CN110568416B - Radar effective detection area extraction method based on remote sensing image - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C13/00—Surveying specially adapted to open water, e.g. sea, lake, river or canal
- G01C13/008—Surveying specially adapted to open water, e.g. sea, lake, river or canal measuring depth of open water
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
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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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/11—Region-based segmentation
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/10—Segmentation; Edge detection
- G06T7/13—Edge detection
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
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- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
Abstract
The invention provides a radar effective detection area extraction method based on a remote sensing image, which extracts a radar interference area and an effective detection area, eliminates false targets caused by ground clutter, intuitively and truly reflects the position distribution information of radar targets on the sea, and provides a true basis for traffic situation evaluation. The method is different from other common interference region extraction methods or effective detection region extraction methods, adopts remote sensing images to assist in distinguishing the region type of the radar detection range, accurately extracts interference regions (regions generated by clutter such as lands, islands and the like) and effective detection regions, improves the accuracy of detection and recording, and provides reliable basis for radar target display of a VTS system.
Description
Technical Field
The invention relates to a radar effective detection area extraction method based on a remote sensing image.
Background
The radar target detection technology is an important technology applied to the marine industry and the water traffic supervision industry, and has important effects on improving the acquisition capacity of a VTS (vessel traffic service) system on ship dynamic information and guaranteeing the navigation safety and the water traffic order of water ships. Along with the increase of human commercial production activities, the number of ships sailing in each large port and channel is more and more, radar target detection provides important reference value for water traffic supervision, but ground clutter often exists during radar detection, and the detection and admission of targets are interfered, so that a regional detection map of a radar is made in advance, a water surface region is designated as an effective radar detection region, a land region is removed, false targets are reduced, and errors similar to the fact that a ship runs to the land are eliminated.
The two most common methods for extracting effective areas currently used are the chart detection area extraction method and the manual detection area extraction method. The extraction method of the sea chart detection area comprises the steps of traversing the scanning area of the radar point by point through the water depth information of the sea chart, extracting the water depth information of the corresponding position, and screening to obtain the detection area of the radar; and the manual extraction is to make a land area of the radar by manually drawing the land area in cooperation with a sea chart, traverse the radar scanning area point by point, and judge the position point information, wherein the land area with the position not drawn is the final detection area. The two methods have corresponding defects respectively, the chart detection region extraction method is realized based on electronic chart data, the electronic chart has the disadvantages of slow updating, partial region data which does not conform to the change of the actual situation, high price of the updated chart and the like; according to the method for manually drawing the detection area, the land area needs to be manually drawn, errors exist in manual drawing, map details are difficult to control, and the problem that extraction efficiency is low when the detection area is too much exists.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a radar effective detection area extraction method based on a remote sensing image, which comprises the following steps:
step 1, setting parameters, overlapping remote sensing image data by using an electronic chart, and generating a detection information index chart by using water depth information of the electronic chart and combining an edge detection method;
step 2, traversing all positions (polar coordinates) of the radar scanning area, and performing polar coordinate conversion on each position point to obtain detection information of the position point, wherein the detection information is self-contained in the detection information index map generated in the step 1:
step 3, judging the detection information, judging whether the position point is a land area or not, and recording the area type information of the position point;
and 4, outputting the file to finish the extraction of the effective detection area.
The step 1 comprises the following steps:
step 1-1, setting parameters: setting the center, the scanning radius, the azimuth value and the sampling precision of a radar, extracting water depth information of an area within a certain range by taking the radar as the center based on the water depth information provided by an electronic chart, wherein the area with the water depth larger than 0 is an ocean area, otherwise, the area is a land area, and obtaining a map layer containing a sea-land boundary line, so that a sea-land chart is generated, and the map amplitude of the sea-land boundary line contained in the electronic chart layer can be extracted and reserved for subsequent use;
step 1-2, obtaining remote sensing images with the same or similar scales for a map layer containing sea-land boundary lines, carrying out gray processing on the remote sensing images to obtain a gray image, and then carrying out edge extraction on the gray image, wherein gradient operators for the edge extraction are as follows:
in the gradient operator, F (i, j) represents the gray value of the image, i represents the abscissa of the image, j represents the ordinate of the image, the operator can just reflect the gray change on the edge of the image, the sea and land boundary can be displayed clearly after the edge detection is finished, the step corrects the coastline error caused by the fact that the electronic sea map is not updated for a long time, and the image containing accurate sea and land boundary information is updated to the corresponding position after the size of the image is normalized.
Step 1-3, after the sea-land boundary line is updated according to the step 1-2, generating all detection information, dividing the closed area block according to the sea-land boundary line and the circular area line scanned by the radar, counting the proportion in the area block according to whether the water depth is greater than zero, judging that the area is a land area if the proportion of the water depth greater than zero is greater than 50%, and the detection information is 1, otherwise, judging that the area is a sea area and the detection information is 0, thereby generating a complete detection information index map.
The step 2 comprises the following steps:
step 2-1, calculating the average distance represented by unit longitude and unit latitude;
2-2, converting the polar coordinates of each position point into longitude and latitude coordinates;
and 2-3, retrieving the detection information index map generated in the step 1 according to the longitude and latitude coordinates to obtain detection information detection data.
Step 2-1 comprises:
taking a point in the middle of the left side and a point in the middle of the right side in the horizontal direction in the current display range of the electronic chart, recording longitude differences of the two points, calling a longitude and latitude-distance calculation mode of the electronic chart, calculating a distance difference between the two points, and dividing the distance difference by the longitude difference to obtain an average distance represented by unit longitude; and calculating the average distance represented by the unit latitude by taking the top middle point and the bottom middle point in the vertical direction in the current display range of the electronic chart according to the same method as the method for calculating the average distance represented by the unit longitude. .
Step 2-2 comprises: the earth is approximately spherical, the position point takes a radar as a center, the scanning radius is taken as the radius of a circular area, the polar coordinate information of the position point contains azimuth value deviation and the sequence number of the position point, the center longitude and latitude, the scanning radius, the sampling precision and the azimuth value of the radar are set in the step 1, and the upper limit d of the position point sequence number is calculated firstly:
and then calculating the spherical distance dis between the corresponding position point and the radar center, wherein the calculation formula is as follows:
dis＝c*pno，
pno∈[0,d)，
and then obtaining angle information ang according to the azimuth offset of the position points:
offset∈[0,P)，
according to trigonometric function conversion, the distance dis _ x to the radar center point in the longitudinal direction, i.e. the horizontal direction, and the distance dis _ y to the radar center point in the latitudinal direction, i.e. the vertical direction, are calculated:
dis_x＝dis*sinang，
dis_y＝dis*cosang，
calculating the longitude value lon and the latitude value lat of the corresponding position according to the average distance represented by the unit longitude and latitude calculated in the step 2-1, wherein the formula is as follows:
lon＝dlon+dis_x/dx，
lat＝dlat+dis_y/dy，
wherein, dlon and dlat respectively represent longitude and latitude of the center of the radar, dx, dy respectively represents average distance of unit longitude and average distance of unit latitude solved in step 2-1, P represents a azimuth value (constant), l represents a scanning radius, c represents sampling precision (unit: meter), parameters P, l, c, dlon and dlat in step 1 are determined by setting, offset represents azimuth value offset, pno represents a serial number of a position point and belongs to polar coordinate information.
And step 3: and (2) judging whether the position point is a water surface area or not according to the principle of generating the detection information index map in the step 1, wherein if the position point is the water surface area, the area type result corresponding to the position point is 0, and if not, the area type result is 1.
Step 4 comprises the following steps: and (3) forming the position points with the area classification result of 1 into a land area of the detection map, forming the position points with the result of 0 into a water area part of the detection map, wherein the water area part of the detection map is an effective detection area, and displaying the detection map in the VTS.
In a circular radar scanning area, the method determines the number of polar coordinates by taking the direction of the offset radar central point due to the north and the distance from the radar central point as a unit, then converts the polar coordinates into longitude and latitude point information point by point, transmits the position information as a parameter, judges the area type (whether the point belongs to land) by using detection information generated based on remote sensing images, chart water depth data and an edge detection technology, and finally outputs the detection information to a detection chart file according to a judgment result to finish the extraction of an effective detection area.
Has the advantages that: the invention provides an automatic radar effective area extraction method based on a remote sensing image, wherein in a scanning area of a radar, GIS software is used for overlapping a sea map and remote sensing image data, a sea-land boundary line is preliminarily determined by utilizing water depth information, a small-range remote sensing image under the same or similar scale is extracted according to the position of the sea-land boundary line, the position of the sea-land boundary line is updated by using an edge detection technology, a detection information index map is generated, meanwhile, polar coordinates of the radar are converted into longitude and latitude coordinates, a corresponding position point is found, corresponding detection information is extracted, whether the point is a land area or not is judged, then point-by-point traversal is carried out, a detection map of the whole scanning area is generated, and an effective radar detection area is extracted. By using the method, the land area does not need to be manually drawn, errors caused by manual drawing are avoided, meanwhile, the accuracy of determining the sea-land boundary by using the remote sensing image and the edge detection technology is improved, the effective detection area is automatically extracted, the efficiency is higher than that of a manual method, the remote sensing image is updated faster than an electronic chart, the defects of slow chart updating, high updating cost and the like are avoided, the actual situation and environment change are more matched, and the precision and the accuracy are ensured.
The invention provides the method for extracting the effective area of the radar, aiming at the advantages and the disadvantages of the extraction of the effective areas of the two existing radars, and integrating the remote sensing image, the edge detection technology and the characteristics thereof, the advantages of the advance of the remote sensing image and the automatic extraction of the detection area are taken into consideration, the detail errors caused by manually drawing the land area and the like are avoided, and the effective detection area of the radar is accurately and quickly extracted.
Drawings
The foregoing and/or other advantages of the invention will become further apparent from the following detailed description of the invention when taken in conjunction with the accompanying drawings.
Fig. 1 is a flow chart of a method for extracting a radar effective detection area based on a remote sensing image.
Fig. 2 is a remote sensing image-based region detection diagram.
Fig. 3 is a diagram of the effect of radar detection without using the area detection technique.
Fig. 4 is a diagram of the effect of radar detection using the area detection technique.
Detailed Description
As shown in fig. 1, the invention provides a method for extracting an effective detection area of a radar based on a remote sensing image, which comprises the following steps:
step 1, setting parameters, overlapping remote sensing image data by using an electronic chart, and generating a detection information index chart by using water depth information of the electronic chart and combining an edge detection method;
in step 1-1, position information (dlon, dlat) of the radar is set, and a scanning radius l, a sampling accuracy c, and an azimuth value P of the radar are determined, and since a mechanical radar commonly used for VTS is generally set to have a scanning radius of 37.5km, a sampling accuracy of 15m, and an azimuth value of 8192, information discrimination is performed on 8192 (37.5 × 1000/15) ═ 20480000 positions. Meanwhile, superposing the electronic chart and the remote sensing image data by using GIS software, firstly extracting the water depth information based on the water depth information provided by the electronic chart and taking a radar as a center and a rectangular area with side length as a scanning diameter, wherein the area with the water depth larger than 0 is an ocean area, otherwise, the area is a land area, generating a sea-land chart, and extracting the map sheets of the electronic chart layer containing sea-land boundary lines and reserving the map sheets for subsequent use.
Step 1-2, generating a sea-land boundary line in the sea-land map in the last step, obtaining a remote sensing image with the same or similar scale for the map layer containing the sea-land boundary line, carrying out gray processing on the remote sensing image to obtain a gray map, and then carrying out edge extraction on the gray map, wherein a gradient operator of the edge extraction is as follows:
in the gradient operator, F (i, j) represents the gray value of the image, i represents the abscissa of the image, j represents the ordinate of the image, the operator can just reflect the gray change on the edge of the image, the sea-land boundary can be displayed clearly after the edge detection is finished, the image containing accurate boundary information is subjected to size normalization according to the scale and longitude and latitude information, and the original position is superposed and updated.
Step 1-3, after the sea-land boundary line is updated according to the step 1-2, detection information is generated, closed region blocks are divided according to the sea-land boundary line and a circular region line scanned by a radar, each region is divided into two halves according to whether the water depth is greater than zero, the proportion in the region blocks is counted, if the water depth is greater than 50%, the region is considered as a land region, the detection information is 1, otherwise, the region is considered as a sea region, the detection information is 0, and a complete detection information index map is generated.
Step 2, traversing all positions (polar coordinates) of the radar scanning area, converting each position point into a longitude and latitude coordinate, and retrieving detection information:
and 2-1, calculating the average distance represented by the unit longitude and the unit latitude, taking two points in the horizontal direction in the current display range of the electronic chart, recording the longitude difference of the two points, calling a longitude and latitude-distance calculation mode of the electronic chart, calculating the distance difference between the two points, dividing the distance difference by the longitude difference to obtain the average distance represented by the unit longitude, and obtaining the average distance represented by the unit latitude in a similar mode.
Step 2-2, converting the polar coordinates (including the serial number and the azimuth value offset of the position points) of each position point into longitude and latitude coordinates, wherein the conversion process is as follows:
the earth is approximately spherical, the position point takes a radar as a center, the scanning radius is taken as the radius of a circular area, the polar coordinate information of the position point contains azimuth value deviation and the sequence number of the position point, the center longitude and latitude, the scanning radius, the sampling precision and the azimuth value of the radar are set in the step 1, and the upper limit d of the position point sequence number is calculated firstly:
and then calculating the spherical distance dis between the corresponding position point and the radar center, wherein the calculation formula is as follows:
dis＝c*pno，
pno∈[0,d)，
and then obtaining angle information ang according to the azimuth offset of the position points:
offset∈[0,P)，
according to trigonometric function conversion, the distance dis _ x to the radar center point in the longitudinal direction, i.e. the horizontal direction, and the distance dis _ y to the radar center point in the latitudinal direction, i.e. the vertical direction, are calculated:
dis_x＝dis*sinang，
dis_y＝dis*cosang，
calculating the longitude value lon and the latitude value lat of the corresponding position according to the average distance represented by the unit longitude and latitude calculated in the step 2-1, wherein the formula is as follows:
lon＝dlon+dis_x/dx，
lat＝dlat+dis_y/dy，
wherein, dlon and dlat respectively represent longitude and latitude of the radar center, dx, dy respectively represents average distance of unit longitude and average distance of unit latitude solved in step 2-1, P represents a azimuth value, l represents a scanning radius, c represents sampling precision, parameters such as P, l, c, dlon and dlat in step 1 are determined through setting, offset represents azimuth value offset, pno represents a serial number of a position point and belongs to polar coordinate information.
And 2-3, retrieving the detection information index map generated in the step 1 according to the longitude and latitude coordinates to obtain detection information detection data.
The longitude and latitude-distance formula adopts the following method: the earth is approximately regarded as a sphere, firstly, the included angle between the two points and the earth center connecting line is calculated according to the longitude and latitude values of the two points and triangle derivation, the spherical distance between the two points can be calculated by combining the angle value of the included angle with the radius of the earth and taking 63710004 meters as the radius of the earth, and the spherical distance is regarded as the distance value between the two points.
And 3, judging the detection information according to the principle of detection information generation, judging whether the detection information is a land area, and recording the area type information of the point.
And judging whether the location belongs to a land area, if so, the type result corresponding to the location point is 1, and if not, the type result is 0. The result of the full map is divided into regions, and the effect is shown in fig. 2, using the thick lines to represent the coastline, separating the land area from the non-land area.
And 4, outputting a file to all the detection information obtained by traversing to finish the extraction of the effective detection area.
And traversing all the position point information to obtain a detection result set, wherein the land area forming the detection graph with the result of 1 and the water area forming the detection graph with the result of 0 are effective detection areas, and outputting files to all the result values obtained in the last step to form the detection graph. As shown in fig. 3, the diagram is a radar scanning effect diagram for radar recording without using a detection recording file, wherein a land area contains a large amount of false information and is an unreal radar target, as shown in fig. 4, after the land area is screened by using a remote sensing image, the land area is automatically avoided during radar scanning, so that the possibility of generating a false target is avoided, and the original land area in fig. 3 is directly shielded, so that the radar target detection precision is improved. After the detection admission file generated in the step 4 is used, the land area is filtered, a large amount of land clutter is removed, and the effect is good.
The invention provides a method for extracting an effective detection area of a radar based on a remote sensing image, and a plurality of methods and ways for specifically implementing the technical scheme, the above description is only a preferred embodiment of the invention, and it should be noted that, for a person skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the invention, and these improvements and decorations should also be regarded as the protection scope of the invention. All the components not specified in the present embodiment can be realized by the prior art.
Claims (1)
1. A radar effective detection area extraction method based on remote sensing images is characterized by comprising the following steps:
step 1, setting parameters, overlapping remote sensing image data by using an electronic chart, and generating a detection information index chart by using water depth information of the electronic chart and combining an edge detection method;
step 2, traversing all positions of the radar scanning area, performing polar coordinate conversion on each position point, and obtaining detection information of the position points according to the detection information index map:
step 3, judging the detection information, judging whether the position point is a land area or not, and recording the area type information of the position point;
step 4, carrying out file output operation to complete the extraction of the effective detection area;
the step 1 comprises the following steps:
step 1-1, setting parameters: setting the center, the scanning radius, the azimuth value and the sampling precision of a radar, extracting water depth information of a rectangular area which takes the radar as the center and has side length as the scanning diameter based on the water depth information provided by an electronic sea map, wherein the area with the water depth larger than 0 is an ocean area, and otherwise, the area is a land area, and obtaining a map layer containing sea-land boundary lines;
step 1-2, obtaining remote sensing images with the same scale for a map layer containing sea-land boundary lines, carrying out gray processing on the remote sensing images to obtain a gray map, and then carrying out edge extraction on the gray map, wherein a gradient operator G [ F (i, j) ] of the edge extraction is as follows:
in a gradient operator G [ F (i, j) ], F (i, j) represents the gray value of the image, i represents the abscissa of the image, j represents the ordinate of the image, the operator can reflect the gray change on the edge of the image, an accurate sea-land boundary can be displayed after the edge detection is finished, and the image containing the accurate sea-land boundary information is updated to the corresponding position after the size of the image is normalized;
step 1-3, normalizing the image size containing accurate sea-land boundary information according to the step 1-2, and updating the image size back to a corresponding position, so that all detection information is generated, dividing a closed region block according to the sea-land boundary line and a circular region line scanned by a radar, counting the proportion in the region block according to whether the water depth is greater than zero, and if the proportion of the water depth greater than zero is greater than 50%, determining that the region is a sea region, wherein the detection information is 1; otherwise, judging that the area is a land area, and generating a complete detection information index map, wherein the detection information is 0;
the step 2 comprises the following steps:
step 2-1, calculating the average distance represented by unit longitude and unit latitude;
2-2, converting the polar coordinates of each position point into longitude and latitude coordinates;
2-3, retrieving and acquiring detection information of the corresponding position according to the longitude and latitude coordinates;
step 2-1 comprises: taking a point in the middle of the left side and a point in the middle of the right side in the horizontal direction in the current display range of the electronic chart, recording longitude differences of the two points, calling longitude and latitude and distance calculation modes of the electronic chart, calculating a distance difference between the two points, and dividing the distance difference by the longitude difference to obtain an average distance represented by unit longitude; taking a top middle point and a bottom middle point in the vertical direction in the current display range of the electronic chart, and calculating the average distance represented by the unit latitude according to the same method for calculating the average distance represented by the unit longitude;
step 2-2 comprises:
the earth is approximately spherical, the position point takes a radar as a center, the scanning radius is taken as the radius of a circular area, the polar coordinate information of the position point contains azimuth value deviation and the sequence number of the position point, the center longitude and latitude, the scanning radius, the sampling precision and the azimuth value of the radar are set in the step 1, and the upper limit d of the position point sequence number is calculated firstly:
and then calculating the spherical distance dis between the corresponding position point and the radar center, wherein the calculation formula is as follows:
dis＝c*pno，
pno∈[0,d)，
and then obtaining angle information ang according to the azimuth offset of the position points:
offset∈[0,P)，
according to trigonometric function conversion, the distance dis _ x to the radar center point in the longitudinal direction, i.e. the horizontal direction, and the distance dis _ y to the radar center point in the latitudinal direction, i.e. the vertical direction, are calculated:
dis_x＝dis*sinang，
dis_y＝dis*cosang，
calculating the longitude value lon and the latitude value lat of the corresponding position according to the average distance represented by the unit longitude and latitude calculated in the step 2-1, wherein the formula is as follows:
lon＝dlon+dis_x/dx，
lat＝dlat+dis_y/dy，
wherein, dlon and dlat respectively represent longitude and latitude of a radar center, dx, dy respectively represents average distance of unit longitude and average distance of unit latitude solved in step 2-1, P represents a azimuth value, l represents a scanning radius, c represents sampling precision, parameters P, l, c, dlon and dlat in step 1 are determined through setting, offset represents azimuth value offset, pno represents a serial number of a position point and belongs to polar coordinate information;
the step 3 comprises the following steps: judging the detection information, judging whether the position point is a land area, if so, judging that the area type result corresponding to the position point is 1, otherwise, judging that the area type result is 0;
step 4 comprises the following steps: and (3) forming the position points with the area classification result of 1 into a water area part of the detection map, forming the position points with the result of 0 into a land area of the detection map, wherein the water area part of the detection map is an effective detection area, and displaying the detection map in the VTS.
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