CN111562624B - Millimeter wave three-dimensional imaging method and system suitable for non-cooperative object - Google Patents
Millimeter wave three-dimensional imaging method and system suitable for non-cooperative object Download PDFInfo
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- CN111562624B CN111562624B CN202010023995.9A CN202010023995A CN111562624B CN 111562624 B CN111562624 B CN 111562624B CN 202010023995 A CN202010023995 A CN 202010023995A CN 111562624 B CN111562624 B CN 111562624B
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Abstract
The embodiment of the invention discloses a millimeter wave three-dimensional imaging method and a millimeter wave three-dimensional imaging system suitable for a non-cooperative object, wherein the method comprises the following steps of: establishing a corresponding electromagnetic echo model based on a moving electromagnetic model of the target non-cooperative object; estimating motion parameters of the target non-cooperative object according to the electromagnetic echo model, and determining the spatial distribution of any scattering point of the target non-cooperative object along with time; and generating a three-dimensional millimeter wave image of the target non-cooperative object according to the spatial distribution. By adopting the method, the high-precision three-dimensional millimeter wave image of the non-cooperative target can be generated by establishing the electromagnetic echo model aiming at the non-cooperative target, estimating the motion parameters of the target and determining the spatial distribution of the scattering points of the object, and the resolution of final imaging is improved.
Description
Technical Field
The invention relates to the technical field of millimeter wave security inspection imaging of non-cooperative objects, in particular to a millimeter wave three-dimensional imaging method and system suitable for the non-cooperative objects.
Background
The current millimeter wave imaging security inspection device is mature in application on security inspection imaging of a single cooperative target (a stationary inspected object matched with inspection), and can effectively prevent dangerous objects carried by individuals from entering important occasions. However, for a non-cooperative target (a receiving security check which cannot be matched or a detected object in a motion state), due to the motion state, the envelope offset of echo data formed by Doppler signals is brought in the imaging process, and meanwhile, the movement of the non-cooperative target also brings echo phase change, so that the finally formed image is blurred, and the imaging resolution is reduced.
Disclosure of Invention
The embodiment of the invention provides a millimeter wave three-dimensional imaging method and a millimeter wave three-dimensional imaging system suitable for a non-cooperative object.
Embodiments of the first aspect of the present invention provide a millimeter wave three-dimensional imaging method suitable for non-cooperative objects, the method may include:
Establishing a corresponding electromagnetic echo model based on a moving electromagnetic model of the target non-cooperative object;
Estimating motion parameters of the target non-cooperative object according to the electromagnetic echo model, and determining the spatial distribution of any scattering point of the target non-cooperative object along with time;
and generating a three-dimensional millimeter wave image of the target non-cooperative object according to the spatial distribution.
Further, the millimeter wave three-dimensional imaging method suitable for the non-cooperative object further comprises the following steps:
Acquiring a motion data set of the target non-cooperative object;
And training a motion electromagnetic model of the target non-cooperative object aiming at a motion rule and an electromagnetic scattering rule according to the motion data set.
Further, the millimeter wave three-dimensional imaging method suitable for the non-cooperative object further comprises the following steps:
calculating an inclined distance value corresponding to the inclined distance between the target scattering point and the receiving and transmitting array element pair in the full-electronic sparse array according to the spatial distribution;
and compensating a phase parameter associated with the skew in the motion echo by adopting the skew value.
Further, the millimeter wave three-dimensional imaging method suitable for the non-cooperative object further comprises the following steps:
and performing coherent superposition on echo data in the motion echo to generate a three-dimensional millimeter wave image of the target scattering point.
Further, the millimeter wave three-dimensional imaging method suitable for the non-cooperative object further comprises the following steps:
And adopting the three-dimensional millimeter wave images corresponding to all scattering points of the target non-cooperative object to form the three-dimensional millimeter wave image of the target non-cooperative object.
Embodiments of the second aspect of the present invention provide a millimeter wave three-dimensional imaging system suitable for non-cooperative objects, the system may comprise:
the echo model building module is used for building a corresponding electromagnetic echo model based on a moving electromagnetic model of the target non-cooperative object;
The parameter processing module is used for estimating the motion parameters of the target non-cooperative object according to the electromagnetic echo model and determining the spatial distribution of any scattering point of the target non-cooperative object along with time;
And the image generation module is used for generating a three-dimensional millimeter wave image of the target non-cooperative object according to the spatial distribution.
Further, the millimeter wave three-dimensional imaging system suitable for the non-cooperative object further comprises:
the data set acquisition module is used for acquiring a motion data set of the target non-cooperative object;
And the electromagnetic model generation module is used for training a motion electromagnetic model of the target non-cooperative object aiming at a motion rule and an electromagnetic scattering rule according to the motion data set.
Further, the millimeter wave three-dimensional imaging system suitable for the non-cooperative object further comprises:
The inclined distance value calculation module is used for calculating inclined distance values corresponding to inclined distances between the target scattering points and the receiving and transmitting array element pairs in the full-electronic sparse array according to the spatial distribution;
and the parameter compensation module is used for compensating phase parameters of the target non-cooperative object, which are associated with the skew in the motion echo, by adopting the skew value.
Further, the millimeter wave three-dimensional imaging system suitable for the non-cooperative object further comprises:
And the target image generation module is used for performing coherent superposition on echo data in the motion echo to generate a three-dimensional millimeter wave image of the target scattering point.
Further, the millimeter wave three-dimensional imaging system suitable for the non-cooperative object further comprises:
The image generation module is further used for carrying out frequency domain imaging on the corrected echo data by adopting a dynamic echo model to generate a millimeter wave image of the target non-cooperative object.
In the embodiment of the invention, the electromagnetic echo model aiming at the non-cooperative target is established, the motion parameters of the object are estimated to determine the spatial distribution of scattering points of the object, and the high-precision three-dimensional millimeter wave image of the non-cooperative target is generated, so that the resolution of final imaging is improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a millimeter wave three-dimensional imaging method suitable for a non-cooperative object according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a millimeter wave three-dimensional imaging system suitable for non-cooperative objects according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person of ordinary skill in the art without inventive effort, are intended to be within the scope of the present invention, based on the embodiments of the present invention.
In the embodiment of the invention, the related millimeter wave three-dimensional imaging system suitable for the non-cooperative object can be simply referred to as an imaging system.
The millimeter wave three-dimensional imaging method suitable for the non-cooperative object provided by the embodiment of the invention will be described in detail with reference to fig. 1.
Referring to fig. 1, a schematic flow chart of a millimeter wave three-dimensional imaging method suitable for a non-cooperative object is provided in an embodiment of the present invention. As shown in fig. 1, the method according to the embodiment of the present invention may include the following steps S101 to S103.
S101, establishing a corresponding electromagnetic echo model based on a moving electromagnetic model of the target non-cooperative object.
In an alternative embodiment, the imaging system may acquire a motion data set of the target non-cooperative object, and further, may train a motion electromagnetic model of the target non-cooperative object for a motion rule and an electromagnetic scattering rule according to the motion data set.
Specifically, the imaging system may build a corresponding electromagnetic echo model based on the moving electromagnetic model of the target non-cooperative object.
S102, estimating motion parameters of the target non-cooperative object according to the electromagnetic echo model, and determining the spatial distribution of any scattering point of the target non-cooperative object along with time.
Specifically, the imaging system can estimate the motion parameters of the target non-cooperative object according to the electromagnetic echo model, and determine the spatial distribution of any scattering point of the target non-cooperative object along with time.
In an alternative embodiment, the imaging system may calculate, according to the spatial distribution, a pitch value corresponding to a pitch between the target scattering point and a pair of transmitting and receiving array elements in the all-electronic sparse array, and it may be understood that the all-electronic sparse array may include a sparse array of at least three levels of subarrays, that is, each array element in the sparse array is not a single element but an array element composed of at least a plurality of subunits.
Further, the imaging system may employ the range value to compensate for a phase parameter of the target non-cooperative object associated with the range in the motion echo.
S103, generating a three-dimensional millimeter wave image of the target non-cooperative object according to the spatial distribution.
In an alternative embodiment, the imaging system may perform coherent superposition on echo data in the motion echo to generate a three-dimensional millimeter wave image of the target scattering point.
Further, the imaging system may use three-dimensional millimeter wave images corresponding to all scattering points of the target non-cooperative object to form a three-dimensional millimeter wave image of the target non-cooperative object.
In the embodiment of the invention, the electromagnetic echo model aiming at the non-cooperative target is established, the motion parameters of the object are estimated to determine the spatial distribution of scattering points of the object, and the high-precision three-dimensional millimeter wave image of the non-cooperative target is generated, so that the resolution of final imaging is improved.
The millimeter wave three-dimensional imaging system suitable for non-cooperative objects according to the embodiment of the present invention will be described in detail with reference to fig. 2. It should be noted that, in the imaging system shown in fig. 2, for performing the method of the embodiment of fig. 1 of the present invention, only the portions relevant to the embodiment of the present invention are shown for convenience of description, and specific technical details are not disclosed, please refer to the embodiment of fig. 1 of the present invention.
As shown in fig. 2, the imaging system 10 according to the embodiment of the present invention may include: an echo model establishment module 101, a parameter processing module 102, an image generation module 103, a data set acquisition module 104, an electromagnetic model generation module 105, a skew value calculation module 106, a parameter compensation module 107, and a target image generation module 108.
The echo model building module 101 is configured to build a corresponding electromagnetic echo model based on a moving electromagnetic model of the target non-cooperative object.
In an alternative embodiment, the data set obtaining module 104 may obtain a motion data set of the target non-cooperative object, and further, the electromagnetic model generating module 105 may train a motion electromagnetic model of the target non-cooperative object for a motion rule and an electromagnetic scattering rule according to the motion data set.
In a specific implementation, the echo model building module 101 may build a corresponding electromagnetic echo model based on a moving electromagnetic model of the target non-cooperative object.
The parameter processing module 102 is configured to estimate a motion parameter of the target non-cooperative object according to the electromagnetic echo model, and determine a spatial distribution of any scattering point of the target non-cooperative object over time.
In a specific implementation, the parameter processing module 102 may estimate a motion parameter of the target non-cooperative object according to the electromagnetic echo model, and determine a spatial distribution of any scattering point of the target non-cooperative object over time.
In an alternative embodiment, the pitch value calculating module 106 may calculate the pitch value corresponding to the pitch between the target scattering point and the transceiver array element pair in the all-electronic sparse array according to the spatial distribution, and it may be understood that the all-electronic sparse array may include a sparse array of at least three-level subarrays, that is, each array unit in the sparse array is not a single unit but an array unit composed of at least several subunits.
Further, the parameter compensation module 107 may use the pitch value to compensate a phase parameter of the target non-cooperative object associated with the pitch in the motion echo.
An image generation module 103, configured to generate a three-dimensional millimeter wave image of the target non-cooperative object according to the spatial distribution.
In an alternative embodiment, the target image generating module 108 may perform coherent superposition on echo data in the motion echo to generate a three-dimensional millimeter wave image of the target scattering point.
Further, the image generating module 103 may use the three-dimensional millimeter wave images corresponding to all scattering points of the target non-cooperative object to form the three-dimensional millimeter wave image of the target non-cooperative object.
In the embodiment of the invention, the electromagnetic echo model aiming at the non-cooperative target is established, the motion parameters of the object are estimated to determine the spatial distribution of scattering points of the object, and the high-precision three-dimensional millimeter wave image of the non-cooperative target is generated, so that the resolution of final imaging is improved.
It should be understood that the execution of the steps of the method is only a preferred execution sequence, and the execution sequence may be adjusted according to actual requirements in the implementation process.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program comprising instructions for the relevant hardware, and the program may be stored on a computer-readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random-access Memory (Random Access Memory, RAM), or the like.
The foregoing disclosure is illustrative of the present invention and is not to be construed as limiting the scope of the invention, which is defined by the appended claims.
Claims (2)
1. A millimeter wave three-dimensional imaging method suitable for non-cooperative objects, the method comprising: establishing a corresponding electromagnetic echo model based on a moving electromagnetic model of the target non-cooperative object;
Estimating motion parameters of the target non-cooperative object according to the electromagnetic echo model, and determining the spatial distribution of any scattering point of the target non-cooperative object along with time;
generating a three-dimensional millimeter wave image of the target non-cooperative object according to the spatial distribution;
the method further comprises the steps of:
Acquiring a motion data set of the target non-cooperative object;
training a motion electromagnetic model of the target non-cooperative object aiming at a motion rule and an electromagnetic scattering rule according to the motion data set;
Calculating an inclined distance value corresponding to the inclined distance between the target scattering point and the receiving and transmitting array element pair in the full-electronic sparse array column according to the spatial distribution;
Compensating phase parameters of the target non-cooperative object associated with the skew in a motion echo by adopting the skew value;
performing coherent superposition on echo data in the motion echo to generate a three-dimensional millimeter wave image of the target scattering point;
adopting three-dimensional millimeter wave images corresponding to all scattering points of the target non-cooperative object to form a three-dimensional millimeter wave image of the target non-cooperative object;
The all-electronic sparse array comprises a sparse array of at least three levels of subarrays.
2.A millimeter wave three-dimensional imaging system adapted for non-cooperative objects, the system comprising:
the echo model building module is used for building a corresponding electromagnetic echo model based on a moving electromagnetic model of the target non-cooperative object;
The parameter processing module is used for estimating the motion parameters of the target non-cooperative object according to the electromagnetic echo model and determining the spatial distribution of any scattering point of the target non-cooperative object along with time;
The image generation module is used for generating a three-dimensional millimeter wave image of the target non-cooperative object according to the spatial distribution;
the data set acquisition module is used for acquiring a motion data set of the target non-cooperative object;
The electromagnetic model generation module is used for training a motion electromagnetic model of the target non-cooperative object aiming at a motion rule and an electromagnetic scattering rule according to the motion data set;
the inclined distance value calculation module is used for calculating inclined distance values corresponding to inclined distances between the target scattering points and the receiving and transmitting array element pairs in the full-electronic sparse array columns according to the spatial distribution;
the parameter compensation module is used for compensating phase parameters, associated with the slant range, of the target non-cooperative object in the motion echo by adopting the slant range value;
the target image generation module is used for performing coherent superposition on echo data in the motion echo to generate a three-dimensional millimeter wave image of the target scattering point;
the image generation module adopts three-dimensional millimeter wave images corresponding to all scattering points of the target non-cooperative object to form a three-dimensional millimeter wave image of the target non-cooperative object;
The all-electronic sparse array comprises a sparse array of at least three levels of subarrays.
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| CN102998672A (en) * | 2012-11-27 | 2013-03-27 | 西安电子科技大学 | Step frequency inverse synthetic aperture radar (ISAR) imaging method based on coherent processing |
| CN104502912A (en) * | 2014-05-08 | 2015-04-08 | 南京理工大学 | Imaging method for inverse synthetic aperture radar of high-speed moving targets |
| CN108107430A (en) * | 2017-11-09 | 2018-06-01 | 北京理工大学 | A kind of Ship Target ISAR imaging methods based on fraction Fourier conversion |
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