CN111650665B - Security imaging system with motion compensation and use method thereof - Google Patents
Security imaging system with motion compensation and use method thereof Download PDFInfo
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- CN111650665B CN111650665B CN202010430622.3A CN202010430622A CN111650665B CN 111650665 B CN111650665 B CN 111650665B CN 202010430622 A CN202010430622 A CN 202010430622A CN 111650665 B CN111650665 B CN 111650665B
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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
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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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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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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- 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
Abstract
The invention provides a security inspection imaging system with motion compensation, which comprises a signal receiving and transmitting module (1), an acceleration detection module (2), a power module (3), a cantilever (4) and a processor (5), wherein the signal receiving and transmitting module (1) is vertically arranged on the lower surface of the cantilever (4), the power module (3) is arranged at the upper end of the cantilever (4), the acceleration detection module (2) is arranged at the lower end of the signal receiving and transmitting module (1), and the processor (5) is electrically connected with the acceleration detection module (2) and the signal receiving and transmitting module (1). According to the invention, by installing the acceleration sensor on the antenna cantilever, real-time acceleration of the cantilever is obtained through continuous radial acceleration measurement in the circular motion process, radial distance offset is obtained through the acceleration, and phase errors of high frequency and low frequency are filtered, so that a phase shaking compensation error item is obtained.
Description
Technical Field
The invention mainly relates to the field of safety detection, in particular to a security inspection imaging system and 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 conventional security inspection means cannot meet the requirements of the current security inspection market. The traditional metal detector can only detect the metal contraband, and cannot be used for plastic bombs and ceramic cutters; the X-ray security inspection equipment can detect all forbidden articles, but has a certain threat to human health, and is not an optimal security inspection means. The current 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 at all, and when the antenna array rotates, the cantilever shakes. This wobble easily results in incoherent motion between the human body and the antenna array, causing blurring of the image.
Disclosure of Invention
The invention provides a security inspection imaging system with motion compensation and a use method thereof, which aim to solve the problems that in the prior art, when an antenna array rotates, a cantilever shakes, incoherent motion between a human body and the antenna array is easy to cause imaging blurring, and the real-time acceleration of the cantilever is obtained through continuous radial acceleration measurement in the circumferential motion process by installing an acceleration sensor on the antenna cantilever, radial distance offset is obtained through the acceleration, and phase shake compensation error items are obtained after high-frequency and low-frequency phase errors are filtered, so that the problems are solved.
The invention provides a security inspection imaging system with motion compensation, which comprises a signal receiving and transmitting module, an acceleration detection module, a power module, a cantilever and a processor, wherein the signal receiving and transmitting module is vertically arranged on the lower surface of the cantilever and is used for transmitting and receiving millimeter waves, the power module is arranged at the upper end of the cantilever and is connected with the top end in a millimeter wave human body security inspection instrument and can rotate, the acceleration detection module is arranged at the lower end of the signal receiving and transmitting module and is used for detecting the rotating acceleration of the signal receiving and transmitting module, and the processor is electrically connected with the acceleration detection module and the signal receiving and transmitting module and is used for processing echo signals and obtaining three-dimensional imaging results.
According to the technical scheme, by means of installing the acceleration sensor on the antenna cantilever, real-time acceleration of the cantilever is obtained through continuous radial acceleration measurement in the circular motion process, radial distance offset is obtained through the acceleration, and phase errors of high frequency and low frequency are filtered, so that a phase shaking compensation error item is obtained. The wobble error term is compensated for in a subsequent imaging process. Thereby reducing imaging blurring caused by incoherent motion between a human body and the antenna array and improving imaging quality of images. The power device is a servo motor and is driven by the servo motor to do circular motion, and the circular motion range is about 100-130 degrees.
In the security inspection imaging system with motion compensation, as an optimal mode, the signal receiving and transmitting module comprises a first signal receiving module and a second signal receiving module, and the first signal receiving module and the second signal receiving module are oppositely arranged at the lower end of the cantilever.
According to the security inspection imaging system with motion compensation, as an optimal mode, the acceleration detection module comprises a first acceleration sensor and a second acceleration sensor, wherein the first acceleration sensor is arranged at the lower end of the first signal receiving module, and the second acceleration sensor is arranged at the lower end of the second signal receiving module.
According to the security inspection imaging system with motion compensation, as an optimal mode, the rotating shaft of the power module is arranged at the top end inside the millimeter wave human body security inspection instrument.
The invention relates to a security inspection imaging system with motion compensation, which is characterized in that a processor comprises an acceleration shaking compensation module and a three-dimensional imaging module, wherein the three-dimensional imaging module is connected with the acceleration shaking compensation module and a signal receiving and transmitting module and is used for processing echo signals into three-dimensional images; the acceleration shaking compensation module is connected with the three-dimensional imaging module and the acceleration detection module and is used for obtaining shaking error signals through the acceleration detected by the acceleration detection module and performing shaking compensation on the three-dimensional image.
The invention provides a use method of a security inspection imaging system with motion compensation, which comprises the following steps:
s1, a cantilever antenna array of a millimeter wave human body security inspection instrument starts to detect through cantilever rotation;
s2, the signal receiving and transmitting module generates millimeter wave signals for detection;
s3, the first acceleration sensor and the second acceleration sensor work to measure the rotating acceleration a m′ ；
S4, the first signal receiving module and the second signal receiving module receive echo signals reflected by a human body;
s5, the acceleration shaking compensation module extracts shaking compensation signals, and the three-dimensional imaging module performs two-dimensional Fourier transform on echo signals;
s6, using the shaking compensation signal to carry out weighted shaking compensation on the echo signal after image enhancement and denoising;
s7, obtaining a three-dimensional imaging result through an azimuth one-dimensional BP imaging algorithm.
The application method of the security inspection imaging system with motion compensation in the invention is characterized in that the step S5 of extracting the shake compensation signal by the acceleration shake compensation module comprises the following steps:
s51, the acceleration a during rotation is measured by the first acceleration sensor and the second acceleration sensor m′ Wherein the value range of M' is 1-M, M is the number of angles of system starting emission, and the acceleration shaking compensation module can measure the rotating angular velocity omega m′ The formula is as follows:
a m′ ＝ω m′ 2 r m′ ；
wherein r is m′ Is the diameter;
ΔR＝r m′ -r 0 ；
wherein DeltaR is the position offset, and the preset rotation radius is R 0 ；
S52, setting the intermediate frequency component as a phase generated by cantilever array shaking, wherein the signal form corresponding to the phase phi is exp (j phi), filtering the signal form of the phase phi, filtering the low-frequency component and the high-frequency component, and obtaining a phase-compensated signal form exp (j phi') after filtering;
a shake compensation signal due to the positional deviation is obtained from the acceleration,
s″＝exp(jΦ)
where s "is the error phase signal,
c is the speed of light, f is the operating frequency;
and performing medium-pass filtering on the obtained error phase signal to filter high-frequency and low-frequency phase items, and obtaining a filtered shaking compensation signal s'.
s″′＝exp(jΦ′)
Where Φ' is the phase after filtering out the high and low frequency signals.
Acceleration sensor mounted under antenna cantilever for measuring acceleration a during rotation m′ Wherein the value range of M' is 1-M, and M is the number of angles of system starting emission. The angular velocity ω of rotation can be measured by an encoder m′ . The low-frequency component is a system installation error, the high-frequency component is noise, the intermediate-frequency component is a phase generated by cantilever array shaking, the signal form corresponding to the phase phi is exp (j phi), filtering processing is carried out on the signal form, the low-frequency component and the high-frequency component are filtered, and the filtering form can be one of FIR filtering, fourier transform filtering and polynomial filtering. The phase compensated signal form exp (j phi') is obtained after filtering.
The application method of the security inspection imaging system with motion compensation in the invention is characterized in that as a preferred mode, the specific steps of performing two-dimensional Fourier transform on echo signals by the three-dimensional imaging module in the step S5 comprise the following steps:
s53, carrying out Fourier transformation 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 ,y i ,z i ) The target echo signal is in the form of:
where r is the scan radius of the antenna array, k is the wave number,
f is the working frequency of the system, c is the speed of light;
carrying out Fourier transformation on the echo signals in the elevation direction to obtain:
s54, multiplying the echo signal subjected to Fourier transformation along the elevation direction by a matched filtering term, wherein the matched filtering term is
The following formula is obtained:
wherein k is y Wavenumbers in the y-direction;
s55, performing distance interpolation: will be in step S54
Interpolation to 2k yields the formula:
s56, pair S 2 Performing two-dimensional inverse Fourier transform to obtain YZ dimensional slice imaging results:
wherein k is c Is the center wave number.
The imaging algorithm in the processor adopts an algorithm combining Fourier transform (FFT), BP algorithm and wave number domain algorithm.
The application method of the security inspection imaging system with motion compensation in the invention specifically includes the following steps as a preferred mode:
s61, obtaining a shake error signal A (h) exp (j phi ') through a shake compensation signal exp (j phi');
wherein A (h) is a compensation coefficient, h E [1, H ];
s62, performing shake error signal compensation on S ', namely multiplying S' by the complex conjugate of the shake error signal, wherein the formula is as follows:
the compensation phase extracted by the antenna array unit at the lowest end is multiplied by the corresponding compensation coefficient A (h) during compensation because the coefficient of the compensation from bottom to top gradually decreases
The application method of the security inspection imaging system with motion compensation provided by the invention is characterized in that the specific method of the step S7 is as follows: and the echo signal after shake compensation passes through a one-dimensional BP, and an imaging result formula is obtained as follows:
S″″′＝δ(z-z i )δ(x-x i )δ(y-y i )
firstly, carrying out Fourier transform on echo signals along the elevation direction; then multiplying the signals subjected to Fourier transformation in the elevation direction by a matched filtering function to obtain echo signals subjected to matched filtering; then interpolating the signals after matching and filtering in the distance direction; performing Fourier transform on the signal after interpolation in the distance azimuth two dimensions to obtain an echo signal after the two-dimensional Fourier transform; multiplying the echo signal after the two-dimensional Fourier transform by the complex conjugate of the wobble error signal A (h) exp (j phi') with a weighting coefficient; and finally, obtaining a three-dimensional imaging result through the azimuth dimension BP.
The invention has the following beneficial effects:
(1) The image blurring caused by shaking is solved by adding a shaking phase compensation step in the algorithm flow;
(2) Real-time acceleration of the cantilever is obtained through continuous radial acceleration measurement in the circular motion process, radial distance offset is obtained through the acceleration, and phase errors of high frequency and low frequency are filtered, so that a phase shaking compensation error item is obtained, and the shaking error item is compensated in the subsequent imaging process. Thereby reducing imaging blurring caused by incoherent motion between a human body and the antenna array and improving imaging quality of images.
Drawings
FIG. 1 is a schematic diagram of a security imaging system with motion compensation;
FIG. 2 is a schematic diagram of a signal transceiver module of a security imaging system with motion compensation;
FIG. 3 is a schematic diagram of an acceleration detection module of a security imaging system with motion compensation;
FIG. 4 is a schematic diagram of a security imaging system processor with motion compensation;
FIG. 5 is a flow chart of a method of using a security imaging system with motion compensation.
Reference numerals:
1. a signal receiving and transmitting module; 11. a first signal receiving module; 12. a second signal receiving module; 2. an acceleration detection module; 21. a first acceleration sensor; 22. a second acceleration sensor; 3. a power module; 4. a cantilever; 5. a processor; 51. an acceleration shake compensation module; 52. and a three-dimensional imaging module.
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.
Example 1
As shown in fig. 1, a security inspection imaging system with motion compensation includes a signal transceiver module 1, an acceleration detection module 2, a power module 3, a cantilever 4 and a processor 5, where the signal transceiver module 1 is vertically arranged on the lower surface of the cantilever 4 and is used for transmitting and receiving millimeter waves, the power module 3 is arranged on the upper end of the cantilever 4, so that the cantilever 4 is connected with the top end of the millimeter wave security inspection instrument, the acceleration detection module 2 is arranged on the lower end of the signal transceiver module 1 and is used for detecting the rotating acceleration of the signal transceiver module 1, and the processor 5 is electrically connected with the acceleration detection module 2 and the signal transceiver module 1 and is used for processing echo signals and obtaining three-dimensional imaging results. The rotation axis of the power module 3 is perpendicular to the top end of the interior of the millimeter wave human body security inspection instrument.
As shown in fig. 2, the signal transceiver module 1 includes a first signal receiving module 11 and a second signal receiving module 12, where the first signal receiving module 11 and the second signal receiving module 12 are disposed at the lower end of the cantilever 4.
As shown in fig. 3, the acceleration detection module 2 includes a first acceleration sensor 21 and a second acceleration sensor 22, the first acceleration sensor 21 is disposed at the lower end of the first signal receiving module 11, and the second acceleration sensor 22 is disposed at the lower end of the second signal receiving module 12.
As shown in fig. 4, the processor 5 includes an acceleration shake compensation module 51 and a three-dimensional imaging module 52, and the three-dimensional imaging module 52 is connected with the acceleration shake compensation module 51 and the signal transceiver module 1, and is used for processing echo signals into three-dimensional images; the acceleration shake compensation module 51 is connected to the three-dimensional imaging module 52 and the acceleration detection module 2, and is configured to obtain a shake error signal from the acceleration detected by the acceleration detection module 2 and perform shake compensation on the three-dimensional image.
As shown in fig. 5, a method for using a security imaging system with motion compensation includes the following steps:
s1, rotating an antenna array of a cantilever 4 of a millimeter wave human body security inspection instrument through the cantilever 4, and starting detection;
s2, the signal receiving and transmitting module 1 generates millimeter wave signals for detection;
s3, the first acceleration sensor 21 and the second acceleration sensor 22 work to measure the rotating acceleration a m′ ；
S4, the first signal receiving module 11 and the second signal receiving module 12 receive echo signals reflected by a human body;
s5, through the first acceleration sensor 21 and the firstTwo acceleration sensors 22 for measuring acceleration a during rotation m′ Wherein the value range of M' is 1-M, M is the number of angles of system start emission, and the acceleration shaking compensation module 51 can measure the rotational angular velocity omega m′ The formula is as follows:
a m′ ＝ω m′ 2 r m′ ；
wherein r is m′ Is the diameter;
ΔR＝r m′ -r 0 ；
wherein DeltaR is the position offset, and the preset rotation radius is R 0 ；
S6, setting the intermediate frequency component as a phase generated by the shaking of the cantilever 4 array, wherein the signal form corresponding to the phase phi is exp (j phi), filtering the signal form of the phase phi, filtering the low frequency component and the high frequency component, and obtaining a phase compensated signal form exp (j phi') after filtering;
a shake compensation signal due to the positional deviation is obtained from the acceleration,
s″＝exp(jΦ)
where s "is the error phase signal,
c is the speed of light, f is the operating frequency;
and performing medium-pass filtering on the obtained error phase signal to filter high-frequency and low-frequency phase items, and obtaining a filtered shaking compensation signal s'.
s″′＝exp(jΦ′)
Where Φ' is the phase after filtering out the high and low frequency signals.
S7, carrying out Fourier transformation 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 ,y i ,z i ) The target echo signal is in the form of:
where r is the scan radius of the antenna array, k is the wave number,
f is the working frequency of the system, c is the speed of light;
and carrying out Fourier transformation on the echo signals along the elevation direction to obtain:
s8, multiplying the echo signals subjected to Fourier transformation along the elevation direction by a matched filtering term, wherein the matched filtering term is
The following formula is obtained:
wherein k is y Wavenumbers in the y-direction;
s9, performing distance interpolation: will be in step S54
Interpolation to 2k yields the formula:
s10, pair S 2 Performing two-dimensional inverse Fourier transform to obtain YZ dimensional slice imaging results:
wherein k is c Is the center wave number.
S11, obtaining a shake error signal A (h) exp (j phi ') through a shake compensation signal exp (j phi');
wherein A (h) is a compensation coefficient, h E [1, H ];
s12, performing shake error signal compensation on S ', namely multiplying S' by the complex conjugate of the shake error signal, wherein the formula is as follows:
s13, obtaining a three-dimensional imaging result through an azimuth one-dimensional BP imaging algorithm. And the echo signal after shake compensation passes through a one-dimensional BP, and an imaging result formula is obtained as follows:
S″″′＝δ(z-z i )δ(x-x i )δ(y-y i )
the foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (7)
1. A security imaging system with motion compensation, characterized by: the device comprises a signal receiving and transmitting module (1), an acceleration detection module (2), a power module (3), a cantilever (4) and a processor (5), wherein the signal receiving and transmitting module (1) is vertically arranged on the lower surface of the cantilever (4) and is used for transmitting and receiving millimeter waves, the power module (3) is arranged at the upper end of the cantilever (4) and is used for enabling the cantilever (4) to be connected with the inner top end of a millimeter wave human body security check instrument and be rotatable, the acceleration detection module (2) is arranged at the lower end of the signal receiving and transmitting module (1) and is used for detecting the rotating acceleration of the signal receiving and transmitting module (1), and the processor (5) is electrically connected with the acceleration detection module (2) and the signal receiving and transmitting module (1) and is used for processing echo signals and obtaining three-dimensional imaging results;
the signal receiving and transmitting module (1) comprises a first signal receiving module (11) and a second signal receiving module (12), and the first signal receiving module (11) and the second signal receiving module (12) are oppositely arranged at the lower end of the cantilever (4);
the acceleration detection module (2) comprises a first acceleration sensor (21) and a second acceleration sensor (22), the first acceleration sensor (21) is arranged at the lower end of the first signal receiving module (11), and the second acceleration sensor (22) is arranged at the lower end of the second signal receiving module (12);
the processor (5) comprises an acceleration shaking compensation module (51) and a three-dimensional imaging module (52), and the three-dimensional imaging module (52) is connected with the acceleration shaking compensation module (51) and the signal receiving and transmitting module (1) and is used for processing the echo signals into three-dimensional images; the acceleration shaking compensation module (51) is connected with the three-dimensional imaging module (52) and the acceleration detection module (2) and is used for obtaining shaking error signals through the acceleration detected by the acceleration detection module (2) and performing shaking compensation on the three-dimensional image.
2. A security imaging system with motion compensation as claimed in claim 1, wherein: the rotating shaft of the power module (3) is perpendicular to the top end of the interior of the millimeter wave human body security inspection instrument.
3. A security imaging system with motion compensation as claimed in claim 1, wherein: the using method comprises the following steps:
s1, rotating an antenna array of a cantilever (4) of a millimeter wave human body security inspection instrument through the cantilever (4) to start detection;
s2, the signal receiving and transmitting module (1) generates millimeter wave signals for detection;
s3, the first acceleration sensor (21) and the second acceleration sensor (22) work to measure the rotating acceleration a m′ ；
S4, the first signal receiving module (11) and the second signal receiving module (12) receive the echo signals reflected by the human body;
s5, the acceleration shaking compensation module (51) extracts shaking compensation signals, and the three-dimensional imaging module (52) performs two-dimensional Fourier transform on the echo signals;
s6, using the shaking compensation signal to carry out weighted shaking compensation on the echo signal after image enhancement and denoising;
s7, obtaining a three-dimensional imaging result through an azimuth one-dimensional BP imaging algorithm.
4. A security imaging system with motion compensation according to claim 3, wherein: the step S5 of extracting the shake compensation signal by the acceleration shake compensation module (51) specifically comprises the following steps:
s51, measuring the acceleration a during rotation by the first acceleration sensor (21) and the second acceleration sensor (22) m′ Wherein the value range of M' is 1-M, M is the number of angles of system starting emission, and the acceleration shaking compensation module (51) can measure the rotating angular velocity omega m′ The formula is as follows:
a m′ ＝ω m′ 2 r m′
wherein r is m′ Is the diameter;
ΔR＝r m′ -r 0 ；
wherein DeltaR is the position offset, and the preset rotation radius is R 0 ；
S52, setting an intermediate frequency component as a phase generated by the shaking of the cantilever (4) array, wherein a signal form corresponding to the phase phi is exp (j phi), filtering the signal form of the phase phi, filtering a low-frequency component and a high-frequency component, and filtering to obtain a phase-compensated signal form exp (j phi');
a shake compensation signal due to a positional deviation is obtained from the acceleration,
s″＝exp(jΦ)
where s "is the error phase signal,
c is the speed of light, f is the operating frequency;
performing intermediate-pass filtering on the obtained error phase signal to filter high-frequency and low-frequency phase items and obtain a filtered shaking compensation signal s',
s″′＝exp(jΦ′)
where Φ' is the phase after filtering out the high and low frequency signals.
5. A security imaging system with motion compensation as claimed in claim 4, wherein: the specific step of performing two-dimensional fourier transform on the echo signal by the three-dimensional imaging module (52) in the step S5 includes:
s53, carrying out Fourier transformation on the echo signals along the elevation direction: let the position coordinates of the cylindrical antenna array be (rsinθ, y, rcosθ), the position of the target be (x) i ,y i ,z i ) The target echo signal is in the form of:
where r is the scan radius of the antenna array, k is the wave number,
f is the working frequency of the system, c is the speed of light;
and carrying out Fourier transformation on the echo signals along the elevation direction to obtain:
s54, multiplying the echo signal subjected to Fourier transformation along the elevation direction by a matched filtering term, wherein the matched filtering term is
The following formula is obtained:
wherein k is y Wavenumbers in the y-direction;
s55, performing distance interpolation: will be in step S54
Interpolation to 2k yields the formula:
s56, pair S 2 Performing two-dimensional inverse Fourier transform to obtain YZ dimensional slice imaging results:
wherein k is c Is the center wave number.
6. A security imaging system with motion compensation according to claim 3, wherein:
the step S6 specifically includes:
s61, obtaining a shake error signal A (h) exp (j phi ') through a shake compensation signal exp (j phi');
wherein A (h) is a compensation coefficient, h E [1, H ];
s62, performing shake error signal compensation on S ', namely multiplying S' by the complex conjugate of the shake error signal, wherein the formula is as follows:
7. a security imaging system with motion compensation according to claim 3, wherein: the specific method of step S7 is as follows: and the echo signals after shake compensation pass through a one-dimensional BP to obtain an imaging result formula as follows:
S″″′＝δ(z-z i )δ(x-x i )δ(y-y i )。
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| JPH0797724B2 (en) * | 1986-02-18 | 1995-10-18 | 日本無線株式会社 | Antenna device |
| JP2000199790A (en) * | 1999-01-06 | 2000-07-18 | Mitsubishi Electric Corp | Composite aperture radar device and image reproducing method of the composite aperture radar device |
| CN101930302B (en) * | 2009-06-19 | 2013-02-20 | 宏碁股份有限公司 | Electronic device with sway compensating function and object display method thereof |
| CN205720716U (en) * | 2016-04-26 | 2016-11-23 | 华讯方舟科技有限公司 | Sweep mechanism and there is the safety check instrument of this sweep mechanism |
| CN105759315B (en) * | 2016-04-26 | 2018-10-23 | 华讯方舟科技有限公司 | Sweep mechanism and safety check instrument with the sweep mechanism |
| CN106338732B (en) * | 2016-08-23 | 2019-02-26 | 华讯方舟科技有限公司 | A kind of millimeter wave three-dimensional holographic imaging method and system |
| CN107607936B (en) * | 2017-08-31 | 2019-12-24 | 武汉大学 | High-frequency sky-ground wave radar ocean surface flow inversion method |
| CN108761452B (en) * | 2018-07-19 | 2023-09-08 | 山东省科学院自动化研究所 | Distance-compensated multi-input multi-output array millimeter wave three-dimensional imaging device and method |
| CN111158056B (en) * | 2019-12-26 | 2022-05-24 | 北京遥测技术研究所 | Security inspection device and method based on sparse array |
| CN111158057B (en) * | 2019-12-26 | 2022-04-22 | 北京遥测技术研究所 | Sparse array three-dimensional imaging security inspection device and method |
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