CN111610573A - Security inspection imaging method with motion compensation - Google Patents

Security inspection imaging method with motion compensation Download PDF

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CN111610573A
CN111610573A CN202010429808.7A CN202010429808A CN111610573A CN 111610573 A CN111610573 A CN 111610573A CN 202010429808 A CN202010429808 A CN 202010429808A CN 111610573 A CN111610573 A CN 111610573A
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antenna array
acrylic plate
signal
dimensional
echo signal
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CN111610573B (en
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孙兆阳
任百玲
刘强
张焱
许戎戎
刘昊
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BEIJING AEROSPACE JINTAI XINGCE TECHNOLOGY CO LTD
Beijing Research Institute of Telemetry
Aerospace Long March Launch Vehicle Technology Co Ltd
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BEIJING AEROSPACE JINTAI XINGCE TECHNOLOGY CO LTD
Beijing Research Institute of Telemetry
Aerospace Long March Launch Vehicle Technology Co Ltd
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/005—Prospecting or detecting by optical means operating with millimetre waves, e.g. measuring the black losey radiation
    • 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
    • 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
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01V—GEOPHYSICS; GRAVITATIONAL MEASUREMENTS; DETECTING MASSES OR OBJECTS; TAGS
    • G01V8/00—Prospecting or detecting by optical means
    • G01V8/10—Detecting, e.g. by using light barriers
    • G01V8/20—Detecting, e.g. by using light barriers using multiple transmitters or receivers
    • 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
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S2013/0236—Special technical features

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  • Physics & Mathematics (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Life Sciences & Earth Sciences (AREA)
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Abstract

The invention provides a security check imaging method with motion compensation, which comprises the following steps: s1, the millimeter wave human body security check instrument cantilever antenna array starts to detect through cantilever rotation; s2, generating millimeter wave signals for detection by the antenna array; s3, irradiating the millimeter wave detection signal on a human body to be detected through an acrylic plate; s4, the antenna array receives echo signals reflected by the human body through the inner acrylic plate; s5, extracting a shake compensation signal from the echo signal, and simultaneously performing two-dimensional Fourier transform on the echo signal; s6, carrying out weighted shaking compensation on the echo signal after image enhancement and denoising by using the shaking compensation signal; and S7, obtaining a three-dimensional imaging result through an azimuth one-dimensional BP imaging algorithm. The invention extracts the shaking of the cantilever array through the echo reflected by the acrylic plate and compensates the shaking of the cantilever array during imaging processing, thereby improving the imaging definition.

Description

Security inspection imaging method with motion compensation
Technical Field
The invention mainly relates to the field of security detection, in particular to a security inspection imaging method with motion compensation.
Background
In recent years, terrorist attacks at home and abroad frequently occur, the types of dangerous goods are more and more, and the traditional security inspection means cannot meet the requirements of the current security inspection market. The traditional metal detector can only detect metal contraband and has no effect on plastic bombs and ceramic cutters; although the X-ray security inspection equipment can detect all prohibited articles, the X-ray security inspection equipment has certain threat to human health and is not an optimal security inspection means. The existing millimeter wave three-dimensional imaging technology is an effective method for replacing the traditional security inspection means.
The existing millimeter wave human body security inspection instrument adopts a cantilever mode to install an antenna array. The lower end of the cantilever antenna array is not supported, and the cantilever shakes when the antenna array rotates. This wobble easily causes incoherent motion between the human body and the antenna array, causing blurring of the imaging.
Disclosure of Invention
The invention provides a security inspection imaging method with motion compensation, aiming at solving the problem that imaging blurring is caused by the fact that a cantilever shakes when an antenna array rotates, wherein the shaking easily causes incoherent motion between a human body and the antenna array.
The invention provides a security check imaging method with motion compensation, which comprises the following steps: the method comprises the following steps:
s1, the millimeter wave human body security check instrument cantilever antenna array starts to detect through cantilever rotation;
s2, generating millimeter wave signals for detection by the antenna array;
s3, irradiating the millimeter wave detection signal on a human body to be detected through the first inner acrylic plate and the second inner acrylic plate;
s4, the antenna array receives echo signals reflected by the human body through the first inner acrylic plate and the second inner acrylic plate;
s5, extracting a shake compensation signal from the echo signal, and simultaneously performing two-dimensional Fourier transform on the echo signal;
s6, carrying out weighted shaking compensation on the echo signal after image enhancement and denoising by using the shaking compensation signal;
and S7, obtaining a three-dimensional imaging result through an azimuth one-dimensional BP imaging algorithm.
The millimeter wave signals firstly irradiate the human body through the acrylic plate, are reflected by the human body, and then are received by the antenna array through the inner acrylic plate.
As a preferred mode, the step S5 of extracting the shake compensation signal from the echo signal includes the following steps:
s51, expressing the echo signal as S (r, theta, y), taking the lowest echo signal in the three-dimensional echo signal, and converting the three-dimensional echo signal into a two-dimensional echo signal S (r, theta, y)end)；
S52, Fourier transform is carried out on the two-dimensional echo signals in the distance direction, the phase phi where the maximum value in the distance direction is located is taken, middle pass filtering is carried out on the phase signals, and the signals of the intermediate frequency are taken as shake compensation signals exp (j phi').
The phase phi is the echo phase of the position of the acrylic plate. The difficulty of shaking extraction is that the accuracy of forming a cylinder cannot be guaranteed in the mounting process of the acrylic, so that the distance between the antenna array and the acrylic changes along with the change of a scanning angle. However, in consideration of the continuity and smoothness of the acrylic tensioned surface, the technical scheme considers that the low-frequency component in the acrylic echo phase is the installation error of the acrylic, the medium-frequency component is the phase generated by the shaking of the cantilever array, and the high-frequency component is noise. Therefore, the acrylic echo phase is filtered to filter low-frequency components and high-frequency components, the signal of the intermediate frequency is taken as a shaking error signal, and real-time compensation is carried out by utilizing the signal in imaging.
As a preferred mode, the method for performing two-dimensional fourier transform on the echo signal in step S5 includes:
s53, performing Fourier transform in the elevation direction on the echo signals: let the position coordinates of the cylindrical antenna array be (rsin θ, y, rcos θ) and the position of the target be (x)i,yi,zi) The form of the target echo signal is:
Figure BDA0002500131080000031
where r is the scanning radius of the antenna array, k is the wave number,
Figure BDA0002500131080000032
f is the working frequency of the system, and c is the speed of light;
performing elevation direction Fourier transform on the echo signals to obtain:
Figure BDA0002500131080000033
s54, multiplying the echo signals after the Fourier transform in the elevation direction by a matched filter item, wherein the matched filter item is
Figure BDA0002500131080000034
The following formula is obtained:
Figure BDA0002500131080000035
wherein k isyWave number in y direction;
and S55, distance interpolation: will be in step S54
Figure BDA0002500131080000036
Interpolate to 2k, get the formula:
Figure BDA0002500131080000037
s54, performing two-dimensional inverse Fourier transform on the S2 to obtain a YZ dimension slice imaging result:
Figure BDA0002500131080000041
wherein k iscThe central wavenumber.
As a preferable mode, step S6 of the security imaging method with motion compensation in the present invention specifically includes:
s61, obtaining a shake error signal A (h) exp (j phi ') through the shake compensation signal exp (j phi');
wherein A (H) is a compensation coefficient, H belongs to [1, H ];
s62, compensating the shaking error signal for S ', namely multiplying S' by the complex conjugate of the shaking error signal, wherein the formula is as follows:
Figure BDA0002500131080000042
the compensation phase extracted by the antenna array unit at the lowest end is gradually reduced due to the factor of compensation from bottom to top, so that the compensation phase is multiplied by the corresponding compensation factor A (h), and the wobble error signal can be expressed as A (h) exp (j phi')
The security inspection imaging method with motion compensation, as a preferred mode, the specific method of step S7 is as follows: and (3) obtaining an imaging result formula by passing the echo signal after the shake compensation through the one-dimensional BP, wherein the imaging result formula is as follows:
S″′＝(z-zi)(x-xi)(y-yi)
the invention relates to a security inspection imaging method with motion compensation, as a preferred mode, a millimeter wave human body security inspection instrument cantilever antenna array comprises a first transceiving split antenna array, a second transceiving split antenna array, a first outer acrylic plate, a second outer acrylic plate, a first inner acrylic plate, a second inner acrylic plate and a cantilever, the first transceiving split antenna array and the second transceiving split antenna array are arranged at the bottom end of the cantilever, the cantilever is arranged at the top end in the millimeter wave human body security inspection instrument, the millimeter wave human body security inspection instrument is rotatably and movably arranged with the top end inside the millimeter wave human body security inspection instrument, the first outer acrylic plate is arranged on the outer side of the first transceiving split antenna array, the second outer acrylic plate is arranged on the outer side of the second transceiving split antenna array, the first inner acrylic plate is arranged on the inner side of the first transceiving split antenna array, and the second inner acrylic plate is arranged on the inner side of the second transceiving split antenna array.
The invention has the following beneficial effects:
(1) after the compensation of the shaking signal is adopted, the incoherent motion between the human body and the antenna array caused by the shaking of the cantilever array is effectively eliminated, and the imaging is clear;
(2) the millimeter wave signals firstly irradiate the human body through the acrylic plate, are reflected by the human body and then are received by the antenna array through the inner acrylic plate, the swinging of the cantilever array is extracted through the echo reflected by the acrylic plate, and the swinging of the cantilever array is effectively compensated when the imaging is carried out.
Drawings
FIG. 1 is a schematic flow chart of a security imaging method with motion compensation;
fig. 2 is a schematic diagram of a cantilever antenna array of a millimeter wave human body security inspection instrument with motion compensation security inspection imaging method.
Reference numerals:
1. a first transmit-receive split antenna array; 2. a second transmit-receive split antenna array; 3. a first outer acrylic sheet; 4. a second outer acrylic sheet; 5. a first inner acrylic plate; 6. a second inner acrylic plate; 7. a cantilever.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Example 1
As shown in fig. 1, a security imaging method with motion compensation includes the following steps:
s1, the millimeter wave human body security check instrument cantilever antenna array starts to detect through cantilever rotation;
s2, generating millimeter wave signals for detection by the antenna array;
s3, irradiating the millimeter wave detection signal on a human body to be detected through the first inner acrylic plate 5 and the second inner acrylic plate 6;
s4, the antenna array receives echo signals reflected by the human body through the first inner acrylic plate 5 and the second inner acrylic plate 6;
s5, expressing the echo signal as S (r, theta, y), taking the lowest echo signal in the three-dimensional echo signal, and converting the three-dimensional echo signal into a two-dimensional echo signal S (r, theta, y)end)；
S6, Fourier transform is carried out on the two-dimensional echo signals in the distance direction, the phase phi where the maximum value in the distance direction is located is taken, middle pass filtering is carried out on the phase signals, and the signals of the intermediate frequency are taken as shake compensation signals exp (j phi').
S7, performing step S5, and performing Fourier transform on the echo signals in the elevation direction: let the position coordinates of the cylindrical antenna array be (rsin θ, y, rcos θ) and the position of the target be (x)i,yi,zi) The form of the target echo signal is:
Figure BDA0002500131080000061
where r is the scanning radius of the antenna array, k is the wave number,
Figure BDA0002500131080000062
f is the working frequency of the system, and c is the speed of light;
performing elevation direction Fourier transform on the echo signals to obtain:
Figure BDA0002500131080000063
s8, multiplying the echo signals after Fourier transformation along the elevation direction by a matched filter term
Figure BDA0002500131080000064
The following formula is obtained:
Figure BDA0002500131080000071
wherein k isyWave number in y direction;
and S9, distance interpolation: will be in step S54
Figure BDA0002500131080000072
Interpolate to 2k, get the formula:
Figure BDA0002500131080000073
s10, performing two-dimensional inverse Fourier transform on the S2 to obtain a YZ dimension slice imaging result:
Figure BDA0002500131080000074
wherein k iscThe central wavenumber.
S11, obtaining a shake error signal A (h) exp (j phi ') through the shake compensation signal exp (j phi');
wherein A (H) is a compensation coefficient, H belongs to [1, H ];
s12, compensating the shaking error signal for S ', namely multiplying S' by the complex conjugate of the shaking error signal, wherein the formula is as follows:
Figure BDA0002500131080000075
s13, obtaining a three-dimensional imaging result through an azimuth one-dimensional BP imaging algorithm; and (3) obtaining an imaging result formula by passing the echo signal after the shake compensation through the one-dimensional BP, wherein the imaging result formula is as follows:
S′′′＝(z-zi)(x-xi)(y-yi)
as shown in fig. 2, the cantilever antenna array of the millimeter wave human body security inspection apparatus includes a first transceiving split antenna array 1, a second transceiving split antenna array 2, a first outer acrylic plate 3, a second outer acrylic plate 4, a first inner acrylic plate 5, a second inner acrylic plate 6 and a cantilever 7, the first transceiving split antenna array 1 and the second transceiving split antenna array 2 are disposed at the bottom end of the cantilever 7, the cantilever 7 is disposed at the top end inside the millimeter wave human body security inspection apparatus, the millimeter wave human body security inspection instrument is rotatably and movably arranged with the top end inside the millimeter wave human body security inspection instrument, the first outer acrylic plate 3 is arranged outside the first transceiving split antenna array 1, the second outer acrylic plate 4 is arranged outside the second transceiving split antenna array 2, the first inner acrylic plate 5 is arranged inside the first transceiving split antenna array 1, and the second inner acrylic plate 6 is arranged inside the second transceiving split antenna array 2.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (6)

1. A security inspection imaging method with motion compensation is characterized in that: the method comprises the following steps:
s1, the millimeter wave human body security check instrument cantilever antenna array starts to detect through cantilever rotation;
s2, generating millimeter wave signals for detection by the antenna array;
s3, the millimeter wave detection signal irradiates a human body to be detected through the first inner acrylic plate (5) and the second inner acrylic plate (6);
s4, the antenna array receives echo signals reflected by the human body through the first inner acrylic plate (5) and the second inner acrylic plate (6);
s5, extracting a shake compensation signal from the echo signal, and simultaneously performing two-dimensional Fourier transform on the echo signal;
s6, performing weighted shaking compensation on the echo signal after image enhancement and denoising by using the shaking compensation signal;
and S7, obtaining a three-dimensional imaging result through an azimuth one-dimensional BP imaging algorithm.
2. A security imaging method with motion compensation according to claim 1, characterized in that: the echo signal extracting shake compensation signal in step S5 includes:
s51, expressing the echo signal as S (r, theta, y), taking the lowest echo signal in the three-dimensional echo signal, and converting the three-dimensional echo signal into a two-dimensional echo signal S (r, theta, y)end)；
S52, Fourier transform is carried out on the two-dimensional echo signals in the distance direction, the phase phi where the maximum value in the distance direction is located is taken, middle pass filtering is carried out on the phase signals, and the signals of the middle frequency are taken as shake compensation signals exp (j phi').
3. A security imaging method with motion compensation according to claim 1, characterized in that: the specific step of performing two-dimensional fourier transform on the echo signal in step S5 includes:
s53, Fourier transform is carried out on the echo signals along the elevation direction: let the position coordinates of the cylindrical antenna array be (r sin theta, y, r cos theta), and the position of the target be (x)i,yi,zi) The form of the target echo signal is as follows:
Figure FDA0002500131070000021
where r is the scanning radius of the antenna array, k is the wave number,
Figure FDA0002500131070000022
f is the working frequency of the system, and c is the speed of light;
and Fourier transform is carried out on the echo signals along the elevation direction to obtain:
Figure FDA0002500131070000023
s54, multiplying the echo signal after Fourier transform by a matched filtering item
Figure FDA0002500131070000024
The following formula is obtained:
Figure FDA0002500131070000025
wherein k isyWave number in y direction;
and S55, distance interpolation: will be in step S54
Figure FDA0002500131070000026
Interpolate to 2k, get the formula:
Figure FDA0002500131070000027
s54, performing two-dimensional inverse Fourier transform on the S2 to obtain a YZ dimension slice imaging result:
Figure FDA0002500131070000028
wherein k iscThe central wavenumber.
4. A security imaging method with motion compensation according to claim 1, characterized in that: the step S6 includes:
s61, obtaining a shake error signal A (h) exp (j phi ') through the shake compensation signal exp (j phi');
wherein A (H) is a compensation coefficient, H belongs to [1, H ];
s62, compensating the shaking error signal for S ', namely multiplying S' by the complex conjugate of the shaking error signal, wherein the formula is as follows:
Figure FDA0002500131070000031
5. a security imaging method with motion compensation according to claim 1, characterized in that: the specific method of step S7 is: and obtaining an imaging result formula by passing the echo signal after the shake compensation through a one-dimensional BP (back propagation) method, wherein the formula is as follows:
S″′＝(z-zi)(x-xi)(y-yi)
6. a security imaging method with motion compensation according to any one of claims 1-5, characterized in that: the millimeter wave human body security inspection instrument cantilever antenna array comprises a first transceiving split antenna array (1), a second transceiving split antenna array (2), a first outer acrylic plate (3), a second outer acrylic plate (4), a first inner acrylic plate (5), a second inner acrylic plate (6) and a cantilever (7), wherein the first transceiving split antenna array (1) and the second transceiving split antenna array (2) are arranged at the bottom end of the cantilever (7), the cantilever (7) is arranged at the inner top end of the millimeter wave human body security inspection instrument and is rotatably and movably arranged with the inner top end of the millimeter wave human body security inspection instrument, the first outer acrylic plate (3) is arranged at the outer side of the first transceiving split antenna array (1), the second outer acrylic plate (4) is arranged at the outer side of the second transceiving split antenna array (2), and the first inner acrylic plate (5) is arranged at the inner side of the first transceiving split antenna array (1), The second inner acrylic plate (6) is arranged on the inner side of the second transceiving split antenna array (2).
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