CN110441769A - Object localization method, device and storage medium based on the sequential image of SAR - Google Patents
Object localization method, device and storage medium based on the sequential image of SAR Download PDFInfo
- Publication number
- CN110441769A CN110441769A CN201810418941.5A CN201810418941A CN110441769A CN 110441769 A CN110441769 A CN 110441769A CN 201810418941 A CN201810418941 A CN 201810418941A CN 110441769 A CN110441769 A CN 110441769A
- Authority
- CN
- China
- Prior art keywords
- sar image
- detection target
- sar
- oblique distance
- target
- 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.)
- Pending
Links
Classifications
-
- 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
- G01S13/9027—Pattern recognition for feature extraction
-
- 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
- G01S13/88—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
- G01S13/9094—Theoretical aspects
Landscapes
- Engineering & Computer Science (AREA)
- Remote Sensing (AREA)
- Radar, Positioning & Navigation (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
This disclosure relates to a kind of object localization method based on the sequential image of SAR, device and storage medium, to solve since target region elevation information is unknown in existing location technology, the not high technical problem of target positioning result precision.This method comprises: obtaining SAR image of the same detection target at least two different direction angles by angles of azimuth spaceborne SAR；Obtain the pixel unit for detecting target corresponding oblique distance and/or doppler centroid in each SAR image；According to the oblique distance and/or doppler centroid got, the stereoscopic localized equation group of detection target is established based on RD location algorithm；Stereoscopic localized equation group is solved to determine the location information of detection target.
Description
Technical field
This disclosure relates to signal processing technology field, and in particular, to a kind of target positioning side based on the sequential image of SAR
Method, device and storage medium.
Background technique
Synthetic aperture radar SAR relies on its high-resolution, high imaging precision as a kind of active microwave remote sensing equipment
And advantage all-time anf all-weather, widely apply to the fields such as military surveillance, environmental remote sensing.With Digital Image Processing skill
The development of art, the superiority of radar imagery is more prominent, and the application field of synthetic aperture radar SAR constantly extends, in movement mesh
The fields such as mark detection, the measurement of higher degree are widely used in demand.
In the related art, the positioning of satellite-borne SAR target is needed in observation with interior selection reference point, according to reference point and pixel
Between positional relationship determine target position, if region to be measured, without reference to point, which can not be positioned.With fixed
The research and progress of position technology, Curlander et al. have delivered the theory about image pixel positioning, and conventional RD algorithm combines certainly
The last handling process of dynamic correction geocoding, the positioning result that SAR object locating system can be made to obtain are more accurate.However,
Based on traditional mode positioned caused by error and elevation it is closely related, when the feelings that place target area elevation information is unknown
Under condition, the precision of target positioning result is difficult to reach the demand in engineering.
Summary of the invention
Purpose of this disclosure is to provide a kind of object localization method based on the sequential image of SAR, device and storage mediums, use
To solve since target region elevation information is unknown in existing location technology, the not high technology of target positioning result precision is asked
Topic.
To achieve the goals above, disclosure first aspect provides a kind of object localization method based on the sequential image of SAR,
Include:
Same detection target is obtained at least two different direction angles by angles of azimuth spaceborne SAR
On SAR image；
The pixel unit of the detection target is obtained in each SAR image in corresponding oblique distance and/or Doppler
Frequency of heart, wherein in the case where getting the SAR image in two different direction angles, at least for described in a width
SAR image, the pixel unit of the detection target corresponding oblique distance and doppler centroid in the SAR image are obtained
It takes；
According to the oblique distance and/or the doppler centroid got, the spy is established based on RD location algorithm
Survey the stereoscopic localized equation group of target, wherein the stereoscopic localized equation group include the corresponding oblique distance equation of each SAR image with
And at least three equations in Doppler equation；
The stereoscopic localized equation group is solved with the location information of the determination detection target, the location information includes institute
State the three-dimensional coordinate and latitude and longitude information of detection target.
Optionally, the pixel unit for obtaining the detection target corresponding oblique distance, packet in each SAR image
It includes:
Determine that the auxiliary parameter of each SAR image, the auxiliary parameter include the SAR image orientation and distance
Upward number of pixels, image center are with reference to oblique distance, distance to sample rate and orientation sample rate；
Based on the auxiliary parameter, the pixel unit of the detection target is calculated each described by following formula
Corresponding oblique distance R in SAR image:
Wherein, RrefOblique distance, f are referred to for the SAR image central pointsIt is the SAR image distance to sample rate, c is light
Speed.
Optionally, the pixel unit for obtaining the detection target corresponding Doppler in each SAR image
Centre frequency, comprising:
Read in the corresponding Doppler parameter file of each SAR image；
Determine that the pixel unit of the detection target is right in each SAR image according to the Doppler parameter file
The doppler centroid answered.
Optionally, in the case where getting the SAR image in more than two different direction angles, the solid
Positioning equation group includes the corresponding oblique distance equation of each SAR image, alternatively, the stereoscopic localized equation group includes every SAR figure
As corresponding Doppler equation.
Optionally, described that same detection target is obtained at least two by angles of azimuth spaceborne SAR
SAR image in different direction angle, comprising:
Same detection target is obtained in two different direction angles by angles of azimuth spaceborne SAR
SAR image obtains the first SAR image and the second SAR image；
The pixel unit for obtaining the detection target corresponding oblique distance and/or how general in each SAR image
Strangle centre frequency, comprising:
The oblique distance and doppler centroid of first SAR image are obtained, and obtains the oblique of second SAR image
Away from；
The oblique distance and/or the doppler centroid that the basis is got, establish institute based on RD location algorithm
State the stereoscopic localized equation group of detection target, comprising:
Establish first SAR image and second SAR image oblique distance equation and first SAR image
Doppler equation.
Optionally, the oblique distance equation and the first SAR of first SAR image and second SAR image are established
The Doppler equation of image, comprising:
It reads in and passes through pretreated satellite ephemeris Parameter File；
Each picture of first SAR image and second SAR image is determined according to the satellite ephemeris Parameter File
The corresponding satellite position vectors of plain unit and satellite velocity vector；
For the pixel unit of the detection target, group is established the following equation:
(Rsx1-Rtx)2+(Rsy1-Rty)2+(Rsz1-Rtz)2-R1 2=0；
(Rsx2-Rtx)2+(Rsy2-Rty)2+(Rsz2-Rtz)2-R2 2=0；
2Vsx1(Rsx1-Rtx)+2Vsy1(Rsy1-Rty)+2Vsz1(Rsz1-Rtz)-λR1fd1=0；
Wherein, Rsx1、Rsy1、Rsz1The pixel unit of detection target described in respectively described first SAR image is corresponding to be defended
X, y, z axis component of the star position vector in the case where rotating geocentric coordinate system, Rsx2、Rsy2、Rsz2In respectively described second SAR image
X, y, z axis component of the corresponding satellite position vectors of pixel unit of the detection target in the case where rotating geocentric coordinate system, R1For
The pixel unit of the detection target corresponding oblique distance, R in first SAR image2For the pixel list of the detection target
Member corresponding oblique distance, V in second SAR imagesx1、Vsy1、Vsz1Mesh is detected described in respectively described first SAR image
X, y, z axis component of the corresponding satellite velocity vector of target pixel unit in the case where rotating geocentric coordinate system, Rtx、Rty、RtzRespectively
X, y, z axis component of the detection target in the case where rotating geocentric coordinate system, fd1To detect target described in first SAR image
The corresponding doppler centroid of pixel unit, λ be synthetic aperture radar SAR wavelength.
It is optionally, described to solve the stereoscopic localized equation group with the location information of the determination detection target, comprising:
The stereoscopic localized equation group is solved based on Newton iteration method with the location information of the determination detection target.
Optionally, the method also includes:
Based on the location information of the detection target, following earth elliptic equation is solved with the height of the determination detection target
Journey information h:
Wherein, xt、yt、ztThe coordinate of respectively described detection target x, y, z axis in the case where rotating geocentric coordinate system, ReFor ground
The equatorial radius of ball, RpFor the polar radius of the earth.
Disclosure second aspect provides a kind of target locating set based on the sequential image of SAR, comprising:
SAR image obtains module, exists for obtaining same detection target by angles of azimuth spaceborne SAR
SAR image at least two different direction angles；
Parameter acquisition module, the pixel unit for obtaining the detection target are corresponding in each SAR image
Oblique distance and/or doppler centroid, wherein in the case where getting the SAR image in two different direction angles,
At least for SAR image described in a width, the pixel unit of the detection target corresponding oblique distance and Duo Pu in the SAR image
Centre frequency is strangled to be acquired；
Stereoscopic localized module, for being determined based on RD according to the oblique distance and/or the doppler centroid got
Position algorithm establishes the stereoscopic localized equation group of the detection target, wherein the stereoscopic localized equation group includes each SAR image
At least three equations in corresponding oblique distance equation and Doppler equation；
Location information determining module, for solving the stereoscopic localized equation group with the position letter of the determination detection target
Breath, the location information include the three-dimensional coordinate and latitude and longitude information of the detection target.
Optionally, the parameter acquisition module includes:
Auxiliary parameter determines submodule, for determining that the auxiliary parameter of each SAR image, the auxiliary parameter include
The SAR image orientation and apart from upward number of pixels, image center with reference to oblique distance, distance to sample rate and orientation
To sample rate；
The detection target is calculated by following formula for being based on the auxiliary parameter in oblique distance computational submodule
Pixel unit in each SAR image corresponding oblique distance R:
Wherein, RrefOblique distance, f are referred to for the SAR image central pointsIt is the SAR image distance to sample rate, c is light
Speed.
Optionally, the parameter acquisition module includes:
Parameter File reads in submodule, for reading in the corresponding Doppler parameter file of each SAR image；
Doppler centroid determines submodule, for determining the detection target according to the Doppler parameter file
Pixel unit corresponding doppler centroid in each SAR image.
Optionally, in the case where getting the SAR image in more than two different direction angles, the solid
Positioning equation group includes the corresponding oblique distance equation of each SAR image, alternatively, the stereoscopic localized equation group includes every SAR figure
As corresponding Doppler equation.
Optionally, the SAR image obtains module and is used for, and is obtained by angles of azimuth spaceborne SAR same
SAR image of the one detection target in two different direction angles, obtains the first SAR image and the second SAR image；
The parameter acquisition module is used to obtain the oblique distance and doppler centroid of first SAR image, and obtains
Take the oblique distance of second SAR image；
The stereoscopic localized module is used to establish the oblique distance equation of first SAR image and second SAR image, with
And the Doppler equation of first SAR image.
Optionally, the stereoscopic localized module is used for:
It reads in and passes through pretreated satellite ephemeris Parameter File；
Each picture of first SAR image and second SAR image is determined according to the satellite ephemeris Parameter File
The corresponding satellite position vectors of plain unit and satellite velocity vector；
For the pixel unit of the detection target, group is established the following equation:
(Rsx1-Rtx)2+(Rsy1-Rty)2+(Rsz1-Rtz)2-R1 2=0；
(Rsx2-Rtx)2+(Rsy2-Rty)2+(Rsz2-Rtz)2-R2 2=0；
2Vsx1(Rsx1-Rtx)+2Vsy1(Rsy1-Rty)+2Vsz1(Rsz1-Rtz)-λR1fd1=0；
Wherein, Rsx1、Rsy1、Rsz1The pixel unit of detection target described in respectively described first SAR image is corresponding to be defended
X, y, z axis component of the star position vector in the case where rotating geocentric coordinate system, Rsx2、Rsy2、Rsz2In respectively described second SAR image
X, y, z axis component of the corresponding satellite position vectors of pixel unit of the detection target in the case where rotating geocentric coordinate system, R1For
The pixel unit of the detection target corresponding oblique distance, R in first SAR image2For the pixel list of the detection target
Member corresponding oblique distance, V in second SAR imagesx1、Vsy1、Vsz1Mesh is detected described in respectively described first SAR image
X, y, z axis component of the corresponding satellite velocity vector of target pixel unit in the case where rotating geocentric coordinate system, Rtx、Rty、RtzRespectively
X, y, z axis component of the detection target in the case where rotating geocentric coordinate system, fd1To detect target described in first SAR image
The corresponding doppler centroid of pixel unit, λ be synthetic aperture radar SAR wavelength.
Optionally, the location information determining module be used to solve based on Newton iteration method the stereoscopic localized equation group with
Determine the location information of the detection target.
Optionally, described device further include:
Elevation information determining module solves following earth elliptic equation for the location information based on the detection target
With the elevation information h of the determination detection target:
Wherein, xt、yt、ztThe coordinate of respectively described detection target x, y, z axis in the case where rotating geocentric coordinate system, ReFor ground
The equatorial radius of ball, RpFor the polar radius of the earth.
The disclosure third aspect provides a kind of computer readable storage medium, is stored thereon with computer program, the program
The step of object localization method provided by disclosure first aspect based on the sequential image of SAR is realized when being executed by processor.
In the above-described techniques, same detection target is obtained at least two by angles of azimuth spaceborne SAR
SAR image in a different direction angle, and the pixel unit of detection target is obtained in each SAR image according to the SAR image
In corresponding oblique distance and/or doppler centroid, be then based on oblique distance and/or doppler centroid building stereoscopic localized side
Journey group can determine the location information of detection target by solving stereoscopic localized equation group, realize the elevation in detection target
In the case that information is unknown, detection target can be also accurately positioned.
Other feature and advantage of the disclosure will the following detailed description will be given in the detailed implementation section.
Detailed description of the invention
Attached drawing is and to constitute part of specification for providing further understanding of the disclosure, with following tool
Body embodiment is used to explain the disclosure together, but does not constitute the limitation to the disclosure.In the accompanying drawings:
Fig. 1 is a kind of process of object localization method based on the sequential image of SAR shown according to an exemplary embodiment
Figure；
Fig. 2 is angles of azimuth spaceborne SAR working mode figure shown according to an exemplary embodiment；
Fig. 3 be it is shown according to an exemplary embodiment orientation angles be β1When the first SAR image for obtaining；
Fig. 4 be it is shown according to an exemplary embodiment orientation angles be β2When the second SAR image for obtaining；
Fig. 5 is a kind of process of object localization method based on the sequential image of SAR shown according to an exemplary embodiment
Figure；
Fig. 6 is the process for the three-dimensional coordinate that Newton iteration method shown according to an exemplary embodiment solves detection target
Figure；
Fig. 7 is a kind of block diagram of target locating set based on the sequential image of SAR shown according to an exemplary embodiment；
Fig. 8 is a kind of block diagram of target locating set based on the sequential image of SAR shown according to an exemplary embodiment.
Specific embodiment
It is described in detail below in conjunction with specific embodiment of the attached drawing to the disclosure.It should be understood that this place is retouched
The specific embodiment stated is only used for describing and explaining the disclosure, is not limited to the disclosure.
Fig. 1 is a kind of process of object localization method based on the sequential image of SAR shown according to an exemplary embodiment
Figure, as shown in Figure 1, method includes the following steps:
Step 101, same detection target is obtained at least two differences by angles of azimuth spaceborne SAR
SAR image in orientation angles.
Step 102, the pixel unit of detection target is obtained in each SAR image in corresponding oblique distance and/or Doppler
Frequency of heart.
In a kind of possible embodiment, in the case where getting the SAR image in two different direction angles, until
It is directed to a width SAR image less, detects the pixel unit of target corresponding oblique distance and doppler centroid quilt in SAR image
It obtains.
Illustratively, the pixel unit that detection target can be obtained by following methods step is corresponding in each SAR image
Oblique distance: determine the auxiliary parameter of each SAR image, which includes SAR image orientation and apart from upward pixel
Number, image center refer to oblique distance, distance to sample rate and orientation sample rate, and are based on auxiliary parameter, by as follows
The pixel unit for detecting target corresponding oblique distance R in each SAR image is calculated in formula:
Wherein, RrefOblique distance, f are referred to for SAR image central pointsIt is SAR image distance to sample rate, c is the light velocity.
For example, in orientation angles β1The auxiliary parameter of acquired SAR image is respectively as follows: SAR image orientation under=45 °
With distance to number of pixels be 2048 × 2048, image center with reference to oblique distance be Rref=819564.8838052580m, away from
Descriscent sample rate fs=1221.90681652446MHz, orientation sample rate prf=45000.000000Hz.For detecting mesh
It marks pixel (1091.344,550.469), is existed according to the pixel unit that detection target can be calculated in above-mentioned oblique distance calculation formula
Orientation angles β1Corresponding oblique distance is R=819506.7536323481m in acquired SAR image under=45 °.
Illustratively, the pixel unit that detection target can be obtained by following step is corresponding more in each SAR image
General Le centre frequency: the corresponding Doppler parameter file of each SAR image is read in；Detection mesh is determined according to Doppler parameter file
Target pixel unit corresponding doppler centroid in each SAR image.
For example, in orientation angles β1Under=45 ° in acquired SAR image, detection target pixel location is
(1091.344,550.469), then according to the corresponding doppler centroid of the available pixel unit of Doppler parameter file
For fd=298837.78300100000Hz.
It is worth noting that the implementation condition of this step is, it is desirable to provide the by-product of each SAR image relevant information
Product, standard SAR image data all provide the byproduct of relevant information in the world at present.Such as satellite ephemeris parameter, Doppler's ginseng
Number file etc. is all included in the byproduct.
Step 103, according to the oblique distance and/or doppler centroid got, detection mesh is established based on RD location algorithm
Target stereoscopic localized equation group.
In the case where getting the SAR image in more than two different direction angles, stereoscopic localized equation group includes
The corresponding oblique distance equation of each SAR image, alternatively, stereoscopic localized equation group includes the corresponding Doppler equation of each SAR image.
Specifically, it reads in and passes through pretreated satellite ephemeris Parameter File, can be determined according to satellite ephemeris Parameter File
The corresponding satellite position vectors of each pixel unit and satellite velocity vector of SAR image.
For example, being (1091.344,550.469) for detection target pixel location, obtained according to satellite ephemeris Parameter File
To corresponding satellite position vectors: Rsx=6866305.8246192960m, Rsy=116797.98674539200m, Rsz=-
607618.78157252807m。
It is (1091.344,550.469) for detection target pixel location, the corresponding satellite velocities arrow in SAR image
Amount are as follows: Vsx=688.92987498399998m/s, Vsy=-1476.3402787200000m/s, Vsz=
7509.9572268479997m/s。
Pixel unit for being located at the i-th row (orientation) jth column (distance to) in SAR image can be according to distance to transmitting
Image center in chirp bandwidth and auxiliary parameter refers to oblique distance, acquires the earth table of pixel unit representative
Oblique distance of the point in face to Satellite Phase center, pixel unit Ri,jOblique distance equation may be expressed as:
Wherein, Rsx、Rsy、RszThe corresponding satellite position vectors of pixel unit that target is detected respectively in SAR image are turning
X, y, z axis component under dynamic geocentric coordinate system, Rtx、Rty、RtzRespectively x, y, z of the detection target in the case where rotating geocentric coordinate system
Axis component.
Relative velocity can generate Doppler effect between satellite and detection target, and echo data occurs partially in frequency
It moves, offset is proportional to relative velocity between satellite and detection target, by the available following expression of Doppler equation:
Wherein, fdFor the corresponding doppler centroid of pixel unit for detecting target in SAR image, λ is synthetic aperture
The wavelength of radar SAR, Vsx、Vsy、VszThe corresponding satellite velocity vector of pixel unit that target is detected respectively in SAR image exists
Rotate the x, y, z axis component under geocentric coordinate system, xs、ys、zsThe pixel unit that target is detected respectively in SAR image is corresponding
X, y, z axis component of the satellite position vectors in the case where rotating geocentric coordinate system, xp、yp、zpRespectively detection target is sat in rotation the earth's core
X, y, z axis component under mark system.
The stereoscopic localized equation group of detection target, including the corresponding oblique distance of each SAR image are established based on RD location algorithm
At least three equations in equation and Doppler equation.Illustratively, stereoscopic localized equation group includes the oblique distance of the first SAR image
The oblique distance equation of equation, Doppler equation and the second SAR image；Or stereoscopic localized equation group includes the first SAR image
The oblique distance equation of oblique distance equation, the oblique distance equation of the second SAR image and third SAR image；Or stereoscopic localized equation group packet
Include the Doppler equation of the Doppler equation of the first SAR image, the Doppler equation of the second SAR image and third SAR image.
For other equation combinations, will not enumerate herein.
Step 104, stereoscopic localized equation group is solved to determine the location information of detection target.
Illustratively, the location information of detection target can be determined based on Newton iteration method solution stereoscopic localized equation group,
The location information includes the three-dimensional coordinate and latitude and longitude information for detecting target.
Using the above method, traditional RD location algorithm is improved, passes through angles of azimuth satellite-borne synthetic aperture thunder
SAR image of the same detection target at least two different direction angles is obtained up to SAR, and is visited according to the SAR image
The pixel unit of survey target corresponding oblique distance and/or doppler centroid in each SAR image establish body positioning equation group,
The location information of detection target can be determined by solving stereoscopic localized equation group, due to passing through the file acquisitions such as satellite ephemeris parameter
Oblique distance and the precision of doppler centroid are higher, therefore the localization method that the embodiment of the present disclosure provides may be implemented detecting
In the case that the elevation information of target is unknown, detection target can be also accurately positioned.
Fig. 2 is angles of azimuth spaceborne SAR working mode figure shown according to an exemplary embodiment, such as
Shown in Fig. 2, L1For satellite track line, A is detection target, and A ' is the projection of A on the ground, and AA ' is the height for detecting target,
β1、β2Respectively two different orientation angles, R1、R2Respectively detection target is to the oblique distance at Satellite Phase center, and satellite is at this
The corresponding time is respectively t in two orientation angles1、t2.Illustratively, it is β that Fig. 3 and Fig. 4, which is in orientation angles respectively,1At=45 °
Obtain the first SAR image, and orientation angles be β2The second SAR image obtained at=- 45 °, the bright spot in figure are
The tested point of the detection target of selection.
Fig. 5 is a kind of process of object localization method based on the sequential image of SAR shown according to an exemplary embodiment
Figure, as shown in figure 5, method includes the following steps:
Step 501, same detection target is obtained in two different directions by angles of azimuth spaceborne SAR
SAR image in angle obtains the first SAR image and the second SAR image.
Step 502, the oblique distance and doppler centroid of the first SAR image are obtained, and obtains the oblique of the second SAR image
Away from.
Step 503, establish the first SAR image and the second SAR image oblique distance equation and the first SAR image it is how general
Strangle equation.
In a kind of possible embodiment, reads in and pass through pretreated satellite ephemeris Parameter File, and according to Satellite
Go through Parameter File determine the corresponding satellite position vectors of each pixel unit of the first SAR image and the second SAR image and
Satellite velocity vector can establish following equation group for the pixel unit of detection target:
(Rsx1-Rtx)2+(Rsy1-Rty)2+(Rsz1-Rtz)2-R1 2=0；
(Rsx2-Rtx)2+(Rsy2-Rty)2+(Rsz2-Rtz)2-R2 2=0；
2Vsx1(Rsx1-Rtx)+2Vsy1(Rsy1-Rty)+2Vsz1(Rsz1-Rtz)-λR1fd1=0；
Wherein, Rsx1、Rsy1、Rsz1The corresponding satellite position arrow of pixel unit of target is detected in respectively the first SAR image
Measure the x, y, z axis component in the case where rotating geocentric coordinate system, Rsx2、Rsy2、Rsz2The picture of target is detected in respectively the second SAR image
X, y, z axis component of the corresponding satellite position vectors of plain unit in the case where rotating geocentric coordinate system, R1For the pixel list for detecting target
Member corresponding oblique distance, R in the first SAR image2For detect target pixel unit in the second SAR image corresponding oblique distance,
Vsx1、Vsy1、Vsz1The corresponding satellite velocity vector of pixel unit of target is detected in respectively the first SAR image in rotation the earth's core
X, y, z axis component under coordinate system, Rtx、Rty、RtzRespectively x, y, z axis component of the detection target in the case where rotating geocentric coordinate system,
fd1For the corresponding doppler centroid of pixel unit for detecting target in the first SAR image, λ is synthetic aperture radar SAR's
Wavelength.
Step 504, stereoscopic localized equation group is solved to determine the location information of detection target.
Illustratively, the flow chart of the three-dimensional coordinate of Newton iteration method solution detection target is as shown in Figure 6:
Step 601, start.
Step 602, satellite position vectors are inputted.
Step 603, satellite velocity vector is inputted.
Step 604, iteration initial value is inputted.
Step 605, Jacobi matrix is calculated.
Jacobi Matrix Computation Formulas such as following formula:
Step 606, formula is substituted into be calculated.
Calculation formula such as following formula:
x(k+1)=x(k)-[Df(x)(k)]-1f(xk)；
Step 607, judge whether Jacobi matrix is ill, if morbid state, then otherwise return step 604 execute step
608；
Step 608, judge whether to meet required precision, if being unsatisfactory for required precision, then follow the steps 609 update iterative values
And return step 605 terminates the three-dimensional coordinate for the detection target that iteration is required if meeting required precision.
Step 610, terminate.
Optionally, the available detection target of equation is solved using the three-dimensional coordinate combination longitude and latitude of the detection target found out
Latitude and longitude information, longitude and latitude solve equation such as following formula:
Wherein, θ andThe latitude and longitude of target are respectively detected, it is the next in rotation geocentric coordinate system thus to detect target
Setting can determine.
Step 505, the location information based on detection target, obtains the elevation information of detection target.
Illustratively, the location information based on detection target solves following earth elliptic equation to determine the height of detection target
Journey information h:
Wherein, xt、yt、ztRespectively detect the coordinate of target x, y, z axis in the case where rotating geocentric coordinate system, ReFor the earth
Equatorial radius, RpFor the polar radius of the earth.
The elevation information calculating process for detecting target is as follows, calculates the detection target earth at projection half at the earth's surface
Diameter r, elliptic equation can be deformed into:
Satellite is solved simultaneously to the distance R in the earth's core, and the calculation formula of the distance is as follows:
To sum up solving result, the elevation h of available detection target are as follows:
H=R-r；
For example, in one exemplary embodiment, in the case that experiment parameter is as shown in table 1, according to above-mentioned each Computing Principle,
Detection target latitude and longitude information obtained, the three-dimensional coordinate in the case where rotating geocentric coordinate system and elevation information are as shown in table 2.
1 embodiment part Experiment parameter of table
Table 2 is based on the positioning of orientation multi-angle satellite-borne SAR target and elevation information
| Longitude | Latitude | Highly | X-axis | Y-axis | Z axis |
| 0.00291916 | 0.04728371 | 30 | 6371014.00535 | 301469.88739 | 18618.89064 |
| 0.00292840 | 0.04728193 | 30 | 6371014.36753 | 301458.56392 | 18677.81161 |
| 0.00292467 | 0.04728744 | 0 | 6370982.81099 | 301492.23447 | 18653.92733 |
| 0.00292093 | 0.04729294 | -30 | 6370951.25418 | 301525.90467 | 18630.04327 |
| 0.00293017 | 0.04729117 | -30 | 6370951.61635 | 301514.58131 | 18688.96369 |
Using the above method, without known to the position in satellite-borne SAR mapping band in detection target position fixing process
Reference point, depending on the relative position to other point position, absolute fix may be implemented.In addition, the embodiment of the present disclosure provides
Localization method can under no elevation information to detection target be accurately positioned, extract detection target three-dimensional coordinate, into
And the elevation information of detection target is extracted, there is very strong practicability.
Fig. 7 is a kind of block diagram of target locating set based on the sequential image of SAR shown according to an exemplary embodiment,
The device 700 can be implemented in combination with by software, hardware or both as some or all of of electronic equipment.Reference Fig. 7,
The device 700 includes:
SAR image obtains module 710, for obtaining same detection mesh by angles of azimuth spaceborne SAR
The SAR image being marked at least two different direction angles；
Parameter acquisition module 720, for obtaining the pixel unit for detecting target corresponding oblique distance in each SAR image
And/or doppler centroid, wherein in the case where getting the SAR image in two different direction angles, at least for
One width SAR image detects the pixel unit of target corresponding oblique distance and doppler centroid in SAR image and is acquired；
Stereoscopic localized module 730, for being calculated based on RD positioning according to the oblique distance and/or doppler centroid got
Method establishes the stereoscopic localized equation group of detection target, wherein stereoscopic localized equation group includes the corresponding oblique distance side of each SAR image
At least three equations in journey and Doppler equation；
Location information determining module 740, for solving stereoscopic localized equation group to determine the location information of detection target, position
Confidence breath includes the three-dimensional coordinate and latitude and longitude information of detection target.
Using above-mentioned apparatus, module 710 is obtained by SAR image and obtains same detection target at least two different directions
SAR image in angle, and it is corresponding oblique in each SAR image according to the pixel unit that the SAR image obtains detection target
Away from and/or doppler centroid establish body positioning equation group, the position of detection target can be determined by solving stereoscopic localized equation group
Confidence breath, due to higher by the oblique distance of the file acquisitions such as satellite ephemeris parameter and the precision of doppler centroid,
The localization method that the embodiment of the present disclosure provides may be implemented in the case where the elevation information for detecting target is unknown, also can be to detection
Target is accurately positioned.
In a kind of possible embodiment, parameter acquisition module 720 includes:
Auxiliary parameter determines submodule, for determining that the auxiliary parameter of each SAR image, auxiliary parameter include SAR image
Orientation and apart from upward number of pixels, image center with reference to oblique distance, distance to sample rate and orientation sample rate；
The pixel list of detection target is calculated by following formula for being based on auxiliary parameter for oblique distance computational submodule
Member corresponding oblique distance R in each SAR image:
Wherein, RrefOblique distance, f are referred to for SAR image central pointsIt is SAR image distance to sample rate, c is the light velocity.
Optionally, parameter acquisition module 720 includes:
Parameter File reads in submodule, for reading in the corresponding Doppler parameter file of each SAR image；
Doppler centroid determines submodule, for determining the pixel unit of detection target according to Doppler parameter file
The corresponding doppler centroid in each SAR image.
Optionally, in the case where getting the SAR image in more than two different direction angles, stereoscopic localized equation
Group includes the corresponding oblique distance equation of each SAR image, alternatively, stereoscopic localized equation group includes that how general each SAR image is corresponding
Strangle equation.
Optionally, SAR image obtains module 710 and is used for, and is obtained by angles of azimuth spaceborne SAR same
SAR image of the target in two different direction angles is detected, the first SAR image and the second SAR image are obtained；
Parameter acquisition module 720 is used to obtain the oblique distance and doppler centroid of the first SAR image, and obtains second
The oblique distance of SAR image；
Stereoscopic localized module 730 is used to establish the oblique distance equation and the first SAR of the first SAR image and the second SAR image
The Doppler equation of image.
Optionally, stereoscopic localized module 730 is used for:
It reads in and passes through pretreated satellite ephemeris Parameter File；
Determine that each pixel unit of the first SAR image and the second SAR image is right respectively according to satellite ephemeris Parameter File
The satellite position vectors and satellite velocity vector answered；
For the pixel unit of detection target, group is established the following equation:
(Rsx1-Rtx)2+(Rsy1-Rty)2+(Rsz1-Rtz)2-R1 2=0；
(Rsx2-Rtx)2+(Rsy2-Rty)2+(Rsz2-Rtz)2-R2 2=0；
2Vsx1(Rsx1-Rtx)+2Vsy1(Rsy1-Rty)+2Vsz1(Rsz1-Rtz)-λR1fd1=0；
Wherein, Rsx1、Rsy1、Rsz1The corresponding satellite position arrow of pixel unit of target is detected in respectively the first SAR image
Measure the x, y, z axis component in the case where rotating geocentric coordinate system, Rsx2、Rsy2、Rsz2The picture of target is detected in respectively the second SAR image
X, y, z axis component of the corresponding satellite position vectors of plain unit in the case where rotating geocentric coordinate system, R1For the pixel list for detecting target
Member corresponding oblique distance, R in the first SAR image2For detect target pixel unit in the second SAR image corresponding oblique distance,
Vsx1、Vsy1、Vsz1The corresponding satellite velocity vector of pixel unit of target is detected in respectively the first SAR image in rotation the earth's core
X, y, z axis component under coordinate system, Rtx、Rty、RtzRespectively x, y, z axis component of the detection target in the case where rotating geocentric coordinate system,
fd1For the corresponding doppler centroid of pixel unit for detecting target in the first SAR image, λ is synthetic aperture radar SAR's
Wavelength.
Optionally, location information determining module 740 is used to solve stereoscopic localized equation group based on Newton iteration method with determination
Detect the location information of target.
Optionally, device further include:
Elevation information determining module solves following earth elliptic equation for the location information based on detection target with true
Surely the elevation information h of target is detected:
Wherein, xt、yt、ztRespectively detect the coordinate of target x, y, z axis in the case where rotating geocentric coordinate system, ReFor the earth
Equatorial radius, RpFor the polar radius of the earth.
Using above-mentioned apparatus, without known to the position in satellite-borne SAR mapping band in detection target position fixing process
Reference point, depending on the relative position to other point position, absolute fix may be implemented.In addition, the embodiment of the present disclosure provides
Localization method can under no elevation information to detection target be accurately positioned, extract detection target three-dimensional coordinate, into
And the elevation information of detection target is extracted, there is very strong practicability.
Fig. 8 is a kind of block diagram for target locating set 800 based on the sequential image of SAR that the embodiment of the present disclosure provides.Such as
Shown in Fig. 8, being somebody's turn to do the target locating set 800 based on the sequential image of SAR may include: processor 801, memory 802, multimedia
Component 803, input/output (I/O) interface 804 and communication component 805.
Wherein, processor 801 is used to control the integrated operation of the target locating set 800 based on the sequential image of SAR, with
Complete all or part of the steps in the above-mentioned object localization method based on the sequential image of SAR.Memory 802 is various for storing
To support the operation in the target locating set 800 based on the sequential image of SAR, these data for example can wrap the data of type
The instruction of any application or method for operating on the target locating set 800 based on the sequential image of SAR is included, with
And the relevant data of application program.
Memory 802 can realize by any kind of volatibility or non-volatile memory device or their combination,
Such as static random access memory (Static Random Access Memory, abbreviation SRAM), electrically erasable is only
It reads memory (Electrically Erasable Programmable Read-Only Memory, abbreviation EEPROM), it is erasable
Except programmable read only memory (Erasable Programmable Read-Only Memory, abbreviation EPROM), may be programmed only
It reads memory (Programmable Read-Only Memory, abbreviation PROM), read-only memory (Read-Only Memory,
Abbreviation ROM), magnetic memory, flash memory, disk or CD.
Multimedia component 803 may include screen and audio component, wherein screen for example can be touch screen, audio group
Part is used for output and/or input audio signal.The received audio signal can be further stored in memory 802 or pass through
Communication component 805 is sent.Audio component further includes at least one loudspeaker, is used for output audio signal.
I/O interface 804 provides interface between processor 801 and other interface modules, other above-mentioned interface modules can be with
For keyboard, button etc..These buttons can be virtual push button or entity button.
Communication component 805 between the target locating set 800 and other equipment based on the sequential image of SAR for being had
Line or wireless communication.Wireless communication, such as Wi-Fi, bluetooth, near-field communication (Near Field Communication, referred to as
NFC), 2G, 3G or 4G or they one or more of combination, therefore the corresponding communication component 805 may include: Wi-
Fi module, bluetooth module, NFC module.
In one exemplary embodiment, the target locating set 800 based on the sequential image of SAR can be answered by one or more
With specific integrated circuit (Application Specific Integrated Circuit, abbreviation ASIC), Digital Signal Processing
Device (Digital Signal Processor, abbreviation DSP), digital signal processing appts (Digital Signal
Processing Device, abbreviation DSPD), programmable logic device (Programmable Logic Device, referred to as
PLD), field programmable gate array (Field Programmable Gate Array, abbreviation FPGA), controller, microcontroller
Device, microprocessor or other electronic components are realized, for executing the above-mentioned object localization method based on the sequential image of SAR.
The embodiment of the present disclosure provides a kind of computer readable storage medium including program instruction, refers to for example including program
The memory 802 of order, is stored thereon with one or more computer program, and above-mentioned computer program can be by sequential based on SAR
The processor 801 of the target locating set 800 of image execute with complete embodiment of the present disclosure offer based on the sequential image of SAR
Object localization method.
The preferred embodiment of the disclosure is described in detail in conjunction with attached drawing above, still, the disclosure is not limited to above-mentioned reality
The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical solution of the disclosure
Monotropic type, these simple variants belong to the protection scope of the disclosure.It is further to note that in above-mentioned specific embodiment
Described in each particular technique feature can be combined in any appropriate way in the case of no contradiction.For
Avoid unnecessary repetition, no further explanation will be given to various combinations of possible ways for the disclosure.
In addition, any combination can also be carried out between a variety of different embodiments of the disclosure, as long as it is without prejudice to originally
Disclosed thought equally should be considered as disclosure disclosure of that.
Claims (17)
1. a kind of object localization method based on the sequential image of SAR characterized by comprising
Same detection target is obtained at least two different direction angles by angles of azimuth spaceborne SAR
SAR image；
Obtain the pixel unit for detecting target corresponding oblique distance and/or Doppler center frequency in each SAR image
Rate, wherein in the case where getting the SAR image in two different direction angles, scheme at least for SAR described in a width
Picture, the pixel unit of the detection target corresponding oblique distance and doppler centroid in the SAR image are acquired；
According to the oblique distance and/or the doppler centroid got, the detection mesh is established based on RD location algorithm
Target stereoscopic localized equation group, wherein the stereoscopic localized equation group includes the corresponding oblique distance equation of each SAR image and more
At least three equations in general Le equation；
The stereoscopic localized equation group is solved with the location information of the determination detection target, the location information includes the spy
Survey the three-dimensional coordinate and latitude and longitude information of target.
2. the method according to claim 1, wherein the pixel unit for obtaining the detection target is each
Corresponding oblique distance in the SAR image, comprising:
Determine the auxiliary parameter of each SAR image, the auxiliary parameter includes the SAR image orientation and apart from upward
Number of pixels, image center with reference to oblique distance, distance to sample rate and orientation sample rate；
Based on the auxiliary parameter, the pixel unit of the detection target is calculated in each SAR by following formula
Corresponding oblique distance R in image:
Wherein, RrefOblique distance, f are referred to for the SAR image central pointsIt is the SAR image distance to sample rate, c is the light velocity.
3. the method according to claim 1, wherein the pixel unit for obtaining the detection target is each
Corresponding doppler centroid in the SAR image, comprising:
Read in the corresponding Doppler parameter file of each SAR image；
Determine that the pixel unit of the detection target is corresponding in each SAR image according to the Doppler parameter file
Doppler centroid.
4. according to the method in any one of claims 1 to 3, which is characterized in that getting more than two not Tongfangs
In the case where the SAR image on parallactic angle degree, the stereoscopic localized equation group includes the corresponding oblique distance side of each SAR image
Journey, alternatively, the stereoscopic localized equation group includes the corresponding Doppler equation of each SAR image.
5. according to the method in any one of claims 1 to 3, which is characterized in that described to pass through the spaceborne synthesis of angles of azimuth
Aperture radar SAR obtains SAR image of the same detection target at least two different direction angles, comprising:
SAR of the same detection target in two different direction angles is obtained by angles of azimuth spaceborne SAR
Image obtains the first SAR image and the second SAR image；
The pixel unit for obtaining the detection target is in each SAR image in corresponding oblique distance and/or Doppler
Frequency of heart, comprising:
The oblique distance and doppler centroid of first SAR image are obtained, and obtains the oblique distance of second SAR image；
The oblique distance and/or the doppler centroid that the basis is got, establish the spy based on RD location algorithm
Survey the stereoscopic localized equation group of target, comprising:
Establish first SAR image and second SAR image oblique distance equation and first SAR image it is how general
Strangle equation.
6. according to the method described in claim 5, it is characterized in that, establishing first SAR image and second SAR image
Oblique distance equation and first SAR image Doppler equation, comprising:
It reads in and passes through pretreated satellite ephemeris Parameter File；
Each pixel list of first SAR image and second SAR image is determined according to the satellite ephemeris Parameter File
The corresponding satellite position vectors of member and satellite velocity vector；
For the pixel unit of the detection target, group is established the following equation:
(Rsx1-Rtx)2+(Rsy1-Rty)2+(Rsz1-Rtz)2-R1 2=0；
(Rsx2-Rtx)2+(Rsy2-Rty)2+(Rsz2-Rtz)2-R2 2=0；
2Vsx1(Rsx1-Rtx)+2Vsy1(Rsy1-Rty)+2Vsz1(Rsz1-Rtz)-λR1fd1=0；
Wherein, Rsx1、Rsy1、Rsz1The corresponding satellite position of pixel unit of target is detected described in respectively described first SAR image
Set x, y, z axis component of the vector in the case where rotating geocentric coordinate system, Rsx2、Rsy2、Rsz2Described in respectively described second SAR image
Detect x, y, z axis component of the corresponding satellite position vectors of pixel unit of target in the case where rotating geocentric coordinate system, R1It is described
The pixel unit of detection target corresponding oblique distance, R in first SAR image2Pixel unit for the detection target exists
Corresponding oblique distance in second SAR image, Vsx1、Vsy1、Vsz1Detection target described in respectively described first SAR image
X, y, z axis component of the corresponding satellite velocity vector of pixel unit in the case where rotating geocentric coordinate system, Rtx、Rty、RtzIt is respectively described
Detect x, y, z axis component of the target in the case where rotating geocentric coordinate system, fd1For the picture for detecting target described in first SAR image
The corresponding doppler centroid of plain unit, λ are the wavelength of synthetic aperture radar SAR.
7. according to the method in any one of claims 1 to 3, which is characterized in that described to solve the stereoscopic localized equation
Group is with the location information of the determination detection target, comprising:
The stereoscopic localized equation group is solved based on Newton iteration method with the location information of the determination detection target.
8. according to the method in any one of claims 1 to 3, which is characterized in that the method also includes:
Based on the location information of the detection target, following earth elliptic equation is solved with the elevation letter of the determination detection target
Cease h:
Wherein, xt、yt、ztThe coordinate of respectively described detection target x, y, z axis in the case where rotating geocentric coordinate system, ReFor the red of the earth
Road radius, RpFor the polar radius of the earth.
9. a kind of target locating set based on the sequential image of SAR characterized by comprising
SAR image obtains module, for obtaining same detection target at least by angles of azimuth spaceborne SAR
SAR image in two different direction angles；
Parameter acquisition module, for obtaining the pixel unit for detecting target corresponding oblique distance in each SAR image
And/or doppler centroid, wherein in the case where getting the SAR image in two different direction angles, at least
For SAR image described in a width, the pixel unit of the detection target is in the SAR image in corresponding oblique distance and Doppler
Frequency of heart is acquired；
Stereoscopic localized module, for being calculated based on RD positioning according to the oblique distance and/or the doppler centroid got
Method establishes the stereoscopic localized equation group of the detection target, wherein the stereoscopic localized equation group includes that each SAR image is corresponding
Oblique distance equation and Doppler equation at least three equations；
Location information determining module, for solve the stereoscopic localized equation group with determination it is described detection target location information,
The location information includes the three-dimensional coordinate and latitude and longitude information of the detection target.
10. device according to claim 9, which is characterized in that the parameter acquisition module includes:
Auxiliary parameter determines submodule, for determining that the auxiliary parameter of each SAR image, the auxiliary parameter include described
It SAR image orientation and is adopted with reference to oblique distance, distance to sample rate and orientation apart from upward number of pixels, image center
Sample rate；
The picture of the detection target is calculated by following formula for being based on the auxiliary parameter for oblique distance computational submodule
Plain unit corresponding oblique distance R in each SAR image:
Wherein, RrefOblique distance, f are referred to for the SAR image central pointsIt is the SAR image distance to sample rate, c is the light velocity.
11. device according to claim 9, which is characterized in that the parameter acquisition module includes:
Parameter File reads in submodule, for reading in the corresponding Doppler parameter file of each SAR image；
Doppler centroid determines submodule, for determining the pixel of the detection target according to the Doppler parameter file
Unit corresponding doppler centroid in each SAR image.
12. the device according to any one of claim 9 to 11, which is characterized in that getting more than two differences
In the case where the SAR image in orientation angles, the stereoscopic localized equation group includes the corresponding oblique distance side of each SAR image
Journey, alternatively, the stereoscopic localized equation group includes the corresponding Doppler equation of each SAR image.
13. the device according to any one of claim 9 to 11, which is characterized in that the SAR image obtains module and uses
In obtaining same SAR of the detection target in two different direction angles by angles of azimuth spaceborne SAR and scheme
Picture obtains the first SAR image and the second SAR image；
The parameter acquisition module is used to obtain the oblique distance and doppler centroid of first SAR image, and obtains institute
State the oblique distance of the second SAR image；
The stereoscopic localized module is used to establish the oblique distance equation of first SAR image and second SAR image, Yi Jisuo
State the Doppler equation of the first SAR image.
14. device according to claim 13, which is characterized in that the stereoscopic localized module is used for:
It reads in and passes through pretreated satellite ephemeris Parameter File；
Each pixel list of first SAR image and second SAR image is determined according to the satellite ephemeris Parameter File
The corresponding satellite position vectors of member and satellite velocity vector；
For the pixel unit of the detection target, group is established the following equation:
(Rsx1-Rtx)2+(Rsy1-Rty)2+(Rsz1-Rtz)2-R1 2=0；
(Rsx2-Rtx)2+(Rsy2-Rty)2+(Rsz2-Rtz)2-R2 2=0；
2Vsx1(Rsx1-Rtx)+2Vsy1(Rsy1-Rty)+2Vsz1(Rsz1-Rtz)-λR1fd1=0；
Wherein, Rsx1、Rsy1、Rsz1The corresponding satellite position of pixel unit of target is detected described in respectively described first SAR image
Set x, y, z axis component of the vector in the case where rotating geocentric coordinate system, Rsx2、Rsy2、Rsz2Described in respectively described second SAR image
Detect x, y, z axis component of the corresponding satellite position vectors of pixel unit of target in the case where rotating geocentric coordinate system, R1It is described
The pixel unit of detection target corresponding oblique distance, R in first SAR image2Pixel unit for the detection target exists
Corresponding oblique distance in second SAR image, Vsx1、Vsy1、Vsz1Detection target described in respectively described first SAR image
X, y, z axis component of the corresponding satellite velocity vector of pixel unit in the case where rotating geocentric coordinate system, Rtx、Rty、RtzIt is respectively described
Detect x, y, z axis component of the target in the case where rotating geocentric coordinate system, fd1For the picture for detecting target described in first SAR image
The corresponding doppler centroid of plain unit, λ are the wavelength of synthetic aperture radar SAR.
15. the device according to any one of claim 9 to 11, which is characterized in that the location information determining module is used
In based on Newton iteration method solve the stereoscopic localized equation group with determination it is described detection target location information.
16. the device according to any one of claim 9 to 11, which is characterized in that described device further include:
Elevation information determining module solves following earth elliptic equation for the location information based on the detection target with true
The elevation information h of the fixed detection target:
Wherein, xt、yt、ztThe coordinate of respectively described detection target x, y, z axis in the case where rotating geocentric coordinate system, ReFor the red of the earth
Road radius, RpFor the polar radius of the earth.
17. a kind of computer readable storage medium, is stored thereon with computer program, which is characterized in that the program is by processor
The step of any one of claims 1 to 8 the method is realized when execution.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810418941.5A CN110441769A (en) | 2018-05-03 | 2018-05-03 | Object localization method, device and storage medium based on the sequential image of SAR |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810418941.5A CN110441769A (en) | 2018-05-03 | 2018-05-03 | Object localization method, device and storage medium based on the sequential image of SAR |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110441769A true CN110441769A (en) | 2019-11-12 |
Family
ID=68427976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810418941.5A Pending CN110441769A (en) | 2018-05-03 | 2018-05-03 | Object localization method, device and storage medium based on the sequential image of SAR |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110441769A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111289977A (en) * | 2020-03-02 | 2020-06-16 | 中国科学院电子学研究所 | Positioning method and device |
| CN111505580A (en) * | 2020-04-14 | 2020-08-07 | 哈尔滨工程大学 | Multi-platform cooperative target positioning method based on azimuth angle and Doppler information |
| CN112584015A (en) * | 2020-12-02 | 2021-03-30 | 达闼机器人有限公司 | Object detection method, device, storage medium and electronic equipment |
| CN114740475A (en) * | 2022-04-08 | 2022-07-12 | 北京东方至远科技股份有限公司 | Target three-dimensional position inversion method and device for track high-resolution SAR data |
| CN115856856A (en) * | 2023-01-28 | 2023-03-28 | 中国人民解放军国防科技大学 | Airborne SAR positioning method based on elevation constraint and normalized RD equation |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887122A (en) * | 2010-06-29 | 2010-11-17 | 上海大学 | Space-borne SAR image target positioning method capable of eliminating ground elevation errors |
| CN102565797A (en) * | 2011-12-21 | 2012-07-11 | 北京航空航天大学 | Geometric correction method for spotlight-mode satellite SAR (synthetic aperture radar) image |
| CN104849713A (en) * | 2015-05-13 | 2015-08-19 | 北京航空航天大学 | SLIM algorithm-based SAR imaging realization method |
| CN105677942A (en) * | 2015-12-27 | 2016-06-15 | 北京航空航天大学 | Rapid simulation method of repeat-pass spaceborne natural scene SAR complex image data |
| CN107728145A (en) * | 2017-10-24 | 2018-02-23 | 中国科学院电子学研究所 | The method that ground point three-dimensional position is calculated based on sequence satellite-borne SAR image |
-
2018
- 2018-05-03 CN CN201810418941.5A patent/CN110441769A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101887122A (en) * | 2010-06-29 | 2010-11-17 | 上海大学 | Space-borne SAR image target positioning method capable of eliminating ground elevation errors |
| CN102565797A (en) * | 2011-12-21 | 2012-07-11 | 北京航空航天大学 | Geometric correction method for spotlight-mode satellite SAR (synthetic aperture radar) image |
| CN104849713A (en) * | 2015-05-13 | 2015-08-19 | 北京航空航天大学 | SLIM algorithm-based SAR imaging realization method |
| CN105677942A (en) * | 2015-12-27 | 2016-06-15 | 北京航空航天大学 | Rapid simulation method of repeat-pass spaceborne natural scene SAR complex image data |
| CN107728145A (en) * | 2017-10-24 | 2018-02-23 | 中国科学院电子学研究所 | The method that ground point three-dimensional position is calculated based on sequence satellite-borne SAR image |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111289977A (en) * | 2020-03-02 | 2020-06-16 | 中国科学院电子学研究所 | Positioning method and device |
| CN111505580A (en) * | 2020-04-14 | 2020-08-07 | 哈尔滨工程大学 | Multi-platform cooperative target positioning method based on azimuth angle and Doppler information |
| CN111505580B (en) * | 2020-04-14 | 2022-04-15 | 哈尔滨工程大学 | Multi-platform cooperative target positioning method based on azimuth angle and Doppler information |
| CN112584015A (en) * | 2020-12-02 | 2021-03-30 | 达闼机器人有限公司 | Object detection method, device, storage medium and electronic equipment |
| CN114740475A (en) * | 2022-04-08 | 2022-07-12 | 北京东方至远科技股份有限公司 | Target three-dimensional position inversion method and device for track high-resolution SAR data |
| CN115856856A (en) * | 2023-01-28 | 2023-03-28 | 中国人民解放军国防科技大学 | Airborne SAR positioning method based on elevation constraint and normalized RD equation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110441769A (en) | Object localization method, device and storage medium based on the sequential image of SAR | |
| Li et al. | An improved inertial/wifi/magnetic fusion structure for indoor navigation | |
| EP3329301B1 (en) | Visual inertial odometry attitude drift calibration | |
| CN110927708B (en) | Calibration method, device and equipment of intelligent road side unit | |
| US8125376B1 (en) | Handheld global positioning system device | |
| JP5688793B2 (en) | Hand-held geodetic device, computer-implemented method and computer-readable storage medium for determining the location of a point of interest | |
| US8188919B2 (en) | Globally-convergent geo-location algorithm | |
| US20090285450A1 (en) | Image-based system and methods for vehicle guidance and navigation | |
| JP5301762B2 (en) | Carrier phase relative positioning device | |
| EP2843434A2 (en) | System and method for magnetometer calibration and compensation | |
| Zhang et al. | New optimal smoothing scheme for improving relative and absolute accuracy of tightly coupled GNSS/SINS integration | |
| JP4729197B2 (en) | Object posture detection apparatus and integer bias redetermination method | |
| CN110081881A (en) | It is a kind of based on unmanned plane multi-sensor information fusion technology warship bootstrap technique | |
| CN104730505A (en) | Multi-channel SAR ground target detecting and positioning method and device | |
| CN114459506B (en) | Method and system for calibrating external parameters between global navigation satellite system receiver and visual inertial odometer on line | |
| JPWO2018198641A1 (en) | Positioning device, positioning system, positioning method, and positioning program | |
| Abdel-Hafez | On the GPS/IMU sensors’ noise estimation for enhanced navigation integrity | |
| CN110133585A (en) | The double dynamic positioning methods of double frequency, device, positioning device and delivery vehicle | |
| US11513237B2 (en) | GNSS satellite line of sight detection | |
| Pinchin et al. | The use of high sensitivity gps for initialisation of a foot mounted inertial navigation system | |
| JP5180447B2 (en) | Carrier phase relative positioning apparatus and method | |
| Kis et al. | Development of state estimation system with INS, magnetometer and carrier phase GPS for vehicle navigation | |
| CN114895340A (en) | Positioning method and device of dual-antenna GNSS/INS combined navigation system | |
| Lemay et al. | Precise input and output error characterization for loosely integrated ins/gps/camera navigation system | |
| Trigo et al. | Vehicle heading estimation using a two low-cost GPS receiver configuration |
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 | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191112 |