientation high-resolution and there are problems that certain angle with target spacing.Meanwhile with along course high-speed motion, acquisition
The multi-aspect imaging in course is cut, it can be achieved that lasting observation to scene objects.
For the tangential aperture model of space three-dimensional, any two point target in observation area is analyzedWithApart from course,
And it is denoted as respectivelyWith
If described two point oblique distance courses having the same, i.e.,When, then for the echo of observation areaScattering pointWithIntegral superposition may be expressed as:
By formula (1) it is found that being dissipated with the scattering point echo-signal form having the same of same distance course in space
It is mathematically inseparable to penetrate coefficient, thus certain pixel intensity is identical apart from course as the pixel in observation area in image
Scattering point scattering coefficient superposition.Meanwhile if there is no scattering points in certain pixels with same distance course, after imaging
Three-dimensional image space will generate false pixel.
Therefore, the present invention is medium to three-dimensional imaging space according to tangential aperture millimetre-wave radar forward sight three-dimensional imaging model
It is analyzed apart from course collection.Specifically, judging whether there is equidistant course collection according to following equation group:
In formula,Indicate the location vector information of initial radar platform, C(N-1)×3It is the instantaneous velocity vector of radar platform
Matrix, expression formula are as follows:
According to curvilinear motion locus model as shown in Figure 4, when tangential path is space three-dimensional linear uniform motion or sky
Between certain one-dimensional speed change curvilinear motion, i.e. Matrix C(N-1)×3Order when being respectively 1 or 2, the Xie Weiyi of equation one is crossed a little in formula (2)Ball, and the solution of equation two be respectively one cross pointAnd circle and a mistake perpendicular to tangential pathThe straight line of point, with
The intersection of equation one is respectively the symmetrical scattering point that tangential path two sides are distributed in a circle in space and space, is existed
Apart from point set, space three-dimensional imaging can not be carried out in observation area at this time.But due to spatial beams it is fixed along a direction into
Row irradiation, thus the model as shown in Fig. 3 (b) can carry out space three-dimensional imaging.Meanwhile when tangential path is Spatial Multi-Dimensional
When gear shift curve moves, Matrix C(N-1)×3For non-singular matrix, the disaggregation of formula (2) is the single fixed point in spaceMeet empty
Between three-dimensional imaging condition.
It is assumed that radar payload platform is with speed vx(n)、vy(n) and vz(n) along space three-dimensional tangential motion, and with angle beta pair
Observation area carries out spotlight, for any scattering point in spaceIn the slow timeWhen, define the position vector of radarAre as follows:
Wherein, [x0,0,H]TThe position vector for indicating radar platform when orientation moment n=0, in each orientation moment n, thunder
Up to platform relative to scattering pointTransmitting range courseIt is represented by
Wherein, | | | |2Indicate the l of operator2Norm.
If observation area centerFormula (5) is being referred to according to polynary Taylor-expansion theorem for reference point
PointPlace carries out space development, can obtain:
Wherein, ▽ indicates gradient algorithm operator, espFor the truncated error in airspace.
According to the property of vector derivation it is found thatIt may be expressed as:
Wherein,
Orientation zero moment beam center is defined to pass throughCorresponding visual lines vector when scattering pointAre as follows:
Define the space three-dimensional velocity vector of payload platformAre as follows:
Then apart from courseAre as follows:
Assuming that transmitting signal is linear FM signal, it may be assumed that
Wherein, A is the amplitude for emitting signal, fcFor the carrier frequency for emitting signal, krFor the frequency modulation rate of linear FM signal, Tp
For the pulsewidth for emitting signal, then scattering pointThe echo that array element receives after reflection may be expressed as:
Wherein,ForThe echo scattering coefficient of point,ForThe echo delay of point, c is light
Speed.
As shown in figure 4, the distance between radar platform and scattering point (x, y, z) course are as follows:
R=[(R0 cos(θ)cos(φ)-x)2+(R0 cos(θ)sin(φ)-y)2+(R0 sin(θ)-z)2]1/2
(16)
Wherein, R0It indicates the instantaneous distance between radar and scattering center point, is believed that when payload platform movement is slower
Approximate constant.Taylor expansion is carried out to formula (13):
Wherein:
Wherein, θ0Indicate the mean value of elevation angle, then the received Radar Return of formula (15) institute can obtain after Frequency mixing processing:
Wherein, Δ R=c (τ-τ0)/2 may be expressed as:
Formula (23) is brought into formula (22) and is obtained:
Wherein, (Δ x, Δ y, Δ z) are point scattering function to a, and Kx,KyAnd KzIt is respectively as follows:
Step 2: according to echo-signal mathematical character model, in conjunction with radar parameter and kinematic parameter, analyzing its three-dimensional space-variant
Coupled characteristic and three-dimensional space resolution capability；
Using trajectory Downward Trendline with the snakelike motor-driven spatial three-dimensional movement combined, the resolution capability of space three-dimensional is obtained,
It is repeatedly covered due to caused by hypsography or wave for analyzing it relative to two dimensional image, shade and synthetic aperture integration time
The ability of image interpretation and target identification problem, judges whether it has the height to target caused by the limitation at interior observation visual angle
Three-dimensional imaging is differentiated, to enhance the ability of target identification.
It is assumed that tangential path is the curvilinear motion along the one-dimensional speed change in space, space three-dimensional path is as shown in Figure 5:
According to the definition of ambiguity function, the generalized fuzzy function of three-dimensional space can be indicated are as follows:
Its essence is scattering pointAnd scattering pointThe normalized crosscorrelation of echo-signal.Since formula (28) denominator is integral
Constant does not influence resolution ratio, therefore the formula can simplify are as follows:
Wherein, distance is to ambiguity functionRange resolution information is contained, may be expressed as:
(13) are brought into (31), it is known thatAre as follows:
Therefore, Three Dimensional Generalized ambiguity function can further abbreviation are as follows:
Wherein,AndWithIt may be expressed as:
It, can be approximate in the case where ignoring along course made good and cutting course made good radar platform and move caused range migration
ThinkI.e. distance is to ambiguity function not with slow time change.Thus, it can be known that echo-signal
?Distance resolution on direction are as follows:
As shown in fig. 6, due to height to the coupling velocity vector along courseWith cut course velocity vectorMutually just
It hands over, therefore cuts course ambiguity functionIt is coupled to along course to ambiguity function with heightTable can be distinguished
It is shown as:
Wherein,
Using first zero point of sinc () function as resolution ratio, it is known that the tangential SAR model of millimeter wave cuts course made good point
Resolution and height are respectively as follows: to the coupling along course to resolution ratio
The simulation result of point target space three-dimensional resolution ratio is as shown in Figure 7.
It step 3, is reference with space all-direction mobility model, using BP algorithm for the space three-dimensional tangential motion of model
Its influence to observation area space three-dimensional imaging results of comparative analysis.
As shown in figure 5, the space path essence of tangential track SAR forward sight millimeter wave three-dimensional imaging model is corresponding space
Face battle array sparse sampling, by radar return signal echo withBe mixed:
Wherein,
It is assumed that radar between target at a distance from be much larger than target size, then
Δ R=Δ x cos (φ) cos (θ)+Δ y cos (φ) sin (θ)+Δ z sin (φ) (42)
(42) are brought into (41) and are obtained:
Wherein, (Δ x, Δ y, Δ z) are point scattering function to a, and Kx,KyAnd KzAre as follows:
Therefore, receiving signal is three-dimensional wave-number domain (Kx,Ky,Kz) in frequency be (the multiple sinusoidal letter of the three-dimensional of Δ x, Δ y, Δ z)
Number, (Δ x, Δ y, Δ z) correspond to the distribution character of each scattering point in space to frequency.
Relative to complete opening diametric plane battle array, the tangential path of tangential aperture track millimeter wave three-dimensional imaging model can be regarded as to complete opening
The sparse sampling of diametric plane battle array then receives signal corresponding to complete opening diametric plane battle array wave number numeric field data and sparse matrix Spa(kx,ky,kz) phase
Multiply, it may be assumed that
According to traditional imparametrization imaging algorithm based on matched filtering, such as 3D-RD algorithm, 3D-CS algorithm and 3D-BP
Imaging algorithm etc., the then Three dimensional Targets rebuild are sparse matrix Spa (Δ x, Δ y, Δ z) and point scattering function a (Δ x, Δ
Y, the convolution of Δ z) will lead in imaging results and main lobe broadening, secondary lobe enhancing occur, or even aliasing, false target occur etc. and ask
Topic.
Referring to, to the resolution analysis of tangential track SAR forward sight millimeter wave three-dimensional imaging model, course is cut in selection in step 2
Tangential path of the speed change model as simulation, and 3D-BP imaging algorithm is respectively adopted to 7 scattering points: (15,15,0), (15 ,-
15,0), (- 15,15,0), (- 15, -15,0), (0,0,0), (0,0,15), (0,0, -15) are imaged, specific radar ginseng
Number is as shown in table 1.
The tangential Forward-looking SAR 3-D imaging system simulation parameter of 1 missile-borne millimeter wave of table
As shown in Fig. 8 (a), when using 3D-BP imaging algorithm, 7 scattering point three-dimensionals of spatial spreading distribution are realized
The imaging for being imaged and simultaneously being outlined with circle, illustrate the three-dimensional imaging ability of the model, but point target main lobe is only depicted due to it
As a result, the sidelobe performance of its three-dimensional imaging results can not be embodied.Comparison diagram 8 (b) is it can be found that when three-dimensional imaging result thresholding is set
When being set to 10dB, the high sidelobe performance as caused by Sparse makes the False Intersection Points for occurring many in three-dimensional imaging space
Target.
Therefore, the three-dimensional imaging result threshold value suitable for model selection, can make it meet three-dimensional imaging performance
It is required that.
Further, the invention also includes according to above-mentioned analysis as a result, the step optimized to the tangential path of space three-dimensional
Suddenly.
Claims (7)
1. a kind of tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave, the imaging model is based on bullet
The motion model of road Downward Trendline, and be to prevent from intercepting and the snakelike space three-dimensional for evading kinetic characteristic construction of flight in conjunction with guided missile
Tangential aperture model, it is characterised in that: this method comprises the following steps:
According to the motion model of guided missile Downward Trendline, and evade using guided missile the snakelike tangential motion characteristic of interception, in conjunction with it along boat
To with height to motion feature, obtain characterization echo-signal mathematical model；
Mathematical model, which is characterized, according to above-mentioned echo-signal analyzes the three-dimensional of the imaging model in conjunction with radar parameter and kinematic parameter
Space-variant coupled characteristic and three-dimensional space resolution capability；
It is reference with space all-direction mobility model, using BP algorithm to score for the space three-dimensional tangential motion of imaging model
Analyse its influence to observation area space three-dimensional imaging results.
2. the tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave according to claim 1, feature
It is: with the presence or absence of equidistant course collection in analyzing three-dimensional imaging space, according to certain pixels with same distance course
Upper to whether there is scattering point, whether the three-dimensional image space after judging imaging generates false pixel.
3. the tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave according to claim 2, feature
It is: equidistant course collection is judged whether there is according to following equation group:
Wherein,WithFor any two point target in observation area,Indicate the position vector letter of initial radar platform
Breath, C(N-1)×3It is the instantaneous velocity vector matrix of radar platform.
4. the tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave according to claim 1, feature
Be: according to tangential aperture model cut course made good resolution ratio and height to, to resolution ratio, analyzed with the coupling along course this at
As the three-dimensional space-variant coupled characteristic and three-dimensional space resolution capability of model.
5. the tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave according to claim 1, feature
It is: is the sparse sampling of the all-direction mobility model by the tangential path representation of the tangential aperture model.
6. the tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave according to claim 5, feature
It is: selects to cut course speed change model as the tangential path.
7. the tangential Forward-looking SAR three-dimensional imaging model performance analysis method of missile-borne millimeter wave according to claim 5, feature
It is: the complete opening diametric plane battle array wave number numeric field data and sparse matrix that receive signal and correspond to all-direction mobility model of the imaging model
It is multiplied.
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| CN112347613A (en) * | 2020-10-19 | 2021-02-09 | 西安空间无线电技术研究所 | Method for quickly designing waveform bandwidth of microwave speed and distance measuring sensor |
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