CN111693995B - Inverse synthetic aperture laser radar imaging vibration phase error estimation device and method - Google Patents
Inverse synthetic aperture laser radar imaging vibration phase error estimation device and method Download PDFInfo
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- G—PHYSICS
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- 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
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- 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
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Abstract
The invention discloses an inverse synthetic aperture laser radar imaging vibration phase error estimation device and method, comprising the following steps: the system comprises a laser system, a multichannel signal receiving system, a multichannel data acquisition system, a data processing system, a signal transmitter, a beam splitter and a detector, wherein the multichannel signal receiving system forms a base line of a V-shaped structure, the vibration phase error estimation method is that interference phases are extracted by mutual interference of antennas with corresponding serial numbers on the two base lines in the base line direction, vibration phase error gradients are obtained by calculation of geometric relations and target movement speeds, vibration phase errors are obtained by integration in time, finally, the estimated vibration phase errors are obtained by average calculation in the base line space direction, the original data are subjected to compensation imaging by using the estimated vibration phase errors, the imaging quality of the inverse synthetic aperture laser radar is improved, and the influence of the vibration errors on the imaging quality is reduced.
Description
Technical Field
The invention belongs to the field of design and data processing of inverse synthetic aperture laser radar (Invers Synthetic Aperture Ladar, ISAL) imaging systems, and particularly relates to a system design and imaging data processing method of an interference inverse synthetic aperture laser radar (Interferometry Invers Synthetic Aperture Ladar, inISAL) with an optimized baseline structure.
Background
Synthetic aperture radar (Synthetic Aperture Radar, SAR) is also known as inverse synthetic aperture radar (Invers Synthetic Aperture Radar, ISAR) in situations where it is applied to moving object imaging and the radar system is stationary relative to the object. With the continuous improvement of imaging resolution and the vigorous development of laser technology, the popularization of ISAR in an optical band and the continuous acceleration of the application steps of an ISAL imaging system are realized. In long-range target imaging, in order to acquire the vibration phase error of the system and the three-dimensional characteristic information of the target, the concept of interference imaging is introduced into an ISAL imaging system.
At present, a plurality of units at home and abroad carry out indoor verification work and outdoor on-board experiment work of the synthetic aperture laser radar (Synthetic Aperture Ladar, SAL).
Representative of foreign countries are: firepond lidar System (Alfred B.Gschwendtner, william E.Keicher, development of Coherent Laser Radar at Lincoln Laboratory [ J ]. Lincoln laboratory journal, 2000.); the Raytheon company in 2006 carried SAL imaging experiments (J Ricklin, B Schumm, M Dierking, synthetic Aperture Ladar for Tactical Imaging overview [ C ]. The 14th Coherent Laser Radar Conference (CLRC), snowmass, colorado, USA, july,8-13, 2007;2011 US Lomargong 1.6km airborne SAL experiments (Brian Krause, joseph Buck, christopher Ryan, et al Synthesis Aperture Ladar Flight Demonstration [ C ]. Optical Society of America/Conference on Laser and Electro-optics (OSA/CLEO), 2011).
At present, the national institute of Chinese sciences electronics, the institute of Chinese sciences polishing and other units also develop a great deal of theoretical and experimental research work related to SAL/ISAL, most of the research work of InISAL is still in a theoretical stage, hu Ju et al perform simulation analysis on vibration phase errors of an InISAL imaging system (Xuan H, daojin L.viewing phases estimation based on multi-channel interferometry for ISAL [ J ]. Applied Optics,2018, 57 (22): 6481-6490.), and an ISAL vibration phase error estimation method based on orthogonal baseline interference processing is provided, wherein a baseline is formed into an orthogonal form through M receiving channels, and M times of observation are performed on the same visual angle and the same distance. In principle, if the target does not vibrate, each observation result should be the same, if the target vibrates, the interference phase of the target echo obtained by each two observations is a differential value of vibration phase errors, the coefficients of the vibration error model are estimated through time and space concatenation to obtain an error observation result in the complete imaging observation time, and the effectiveness of the error estimation method is verified by utilizing microwave InISAR data.
Vibration phase error compensation is an indispensable part of the engineering application of the inival system because the laser wavelength is typically 3 orders of magnitude shorter than the microwave wavelength, and even small system vibration errors can have a serious impact on the imaging effect. The limitation of the ISAL vibration phase error estimation method based on orthogonal baseline interference processing is that a strict orthogonal baseline arrangement mode in engineering application is difficult to realize, the processing method of vibration phase error estimation only can extract the along-track direction component, and the effectiveness of the vibration phase error estimation method is affected to a certain extent under the condition that a target motion mode is more complex, so that an imaging vibration phase error estimation method which is more sensitive to optical vibration is needed.
Disclosure of Invention
In order to solve the problems, the device and the method for estimating the imaging vibration phase error of the inverse synthetic aperture laser radar are provided, and the flexibility of the engineering application of the InISAL system and the effectiveness of the vibration phase error estimation are improved.
The invention adopts the technical scheme that: the device comprises a laser system 1, a multichannel signal receiving system 6, a multichannel data acquisition system 7, a data processing system 8, a signal emitter 5, a beam splitter 2 and a detector 9, wherein the multichannel signal receiving system 6 is a multichannel signal receiving system which is arranged in a V shape, two baselines formed by the signal receivers are non-orthogonal in the multichannel signal receiving system which is arranged in the V shape, the distance between the two receivers is obtained through optimal design, the effectiveness of the data received through the arrangement mode on vibration phase error estimation is higher,
the laser system generates linear frequency modulation signals for target detection, one part of the linear frequency modulation signals is used as local oscillation signals and reference signals, the other part of the linear frequency modulation signals is used for target detection, the local oscillation signals and echo signals are mixed to obtain intermediate frequency signals containing target information, the reference signals are used for nonlinear error compensation of transmitting signals, 2M+1 signal receivers are arranged in a V-shaped arrangement multi-channel signal receiving system to form two baselines, angles formed by the two baselines are variable and can be acute angles, right angles or obtuse angles, M signal receivers are arranged on each baseline, the optimal value of arrangement interval of each two signal receivers can be calculated through optimization, and the data processing system receives collected data s according to the multi-channel signal receiving system and the multi-channel data collecting system i (t) estimating and imaging the vibration phase error, where i=0, 1,2 … … M, m+1, … … M. The method comprises the following steps:
step 1: using reference signals s ref (t k ，t m ) For echo data s i (t k ，t m ) Nonlinear compensation is carried out to obtain s iu (t k ，t m )；
Step 2: for s iu (t k ，t m ) Translational compensation and rotational compensation are carried out to obtain s iuc (t k ，t m )；
Step 3: for s iuc (t k ，t m ) Mixing and compressing distance to obtain s iuc (f r ，t m )；
Step 4: step 3, processing to obtain 2M+1 groups of data, wherein the same serial number antenna on each base line interferes with the central antenna signal, and extracting to obtain M interference phases with the base line direction including the vibration phase error gradient
Step 5: estimating the target movement speed by using a frequency modulation rate calibration method according to echo data
Step 6: according to interference phaseTarget movement speed obtained by geometric relation and estimation>Calculating to obtain vibration phase error gradient->
Step 7: gradient of phase errorIntegrating in the time direction to obtain vibration phase error phi between two signals 0，i (i)；
Step 8: to make the vibration phase error phi 0，i (i) Spatially averaging along the baseline direction to obtain an estimated vibration phase error of the moving object over a slow time period
Step 9: from the estimationFor s i (t k ，t m ) Make compensation;
step 10: and carrying out azimuth compression on the compensated echo data to obtain a target image.
Further, the included angle of the V-shaped structural base line is an acute angle, or a right angle, i.e. an orthogonal interference form.
Further, the laser system generates a chirp signal for target detection, and the chirp signal is proportionally divided into two paths at a beam splitter, wherein one path is used as a detection signal for target detection, and the other path is used as a local oscillation signal and a reference signal.
Further, the detector is a multi-channel detector, and the specific detection path number is the number of signal receivers, the number of local oscillation signal paths and the number of reference signal paths.
The invention also provides an imaging method of vibration phase error estimation, comprising the following steps:
step 1: nonlinear compensation is carried out on echo data by utilizing a reference signal;
step 2: performing translational compensation and rotational compensation on the data after nonlinear compensation;
step 3: performing distance direction compression processing on the compensated data;
step 4: step 3, processing to obtain 2M+1 groups of data, wherein the same serial number antenna on each base line interferes with the central antenna signal, and extracting to obtain M interference phases of which the base line direction contains a vibration phase error gradient;
step 5: estimating the target movement speed by using a frequency modulation rate calibration method according to the echo data;
step 6: according to the interference phase, calculating a vibration phase error gradient according to the geometric relation and the estimated target motion speed;
step 7: integrating the phase error gradient in the time direction to obtain a vibration phase error between certain two groups of signals;
step 8: the baseline direction of the vibration phase error value is spatially averaged to obtain an estimated vibration phase error of the moving target in slow time;
step 9: compensating the received original data according to the estimated vibration phase error;
step 10: and carrying out azimuth compression on the compensated echo data to obtain a target image.
Compared with the prior art, the invention has the following beneficial effects:
the V-shaped base line designed by the invention has stronger adaptability to complex and changeable environments in practical engineering application.
The multichannel vibration phase error estimation method designed by the invention averages the vibration phase error in the space baseline direction, and the obtained result is more approximate to the true error value, so that the description of the error is more accurate.
Drawings
FIG. 1 is a schematic diagram of the composition and principle of an inverse synthetic aperture laser radar imaging vibration phase error estimation device of the present invention;
FIG. 2 is a schematic diagram of a geometric model of a multichannel signal receiving system according to the present invention;
fig. 3 is a flow chart of the imaging data processing of the present invention.
The reference numerals in the drawings mean: the system comprises a laser system 1, a beam splitter 2, a coupler 3, a transmitting mirror 4, a signal transmitter 5, a multichannel signal receiving system 6, a multichannel data acquisition system 7, a data processing system 8 and a detector 9.
Detailed Description
The following describes the embodiments of the present invention further with reference to the drawings.
The invention provides an inverse synthetic aperture laser radar imaging vibration phase error estimation device. Comprising the following steps: a laser system 1, a multichannel signal receiving system 6, a multichannel data acquisition system 7, a data processing system 8, a signal transmitter 5, a beam splitter 2 and a detector 9.
The laser system 1 generates a chirp signal for object detection:
wherein t=t k +t m Is all time, t k In order to be a distance-wise time,called fast time, t m Is azimuth time, called slow time. T (T) p For the time width of the signal in the distance direction, f c For signal center frequency, K r (t) is a time-varying frequency modulation, i.e. the rate of change of the modulation frequency, compensated by the reference signal, a being the signal amplitude.
The signal transmitter further comprises a coupler 3 and a transmitter mirror 4, wherein the target is discretized into a plurality of scattering points, and then the echo signal can be expressed as:
wherein s is ip (t k ，t m ) For transmitting a signal within a time delay of the signal,the phase error term included for the phase introduced by the fixed optical path difference is obtained by the vibration phase error estimation method. R is R ip (t) is the propagation distance of the echo signal of the p scattering point received by the ith receiver, and c is the speed of light.
The propagation distance R ip (t) can be expanded to:
R ip (t)≈R 0 (t)+x ip +y ip ωt m
the linear frequency modulation signal generated by the laser system 1 is proportionally divided into two paths at the beam splitter 2, wherein one path is used as a detection signal for target detection, and the other path is used as a local oscillation signal and a reference signal.
The reference signal can compensate the nonlinear characteristic of the modulation frequency of the signal, and eliminate the time-varying property of the modulation frequency, namely the modulation frequency K r (t) becomes K r 。
The local oscillation signal and the echo signal are subjected to frequency mixing heterodyne by the detector 9 to obtain an echo intermediate frequency signal, and then subjected to motion compensation and distance compression to obtain the echo intermediate frequency signal:
in the multichannel signal receiving system 6, 2m+1 receivers are arranged on the V-shaped base line. The step 4 is to extract M interference phases with the base line direction including the vibration phase error gradient by interfering the same serial number antenna on each base line with the central antenna signal
Estimating the target movement speed from the step 5Said step 6 being based on interference phase +.>Target movement speed obtained by geometric relation and estimation>Calculating to obtain vibration phase error gradient->
Where L is the baseline length and the distance of the corresponding numbered signal receiver from the center receiver. Integrating the vibration phase error gradient in the time direction to obtain vibration phase error,
said step 8 is to make the vibration phase error phi 0，i (i) Spatially averaging along the baseline direction to obtain an estimated vibration phase error of the moving object over a slow time period
Said step 9 is based on the estimationFor s i (t k ，t m ) The compensation is made in that,
and step 10, compressing the compensated echo data in azimuth to obtain a target image.
The invention is not limited to the specific embodiments described above, but rather, modifications and variations within the spirit and principles of the invention are intended to fall within the scope of the appended claims.
Claims (5)
1. The device comprises a laser system (1), a multichannel signal receiving system (6), a multichannel data acquisition system (7), a data processing system (8), a signal transmitter (5), a beam splitter (2) and a detector (9), and is characterized in that: the multichannel signal receiving system (6) is a multichannel signal receiving system with V-shaped arrangement, in the multichannel signal receiving system with V-shaped arrangement, two baselines formed by signal receivers are non-orthogonal, the space between the receivers is obtained through optimal design, and the space between the receivers is formed through the rowThe effectiveness of the data received by the distribution mode on vibration phase error estimation is higher, a laser system generates linear frequency modulation signals for target detection, one part of the linear frequency modulation signals is used as local oscillation signals and reference signals, the other part of the linear frequency modulation signals is used for target detection, the local oscillation signals and echo signals are mixed to obtain intermediate frequency signals containing target information, the reference signals are used for nonlinear error compensation of transmitted signals, 2M+1 signal receivers are shared in a V-shaped distributed multichannel signal receiving system to form two baselines, the angles of the two baselines are variable, the two baselines can be acute angles, right angles or obtuse angles, M signal receivers are arranged on each baseline, the optimal value of the distribution interval of each two signal receivers can be calculated through optimization, and a data processing system receives collected data s according to a multichannel signal receiving system and a multichannel data collecting system i (t) estimating and imaging the vibration phase error, wherein i = 0,1,2 … … M, m+1, … … M;
the laser system (1) generates a chirp signal for object detection:
wherein t=t k +t m Is all time, t k Is distance to time, called fast time, t m For azimuth time, called slow time, T p For the time width of the signal in the distance direction, f c For signal center frequency, K r (t) is a time-varying frequency modulation, i.e. the rate of change of the modulation frequency, compensated by the reference signal, a being the signal amplitude;
the signal transmitter further comprises a coupler (3) and a transmitter mirror (4) for discretizing the target into a plurality of scattering points, the echo signal can be expressed as:
wherein s is ip (t k ,t m ) For transmitting a signal within a time delay of the signal,for fixing the phase introduced by the optical path difference, the phase error term is obtained by the vibration phase error estimation method, R ip (t) the propagation distance of the echo signal of the p scattering point received by the ith receiver, and c is the speed of light;
the propagation distance R ip (t) can be expanded to:
R ip (t)≈R 0 (t)+x ip +y ip ωt m
the linear frequency modulation signal generated by the laser system (1) is proportionally divided into two paths at the beam splitter (2), wherein one path is used as a detection signal for target detection, and the other path is used as a local oscillation signal and a reference signal;
the reference signal can compensate the nonlinear characteristic of the modulation frequency of the signal, and eliminate the time-varying property of the modulation frequency, namely the modulation frequency K r (t) becomes K r ；
The local oscillation signal and the echo signal are subjected to frequency mixing heterodyne by a detector (9) to obtain an echo intermediate frequency signal, and then subjected to motion compensation and distance compression to obtain the echo intermediate frequency signal:
2. the device for estimating the imaging vibration phase error of the inverse synthetic aperture laser radar according to claim 1, wherein the included angle of the base line of the V-shaped structure is an acute angle or a right angle or any other angle.
3. An inverse synthetic aperture laser radar imaging vibration phase error estimation device according to claim 1, wherein the laser system (1) generates a chirp signal for target detection, and is divided into two paths at the beam splitter (2) proportionally, wherein one path is used as a detection signal for target detection, and the other path is used as a local oscillation signal and a reference signal.
4. The inverse synthetic aperture laser radar imaging vibration phase error estimation device according to claim 1, wherein the detector (9) is a multi-channel detector, and the specific detection path number is the number of signal receivers plus the number of local oscillation signal paths plus the number of reference signal paths.
5. An imaging method of vibration phase error estimation, comprising:
step 1: nonlinear compensation is carried out on echo data by utilizing a reference signal;
step 2: performing translational compensation and rotational compensation on the data after nonlinear compensation;
step 3: performing distance direction compression processing on the compensated data;
step 4: step 3, processing to obtain 2M+1 groups of data, wherein the same serial number antenna on each base line interferes with the central antenna signal, and extracting to obtain M interference phases of which the base line direction contains a vibration phase error gradient;
step 5: estimating the target movement speed by using a frequency modulation rate calibration method according to the echo data;
step 6: according to the interference phase, calculating a vibration phase error gradient according to the geometric relation and the estimated target motion speed; according to interference phaseTarget movement speed obtained by geometric relation and estimation>Calculating to obtain vibration phase error gradient->
Wherein L is the base line length and the distance from the corresponding numbered signal receiver to the central receiver;
step 7: integrating the phase error gradient in the time direction to obtain a vibration phase error between certain two groups of signals;
step 8: the baseline direction of the vibration phase error value is spatially averaged to obtain an estimated vibration phase error of the moving target in slow time;
step 9: compensating the received original data according to the estimated vibration phase error;
step 10: and carrying out azimuth compression on the compensated echo data to obtain a target image.
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