CN110865373B - Entropy-based single-channel synthetic aperture radar moving target detection method - Google Patents

Entropy-based single-channel synthetic aperture radar moving target detection method Download PDF

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CN110865373B
CN110865373B CN201910610955.1A CN201910610955A CN110865373B CN 110865373 B CN110865373 B CN 110865373B CN 201910610955 A CN201910610955 A CN 201910610955A CN 110865373 B CN110865373 B CN 110865373B
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张学攀
王成
林晴晴
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China Academy of Space Technology CAST
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Abstract

The application discloses a single-channel synthetic aperture radar moving target detection method based on entropy. The specific implementation mode of the method comprises the following steps: pixel matrix z (M) of single-channel synthetic aperture radar SAR imageI,NI) Setting the size of the local window and the sliding step length of the local window. Calculating the expansion size M of the pixel matrix according to the size of the pixel matrix of the SAR image, the size of the local window and the sliding step length of the local windowpAnd Np(ii) a For SAR image pixel matrix z (M)I,NI) Performing zero value expansion, and calculating an entropy matrix E (I, J) of the expanded pixel matrix and a normalization entropy matrix thereof; and comparing the normalized entropy matrix with a preset moving target detection threshold H, wherein the area lower than the threshold is the moving target. The implementation mode realizes moving target detection by using single-channel synthetic aperture radar data, avoids the problems of high system cost, channel error and the like in the moving target detection process of the traditional ATI method, and can realize the slow moving target detection performance superior to the traditional ATI method.

Description

Entropy-based single-channel synthetic aperture radar moving target detection method
Technical Field
The application relates to the technical field of signal processing, in particular to the field of radar target detection, and particularly relates to a single-channel synthetic aperture radar moving target detection method based on entropy.
Background
The existing Synthetic Aperture Radar (SAR) moving target detection method can be divided into a single-channel method and a multi-channel method. The single-channel method can realize the detection of the moving target through a Doppler filter bank mainly according to the difference of Doppler parameters of the moving target and a static scene (clutter). The multi-channel method mainly realizes moving target detection by methods such as Phase Center offset Antenna (DPCA), Along-Track interference (ATI), Space Time Adaptive Processing (STAP) and the like according to differences between channels, interference Phase, Space Time Adaptive response and the like of a moving target and a static scene (clutter). Compared with a single-channel method, the multi-channel method has the advantage of moving target detection performance superior to that of a single channel, and the main reason why the multi-channel system is more and more widely applied in the year is found. However, the multi-channel method mainly has the problems of inter-channel errors, huge cost, large mass and the like, and in some special application fields such as space-borne SAR, the SAR moving target detection still needs to be realized by using a single channel with low weight and low cost. And the moving target characteristics are further mined, and the moving target detection performance under a single channel is improved. Because the Doppler modulation frequencies of the moving target and the static scene are different, the moving target is defocused in an SAR imaging result, and SAR moving target detection can be realized by utilizing the difference of the defocusing degree. The entropy can be used for measuring important indexes of defocusing degree, so that the research of the entropy-based single-channel synthetic aperture radar moving target detection method is of great significance.
Disclosure of Invention
The application aims to provide a single-channel synthetic aperture radar moving target detection method based on entropy aiming at the defects of the prior art, so as to improve the single-channel synthetic aperture radar moving target detection performance.
The application provides a single-channel synthetic aperture radar moving target detection method based on entropy, which comprises the following steps:
(1) the pixel matrix of the single-channel synthetic aperture radar SAR image is z (M)I,NI) Setting the size of the pixel matrix to be Mw×NwLocal area window of, MwAnd NwAre odd numbers greater than 1, such as 3 × 3, 3 × 5, 5 × 5, etc., and the sliding steps of the local area window in the distance direction and the azimuth direction are MsAnd NsWherein M isIAnd NIRespectively representing the unit pixel number of the SAR image in the distance direction and the azimuth direction;
(2) according to MIAnd NI、MwAnd Nw、MsAnd NsCalculating the expansion size M of the SAR image pixel matrix according to the following formulapAnd Np；
Mp＝ceil[(MI-Mw)/Ms]×Ms-(MI-Mw)
Np＝ceil[(NI-Nw)/Ns]×Ns-(NI-Nw)
Wherein ceil [ · ] represents rounding up.
(3) Performing zero value expansion on a pixel matrix of the SAR image to obtain an expanded pixel matrix z '(M'I,N′I) Wherein, M'I＝MI+Mp，N′I＝NI+Np。
(4) Computing a augmented pixel matrix z '(M'I,N′I) To obtain an entropy matrix E (I, J) of the pixel matrix, where I ═ M'I-Mw)/Ms，J＝(N′I-Nw)/NsRepresenting the size of the entropy matrix.
(5) Normalizing the entropy matrix E (I, J) to obtain a normalized entropy matrix
Figure BDA0002122357060000021
Wherein
Figure BDA0002122357060000022
max (E (I, J)) and min (E (I, J)) represent maximum and minimum operations, respectively, in the entropy matrix E (I, J);
(6) normalizing the entropy matrix
Figure BDA0002122357060000023
And comparing the moving target detection threshold with a preset moving target detection threshold H, wherein the area below the threshold is the moving target. The preset moving target detection threshold H is 0.9, and can be set according to the concerned moving target speed (such as the azimuth speed is more than 2 m/s).
In some embodiments, zero-value expansion is performed on the pixel matrix of the SAR image to obtain an expanded pixel matrix z '(M'I,N′I) The method comprises the following steps:
1) generating an all-zero matrix z '(M'I,N′I) Matrix size is M'I×N′I；
2) The first M of the all-zero matrixILine and first NIPixel matrix z (M) for column dataI,NI) Instead, i.e. z' (1: M)I,1:NI)＝z(MI,NI)；
3) Obtaining an extended pixel matrix z '(M'I,N′I)。
In some embodiments, the computing of the augmented pixel matrix z '(M'I,N′I) To obtain an entropy matrix E (I, J) of the pixel matrix, comprising:
1) according to the size M of the local area windowwAnd NwFrom the pixel matrix z '(M'I,N′I) In the size of MwAnd NwLocal pixel matrix of
Figure BDA0002122357060000031
Wherein the content of the first and second substances,
Figure BDA0002122357060000032
2) setting the local pixel matrix
Figure BDA0002122357060000033
Is represented as
Figure BDA0002122357060000034
The local pixel matrix
Figure BDA0002122357060000035
The sum of all pixels is defined as Ai,jWherein, in the step (A),
Figure BDA0002122357060000036
the entropy matrix of the local pixel matrix is defined as E (i, j), where
Figure BDA0002122357060000037
3) Sequentially traversing I ∈ [1, 2.,. I ∈]And J ∈ [1, 2.,. J.)]Obtaining the pixel matrix z ' (M ') of the whole extended SAR imaging 'I,N′I) The entropy matrix E (I, J), wherein I ═ M'I-Mw)/Ms， J＝(N′I-Nw)/Ns。
Compared with the prior art, the single-channel synthetic aperture radar moving target detection method based on entropy has the following advantages:
1) the method for detecting the moving target of the single-channel synthetic aperture radar can reduce the system cost to a great extent, and avoids the problems of system performance reduction and the like caused by errors among multiple channels.
2) On the basis of SAR imaging results, the method and the system realize moving target detection by directly processing the images, and have good compatibility with the existing SAR system.
3) The method and the device measure the defocusing information by using the entropy so as to realize moving target detection, and can realize the performance superior to that of the traditional two-channel along-track interference (ATI) method.
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Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a flow diagram of one embodiment of an entropy-based single-channel synthetic aperture radar moving-target detection method of the present application;
FIG. 2 is a diagram of a moving target detection result of a two-channel synthetic aperture radar realized by a traditional ATI method;
FIG. 3 is a moving target detection result of the entropy-based single-channel synthetic aperture radar of the present application;
fig. 4 is a simulation result of moving target detection threshold setting according to the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the relevant invention and not restrictive of the invention. It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
FIG. 1 shows a flowchart 100 of one embodiment of an entropy-based single-channel synthetic aperture radar moving-target detection method of the present application. The entropy-based single-channel synthetic aperture radar moving target detection method comprises the following steps:
step 101, the pixel matrix of the single-channel synthetic aperture radar SAR image is z (M)I,NI) Setting the size of the pixel matrix to be Mw×NwLocal area window of, MwAnd NwAre odd numbers greater than 1, such as 3 × 3, 3 × 5, 5 × 5, etc., and the sliding step length of the local area window in the distance direction and the azimuth direction is MsAnd Ns，MsAnd NsAre all positive integers, wherein MIAnd NIRespectively representing the unit pixel number, M, of the SAR image in the distance direction and the azimuth directionIAnd NIAre all positive integers.
102, according to the pixel matrix size M of the single-channel synthetic aperture radar SAR imageIAnd NILocal window size MwAnd NwLocal window sliding step length MsAnd NsCalculating the expansion size M of the SAR image pixel matrixpAnd NpThe value of (c).
In this embodiment, the pixel matrix size M of the SAR image from a single-channel synthetic aperture radarIAnd NILocal window size MwAnd NwLocal window sliding step length MsAnd NsCalculating the expansion size M of the SAR image pixel matrixpAnd NpThe method of (2) can be broken down into the following steps:
calculating the expansion size M of the SAR image pixel matrix according to the following formulapAnd Np：
Mp＝ceil[(MI-Mw)/Ms]×Ms-(MI-Mw)
Np＝ceil[(NI-Nw)/Ns]×Ns-(NI-Nw)
Where ceil [ · ] denotes rounding up, e.g., ceil [3.01] ═ 4, and ceil [3] ═ 3.
Step 103, performing zero value expansion on the pixel matrix of the SAR image to obtain an expanded pixel matrix z '(M'I,N′I) Wherein, M'I＝MI+Mp，N′I＝NI+Np。
In this embodiment, the method for zero-value expansion of the pixel matrix of the SAR image can be decomposed into the following steps:
1) generating an all-zero matrix z '(M'I,N′I) Matrix size is M'I×N′I；
2) The first M of the all-zero matrixILine and first NIPixel matrix z (M) for column dataI,NI) Instead, i.e. z' (1: M)I,1:NI)＝z(MI,NI)；
3) Obtaining an extended pixel matrix z '(M'I,N′I)。
At step 104, the augmented pixel matrix z ' (M ') is calculated 'I,N′I) To obtain an entropy matrix E (I, J) of the pixel matrix, where I ═ M'I-Mw)/Ms，J＝(N′I-Nw)/NsRepresenting the size of the entropy matrix.
In the present embodiment, the extended pixel matrix z ' (M ' is calculated 'I,N′I) The method of entropy of (a) can be broken down into the following steps:
1) according to the size M of the local area windowwAnd NwFrom the augmented pixel matrix z '(M'I,N′I) Selecting size MwAnd NwLocal pixel matrix of
Figure BDA0002122357060000051
Wherein the content of the first and second substances,
Figure BDA0002122357060000052
2) setting the local pixel matrix
Figure BDA0002122357060000053
Is represented as
Figure BDA0002122357060000054
The local pixel matrix
Figure BDA0002122357060000055
The sum of all pixels is defined as Ai,jWherein, in the step (A),
Figure BDA0002122357060000056
the entropy matrix of the local pixel matrix is defined as E (i, j), where
Figure BDA0002122357060000057
3) Sequentially traversing I ∈ [1, 2.,. I ∈]And J ∈ [1, 2.,. J.)]Obtaining the pixel matrix z ' (M ') of the whole extended SAR imaging 'I,N′I) The entropy matrix E (I, J), wherein I ═ M'I-Mw)/Ms， J＝(N′I-Nw)/Ns。
105, normalizing the entropy matrix E (I, J) to obtain a normalized entropy matrix
Figure BDA0002122357060000058
Wherein
Figure BDA0002122357060000059
max (E (I, J)) and min (E (I, J)) represent maximum and minimum operations, respectively, in the entropy matrix E (I, J).
106, normalizing the entropy matrix
Figure BDA00021223570600000510
And comparing the moving target detection threshold with a preset moving target detection threshold H, wherein the area below the threshold is the moving target. Presetting moving target detection thresholdThe value of H may be set according to the moving target speed of interest. Illustratively, if the azimuth speed of the moving target is greater than 2m/s, the preset moving target detection threshold H is set to 0.9.
The advantages of the present application can be further illustrated by the following simulation data processing.
1. Setting system parameters and target parameters
The system parameters were set as shown in table 1:
TABLE 1 System parameters
Figure BDA0002122357060000061
2. Data processing
And carrying out moving target detection comparative analysis on the application and the traditional ATI method by utilizing the measured data. The basic steps of the existing traditional ATI method for locating a target are as follows:
and performing range-to-pulse pressure processing on a target echo signal received by the SAR along the track to obtain a two-channel range pulse pressure domain signal matrix.
In the embodiment, the target echo signal received by the SAR through the two-channel SAR along the track
Figure BDA0002122357060000062
And
Figure BDA0002122357060000063
distance direction pulse pressure processing is carried out to obtain a dual-channel distance pulse pressure domain signal matrix
Figure BDA0002122357060000064
And
Figure BDA0002122357060000065
the method of (2) can be broken down into the following steps:
1) receiving echo signals containing moving targets by using along-track two-channel Synthetic Aperture Radar (SAR)
Figure BDA0002122357060000066
And
Figure BDA0002122357060000067
Figure RE-GDA0002289692200000068
Figure RE-GDA0002289692200000069
wherein, s'1(tm,x0) Is fast time, s'1(tm,x0) Is the slow time, sigma is the scattering coefficient of the moving target,
Figure BDA0002122357060000071
as a function of the distance window, W (t)m) For the azimuth window function, exp (-) is an exponential function, j is an imaginary symbol, π is a circumferential ratio, γ is the frequency modulation rate of the transmitted chirp signal, c is the speed of light, fcIs the carrier center frequency, R1And R2Respectively representing the instantaneous slope distance of the moving target to the radar platform along a track double channel:
Figure BDA0002122357060000072
Figure BDA0002122357060000073
wherein R is0Is the closest distance, t, from the moving target to the orbit of the radar platformmRadial velocity, x, of said moving object0For the above-mentioned object at t m0 time s 'relative to azimuth position of radar platform'1(tm,x0) Is a slow time, d is the running speed of the radar platform, vaD is the space between two channels along the track for the azimuth speed of the moving targetDistance.
2) To received moving target echo signal
Figure BDA0002122357060000074
And
Figure BDA0002122357060000075
carrying out range Fourier transform to obtain target range frequency domain signal X1(fr,tm) And X2(fr,tm) Comprises the following steps:
Figure BDA0002122357060000076
Figure BDA0002122357060000077
wherein A is1(fr,tm) And A2(fr,tm) Respectively moving target distance direction frequency domain signal X1(fr,tm) And X2(fr,tm) Amplitude of (f)rIs the range frequency.
3) Moving target distance is converted into frequency domain signal X1(fr,tm) And X2(fr,tm) Respectively multiplied by a distance matching function Sr(fr) And obtaining a target distance pulse pressure domain signal matrix through distance inverse Fourier transform
Figure BDA0002122357060000078
And
Figure BDA0002122357060000079
comprises the following steps:
Figure RE-GDA0002289692200000079
Figure RE-GDA00022896922000000710
wherein A is the signal amplitude of the moving target from the pulse pressure region, BrFor transmitting the bandwidth of the linear frequency modulation signal, lambda is the wavelength corresponding to the central frequency of the transmitting carrier, pi is the circumferential rate, sinc (-) is a sine function, exp (-) is an exponential function, and the distance is matched with the function Sr(fr) The expression of (a) is:
Figure BDA00021223570600000712
4) using moving target distance pulse pressure domain signal matrix
Figure BDA0002122357060000081
And
Figure BDA0002122357060000082
the following pulse pressure treatment is carried out:
Figure BDA0002122357060000083
Figure BDA0002122357060000084
wherein the content of the first and second substances,
Figure BDA0002122357060000085
ifft[·]representing a fast inverse Fourier transform, fft [. to ] along the azimuth direction]Indicating that the fast fourier transform is performed in the azimuth direction,
Figure BDA0002122357060000086
representing a vector
Figure BDA0002122357060000087
The length value of (a).
5) Will y'1(i,tm；x0) And y'2(i,tm；x0) Performing interference processing to estimate interference phase
Figure BDA0002122357060000088
Figure RE-GDA0002289692200000089
When t ism＝x′0 ATI/vsAnd when I is I, the relationship between the interference phase and the moving target speed is determined
Figure RE-GDA00022896922000000810
And system parameters and concerned moving target speed can obtain the moving target detection interference phase threshold
Figure RE-GDA00022896922000000811
If it is not
Figure RE-GDA00022896922000000812
The corresponding area is a moving target.
The processing results of the measured data of the SAR moving target detection by using the conventional ATI method and the method of the present application are shown in fig. 2 and fig. 3, respectively.
As can be seen from the actual measurement data processing result in fig. 2, the conventional ATI method utilizes the dual-channel SAR data, but still has missed detection on the slow moving target.
As can be seen from the actual measurement data processing result in fig. 3, the method adopted in the present application can successfully implement the detection of the slow moving target by using the single-channel SAR data.
In conclusion, the processing mode of the application can realize moving target detection by utilizing single-channel SAR data, thereby not only effectively reducing the system cost and avoiding the errors among channels, but also obtaining the moving target detection performance superior to that of the traditional ATI method.
3. Simulation analysis
With continued reference to FIG. 4, the basic basis for setting the moving target detection threshold H based on the moving target azimuth velocity of interest is shown.
The theoretical values of the parameters of the moving target are set as follows: azimuthal velocity vaAre respectively [ -10:1:10 [)]m/s, i.e. 1m/s as step length, the interval range is [ -10,10]m/s, radial velocity vrIs 0, azimuth position x00, nearest distance s 'of target to radar platform running track'1(tm,x0) 9000 m. According to the parameters of the moving target and the system parameters (shown in the table 1), the simulated single-channel synthetic aperture radar SAR receives an echo signal containing the moving target
Figure BDA00021223570600000813
Carrying out SAR imaging processing (as shown in a traditional ATI method), namely carrying out imaging processing by using azimuth modulation frequency of a static scene to obtain a plurality of groups of SAR imaging results corresponding to different azimuth speeds; and then, respectively calculating the normalized entropy results of the SAR in the moving target area by the method, thus obtaining the variation relation of the normalized entropy along with the azimuth speed of the moving target. Referring to FIG. 4, when the azimuth speed of the moving target is selected to be greater than 2m/s, the moving target detection threshold of the normalized entropy result should be set to 0.9. As can be seen from fig. 4, the normalized entropy follows the target azimuth velocity and symmetrically changes, and the normalized entropy reaches the maximum value when the azimuth velocity is equal to 0, i.e. the normalized entropy of the static scene is the maximum value. The normalization entropy is gradually reduced along with the increase of the moving degree of the moving target, namely along with the increase of the azimuth speed of the moving target.
The foregoing description is only exemplary of the preferred embodiments of this application and is made for the purpose of illustrating the general principles of the technology. It will be appreciated by a person skilled in the art that the scope of the invention as referred to in the present application is not limited to the embodiments with a specific combination of the above-mentioned features, but also covers other embodiments with any combination of the above-mentioned features or their equivalents without departing from the inventive concept. For example, the above features may be replaced with (but not limited to) features having similar functions disclosed in the present application.

Claims (4)

1. An entropy-based single-channel synthetic aperture radar moving target detection method is characterized by comprising the following steps:
the pixel matrix of the single-channel synthetic aperture radar SAR image is z (M)I,NI) Setting the size of the pixel matrix to be Mw×NwAnd the sliding step length of the local area window in the distance direction and the azimuth direction is M respectivelysAnd NsWherein M isIAnd NIRespectively representing the unit pixel number of the SAR image in the distance direction and the azimuth direction;
according to MIAnd NI、MwAnd Nw、MsAnd NsCalculating the expansion size M of the pixel matrix of the SAR imagepAnd NpA value of (d);
a pixel matrix z (M) for the SAR imageI,NI) Zero value expansion is carried out to obtain an expanded pixel matrix z '(M'I,N′I) Wherein, M'I＝MI+Mp，N′I＝NI+Np；
Computing a augmented pixel matrix z '(M'I,N′I) To obtain an entropy matrix E (I, J), where I ═ M'I-Mw)/Ms，J＝(N′I-Nw)/NsRepresenting the size of the entropy matrix;
normalizing the entropy matrix E (I, J) to obtain a normalized entropy matrix
Figure FDA0003184872720000011
Wherein the content of the first and second substances,
Figure FDA0003184872720000012
max (E (I, J)) and min (E (I, J)) represent maximum and minimum operations, respectively, in the entropy matrix E (I, J);
applying the normalized entropy matrix
Figure FDA0003184872720000013
And comparing the moving target detection threshold with a preset moving target detection threshold H, wherein the area lower than the threshold is a moving target.
2. An entropy-based single-channel synthetic aperture radar moving-target detection method according to claim 1, wherein the method is based on MIAnd NI、MwAnd Nw、MsAnd NsCalculating the expansion size M of the pixel matrix of the SAR imagepAnd NpComprises the following steps:
calculating the expansion size M of the SAR image pixel matrix according to the following formulapAnd NpThe value of (c):
Mp＝ceil[(MI-Mw)/Ms]×Ms-(MI-Mw)
Np＝ceil[(NI-Nw)/Ns]×Ns-(NI-Nw)
wherein ceil [ · ] represents rounding up.
3. The entropy-based single-channel synthetic aperture radar moving target detection method of claim 2, wherein a pixel matrix of the SAR image is subjected to zero value expansion to obtain an expanded pixel matrix z '(M'I,N′I) The method comprises the following steps:
1) generating an all-zero matrix with the matrix size of M'I×N′I；
2) The first M of the all-zero matrixILine and first NIPixel matrix z (M) for column dataI,NI) Instead, i.e. z' (1: M)I,1:NI)＝z(MI,NI)；
3) Obtaining an extended pixel matrix z '(M'I,N′I)。
4. An entropy-based single-channel synthetic aperture radar moving-target detection method according to claim 3, wherein the computing of the augmented pixel matrix z '(M'I,N′I) Obtaining an entropy matrix E (I, J), comprising the steps of:
1) according toLocal window size MwAnd NwFrom the augmented pixel matrix z '(M'I,N′I) In the size of MwAnd NwLocal pixel matrix of
Figure FDA0003184872720000021
Wherein the content of the first and second substances,
Figure FDA0003184872720000022
2) setting the local pixel matrix
Figure FDA0003184872720000023
Is represented as
Figure FDA0003184872720000024
The local pixel matrix
Figure FDA0003184872720000025
The sum of all pixels is defined as Ai,jWherein, in the step (A),
Figure FDA0003184872720000026
the entropy matrix of the local pixel matrix is defined as E (i, j), where
Figure FDA0003184872720000027
3) Sequentially traversing I ∈ [1, 2.,. I ∈]And J ∈ [1, 2.,. J.)]Obtaining a pixel matrix z ' (M ') of the entire augmented SAR imaging 'I,N′I) The entropy matrix E (I, J).
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