CN112083416B - Motion platform scanning radar super-resolution imaging view field selection method - Google Patents

Motion platform scanning radar super-resolution imaging view field selection method Download PDF

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CN112083416B
CN112083416B CN202010985950.XA CN202010985950A CN112083416B CN 112083416 B CN112083416 B CN 112083416B CN 202010985950 A CN202010985950 A CN 202010985950A CN 112083416 B CN112083416 B CN 112083416B
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CN112083416A (en
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张永伟
张永超
毛德庆
李�杰
朱俊宇
张寅�
杨建宇
黄钰林
杨海光
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University of Electronic Science and Technology of China
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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
    • 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
    • G01S13/06—Systems determining position data of a target
    • G01S13/42—Simultaneous measurement of distance and other co-ordinates
    • G01S13/426—Scanning radar, e.g. 3D radar
    • 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
    • G01S13/50—Systems of measurement based on relative movement of target
    • G01S13/58—Velocity or trajectory determination systems; Sense-of-movement determination systems
    • 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
    • G01S7/418—Theoretical aspects

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Abstract

The invention discloses a method for selecting a super-resolution imaging field of view of a scanning radar of a motion platform, which is applied to the technical field of radar detection and imaging and aims at the selection problem of the application range of the super-resolution imaging field of the scanning radar of the motion platform; the method is beneficial to the working mode design and imaging field selection of the airborne scanning radar, and provides help for effective field selection of super-resolution imaging of the airborne scanning radar.

Description

Motion platform scanning radar super-resolution imaging view field selection method
Technical Field
The invention belongs to the technical field of radar detection and imaging, and particularly relates to a super-resolution imaging technology suitable for an airborne scanning radar.
Background
The airborne radar super-resolution imaging can improve the azimuth resolution ratio, and has important value in the applications of remote detection, formation target resolution and the like. Generally, an airborne scanning radar scans an antenna through a servo system to obtain a wide range of observation information. However, in the airborne scanning radar imaging system, due to the limitation of the imaging mechanism, the imaging model is only suitable for a certain imaging field range under different parameter constraints. The quantitative analysis of the imaging field range of the airborne radar is beneficial to the design of the working mode of the airborne radar system and the selection of the effective imaging field.
In the current airborne scanning radar super-resolution imaging, the applicable boundary of the imaging field of view is not quantitatively analyzed. However, in the conventional radar imaging system, such as doppler beam sharpening and synthetic aperture radar technology, in order to ensure the applicability of the imaging system, the effective imaging field range is analyzed more. For example, the document "Chen Hongmeng, et al," Resolution enhancement for Doppler beam sharpening imaging, "IET Radar, Sonar and Navigation 9.7(2015): 843-. The closer the target is to the air route direction of the airborne platform, the poorer the imaging performance is, and the imaging view field is limited by the radar system parameters and the required azimuth resolution; the document "Gerry Michael J", et al, "A parametric model for synthetic aperture radar measurements", IEEE Transactions on Antennas and Propagation 47.7(1999):1179-1188 ", aims at the imaging model of the traditional single-base SAR technique, the imaging field of view is more suitable for the side-looking direction, but the effective field of view can be expanded by a complex motion compensation method.
Disclosure of Invention
Aiming at the problem of selection of the application range of the super-resolution imaging field of the motion platform scanning radar, the invention provides a method for selecting the super-resolution imaging field of the motion platform scanning radar, and provides an effective means for analysis of a motion platform scanning radar imaging model, design of a system working mode and selection of an effective field range.
The technical scheme adopted by the invention is as follows: a motion platform scanning radar super-resolution imaging view field selection method comprises the following steps:
s1, when echo azimuth data are sampled, the space sampling bandwidth of the antenna directional diagram is quantitatively represented;
s2, deriving echo Doppler phase bandwidth through system motion parameters;
and S3, deriving an applicable field of view for super-resolution imaging of the motion platform scanning radar on the premise that the modulation information and Doppler information of the target antenna are not lost.
Step S2 specifically includes: the echo doppler phase bandwidth is the difference between the doppler centroid of the target as it enters the radar beam and the doppler centroid of the target as it leaves the radar beam.
And the Doppler mass center of the target just entering the radar beam is calculated according to the flight speed of the airplane and the carrier wave length.
And the Doppler mass center of the target just leaving the radar beam is calculated according to the flight speed of the airplane, the carrier wave length and the change value of the angle of view of the radar relative to the target when the beam leaves.
Step S1 is preceded by establishing an echo model of the complex convolution modulation of the beam sweep and the stage motion.
Step S3 specifically includes: and deriving an applicable field of view of super-resolution imaging of the scanning radar of the motion platform by comparing the spatial sampling bandwidth of an antenna directional diagram with the echo Doppler phase bandwidth.
For the imaging field of view range of the complex convolution modulated echo model, the following conditions are satisfied:
the spatial sampling bandwidth of the antenna pattern is greater than or equal to the echo doppler phase bandwidth.
The invention has the beneficial effects that: the invention quantitatively derives the applicable boundary of the super-resolution imaging field of the airborne scanning radar by analyzing the space sampling bandwidth of the directional diagram of the radar antenna and the Doppler bandwidth of the target in the wave beam, and is used for selecting the super-resolution imaging field of the scanning radar of the motion platform; the method is beneficial to the working mode design and imaging field selection of the airborne scanning radar, and provides help for effective field selection of super-resolution imaging of the airborne scanning radar.
Drawings
FIG. 1 is a flow chart of a method provided by an embodiment of the present invention;
fig. 2 is a diagram of an operation mode of an airborne scanning radar according to an embodiment of the present invention;
FIG. 3 is a graph of a selected boundary of imaging fields under different system parameters according to an embodiment of the present invention;
wherein, fig. 3(a) is a schematic diagram of a relationship between a field-of-view boundary and a radar carrier frequency, fig. 3(b) is a schematic diagram of a relationship between a field-of-view boundary and a beam dwell time, and fig. 3(c) is a schematic diagram of a relationship between a field-of-view boundary and a target distance;
FIG. 4 is a comparison graph of imaging results provided by an embodiment of the present invention;
fig. 4(a) shows the boundary of the field of view proposed by the present invention, fig. 4(b) shows the original scene, fig. 4(c) shows the antenna pattern, and fig. 4(d) shows the imaging result.
Detailed Description
In order to facilitate the understanding of the technical contents of the present invention by those skilled in the art, the present invention will be further explained with reference to the accompanying drawings.
The method comprises the following specific steps:
step one echo model establishment
In a moving platform scanning radar system, a complex convolution modulated echo model thereof can be expressed as
s＝Hσ+n (1)
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002689268840000031
and
Figure BDA0002689268840000032
respectively representing an echo signal, a system measurement matrix, a target scattering coefficient and additive white noise,
Figure BDA0002689268840000033
is a commonly used expression symbol in mathematics,
Figure BDA0002689268840000034
representing a signal space of dimension N x M. N, M and K represent the number of sample points for the azimuth, the range, and the target, respectively. The relationship between the three can be expressed as N ═ K + L-1.
The system measurement matrix H can pass through the antennaMatrix of graphs
Figure BDA0002689268840000035
And the Doppler phase matrix P is expressed as
Figure BDA0002689268840000036
Wherein an "-" indicates a dot product operation. Antenna directional pattern matrix
Figure BDA0002689268840000037
May be represented by an antenna pattern vector h ═ h (θ)1),…,h(θL)]TProduce h (θ)1) Indicating antenna pattern at theta1The magnitude of the direction; for the same reason, h (θ)L) Indicating antenna pattern at θLThe amplitude of the direction, L represents the number of sampling points of the antenna directional diagram, and the superscript T represents the transposition operation. Antenna directional pattern matrix
Figure BDA0002689268840000038
Can be expressed as follows:
Figure BDA0002689268840000039
the matrix of the doppler phase matrix P can be represented as follows:
Figure BDA00026892688400000310
wherein f isdKIndicating the Doppler frequency of the target in the K-th direction, e the base of the exponential operation, and tauNIndicating the azimuth sampling time.
Step two echo space frequency domain model
The echo data of formula (1) is transformed into a spatial frequency domain by fourier transform, and the echo data of the spatial frequency domain can be expressed as:
S′＝(A′⊙P′)σ+N (5)
wherein, S ', A ', P ' and N respectively represent echo data of a space frequency domain, an antenna directional diagram space frequency domain matrix, a Doppler phase frequency domain matrix and a noise frequency domain matrix.
According to the formula (5), under the condition of a moving platform, the antenna directional diagram space frequency domain matrix and the Doppler phase frequency domain matrix can be respectively expressed as
Figure BDA0002689268840000041
Figure BDA0002689268840000042
Wherein Ω represents the number of spatial frequency domain transform points when the echo data of formula (1) is transformed to the spatial frequency domain; [ a ] A1,a2,…,aN]TRepresents the amplitude response of the antenna pattern spatial frequency domain, [ exp (j2 π Ω ]11),exp(j2πΩ21),…,exp(j2πΩN1)]TRepresenting the phase response of the antenna pattern in the spatial frequency domain. [ p ]1,p2,…,pN]TRepresents the amplitude response of the Doppler phase space frequency domain, [ exp (j2 π ω)11),exp(j2πω21),…,exp(j2πωN1)]TWhich represents the phase response of the doppler phase in the spatial frequency domain.
Step three antenna directional diagram spatial bandwidth calculation
According to the spatial frequency domain model shown in equation (5) and equation (6), the spatial sampling bandwidth of the antenna pattern can be quantitatively characterized as follows:
Figure BDA0002689268840000043
wherein, thetaβDenotes the beam width of the radar, and ω denotes the radar scanning speed.
Step four echo phase space bandwidth calculation
The spatial bandwidth of the phase of the echo of the target is related to the orientation of the target, for the orientation thetae0The doppler bandwidth within a beam scan time of the target of (1) can be expressed as:
Figure BDA0002689268840000051
wherein the content of the first and second substances,
Figure BDA0002689268840000052
the doppler centroid, representing the time the target just entered the radar beam, can be expressed as:
Figure BDA0002689268840000053
where v denotes the aircraft flight speed and λ denotes the carrier wavelength.
Figure BDA0002689268840000054
Represents the doppler centroid just as the target leaves the radar beam, which can be expressed as:
Figure BDA0002689268840000055
where Δ θ represents the change in the angle of view of the radar relative to the target as the beam leaves. From the spatial position relationship between the platform and the target, Δ θ can be expressed as:
Figure BDA0002689268840000056
wherein, TβThe time of the beam dwell is indicated,
Figure BDA0002689268840000057
R0which represents the distance between the radar and the target as soon as the beam has scanned the target.
Step five calculation of boundary of imageable area
For the imaging field of view range of the complex phase convolution model, the conditions that should be satisfied are as follows:
Δfdc≤Ba (13)
substituting the formula (8) and the formula (9) into the formula (13) to obtain the boundary range of the super-resolution imaging field of view of the scanning radar of the motion platform:
Figure BDA0002689268840000058
the invention mainly adopts a simulation experiment method for verification, and all steps and conclusions are verified to be correct on a Windows10 operating system platform through Matlab 2015 a. To facilitate understanding of the technical disclosure of the present invention, the following description is provided in conjunction with the accompanying drawings.
Step one, initializing radar system parameters. Parameters inherent to the airborne radar system are set, such as wavelength λ, carrier frequency, bandwidth and time width of the transmitted signal, sampling frequency in the distance direction and azimuth direction, and the like. The detailed values are shown in table 3.
Table 3 system parameters table for imaging field of view selection for embodiments
Figure BDA0002689268840000061
And step two, inputting airplane motion parameters and target area parameters. According to the model of the aircraft motion and radar scan in fig. 3, the aircraft motion parameters and the target area parameters need to be input, which include: speed of flight v of the aircraft, width theta of the antenna beamβScanning speed omega, scanning range, distance R of target point and airplane0Angle thetae0. The parameters are all used for calculating the applicable field range of the model and ensuring the effect of super-resolution imaging.
And step three, calculating the space bandwidth of the antenna directional diagram and the Doppler bandwidth of the target. Calculating the spatial bandwidth of the antenna directional diagram:
Figure BDA0002689268840000062
calculating the doppler bandwidth of the target within the beam:
Figure BDA0002689268840000063
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0002689268840000064
the doppler centroid, representing the time the target just entered the radar beam, can be expressed as:
Figure BDA0002689268840000071
where v denotes the aircraft flight speed and λ denotes the carrier wavelength.
Figure BDA0002689268840000072
Represents the doppler centroid just as the target leaves the radar beam, which can be expressed as:
Figure BDA0002689268840000073
where Δ θ represents the angle of change of the radar relative to the target as the beam leaves. From the spatial position relationship between the platform and the target, Δ θ can be expressed as:
Figure BDA0002689268840000074
wherein the content of the first and second substances,
Figure BDA0002689268840000075
denotes the beam dwell time, R0Indicating the distance between the radar and the target when the beam just scanned the targetAnd (5) separating.
And step four, judging whether the suitable field range is met. For the applicability of the complex phase convolution model, the following relationship should be satisfied:
Δfdc≤Ba (20)
if the formula is met, continuously finishing super-resolution imaging; if not, returning to the step to readjust the aircraft motion parameters and the target area parameters.
And fifthly, verifying the validity of the imaging field of view. The relation between the effective imaging field of view area and the system parameter is demonstrated in detail through multiple times of simulation and the combination of a graph. The system parameters are shown in table 1, and when the influence relationship between the effective imaging field range and the specific parameters is obtained, the values of other parameters are unchanged. A detailed graph of the effective imaging field of view is shown in fig. 3. Fig. 3(a) shows the relationship between the effective imaging field-of-view boundary and the system carrier frequency at different stage speeds. As can be seen from the figure, when the platform speed is 50m/s, the action distance is 20km and the beam dwell time is 0.1s, the effective imaging view field boundary is maximum within the carrier frequency range of 10GHz to 25GHz and can reach-75 degrees. In fig. 3(b), the relationship between the effective imaging field of view and the beam dwell time under different flight speeds is given under the conditions of the carrier frequency of 20GHz and the action distance of 20 km. Fig. 3(c) shows the relationship between the effective imaging field of view and the target distance, and the curve illustrates that the farther the target distance, the larger the effective imaging field of view. In practice, the system parameters and imaging method of the airborne radar must be designed according to the quantitative constraint relationship between the effective imaging field of view and the system parameters.
In order to verify the effective imaging field range proposed by the present invention through the imaging results, the radar system parameters shown in table 2 were designed.
TABLE 5 airborne scanning radar imaging performance verification system parameter table adopted by specific embodiment
Parameter(s) (symbol) Value taking
Carrier frequency f0 20GHz
Bandwidth of transmitted signal Br 50MHz
Width of antenna main lobe θ 3°
Scanning speed ω 30°/s
Beam dwell time Tβ 0.1s
Scanning range θmin～θmax -30°～30°
Platform velocity v 500m/s
Distance of action R0 20km
According to the above analysis of the imaging field boundary, as shown in the graph of fig. 4(a), the effective imaging field under the parameter condition (carrier frequency 20GHz, beam dwell time 0.1s, platform speed 500m/s, action distance 20km) is ± 13.3 °, so that when the target is located in the field range, an effective super-resolution imaging result can be obtained. The experiment set 4 targets, two of which are located near 0 degrees, within the effective imaging field of view. The other two targets are located near-30 degrees, outside the effective imaging field of view.
According to the parameter setting, an iterative self-adaptive super-resolution imaging method is adopted to verify the performance of the proposed field selection method. FIG. 4(b) is an example of the present invention employing a target original scene. Fig. 4(c) shows antenna patterns used in an example of the present invention. The imaging results are given in fig. 4 (d). Obviously, the target at the central position can be effectively recovered, and a plurality of false targets appear on the target outside the effective field of view, so that the method for selecting the super-resolution imaging field of view of the motion platform radar provided by the invention is verified.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (7)

1. A motion platform scanning radar super-resolution imaging view field selection method is characterized by comprising the following steps:
s1, when echo azimuth data are sampled, the space sampling bandwidth of the antenna directional diagram is quantitatively represented;
s2, deriving echo Doppler phase bandwidth through system motion parameters;
s3, deriving an applicable field of view for super-resolution imaging of the motion platform scanning radar on the premise that the modulation information and Doppler information of the target antenna are not lost; the calculation process of the applicable field of view is as follows:
for the imaging field of view range of the complex phase convolution model, the conditions that should be satisfied are as follows:
△fdc≤Ba
will be provided with
Figure FDA0003676645810000011
And
Figure FDA0003676645810000012
substitution of Δ fdc≤BaAnd obtaining the boundary range of the super-resolution imaging field of view of the motion platform scanning radar:
Figure FDA0003676645810000013
wherein, BaRepresenting the spatial sampling bandwidth of the antenna pattern, v representing the aircraft flight speed, thetaβDenotes the beam width of the radar, ω denotes the radar scanning speed, Δ fdcIndicating being in the direction thetae0The doppler bandwidth of the target within one beam scan time,
Figure FDA0003676645810000014
representing the doppler centroid of the target as it just entered the radar beam,
Figure FDA0003676645810000015
denotes the doppler centroid just as the target leaves the radar beam, λ denotes the carrier wavelength and Δ θ denotes the change in the angle of view of the radar relative to the target as the beam leaves.
2. The method for selecting the super-resolution imaging field of view of the motion platform scanning radar according to claim 1, wherein the step S2 specifically comprises: the echo doppler phase bandwidth is the difference between the doppler centroid of the target just entering the radar beam and the doppler centroid of the target just leaving the radar beam.
3. The method of claim 2, wherein the Doppler centroid of the target when entering the radar beam is calculated from the aircraft flight speed and the carrier wavelength.
4. The method as claimed in claim 2, wherein the doppler centroid of the target just after leaving the radar beam is calculated according to the aircraft flight speed, the carrier wavelength, and the view angle variation value of the radar relative to the target when the beam leaves.
5. The method of claim 1, further comprising establishing an echo model of a complex convolution modulation of the beam sweep and the platform motion before step S1.
6. The method for selecting the super-resolution imaging field of view of the motion platform scanning radar as claimed in claim 1, wherein the step S3 specifically comprises: and deriving an applicable field of view of super-resolution imaging of the scanning radar of the motion platform by comparing the spatial sampling bandwidth of an antenna directional diagram with the echo Doppler phase bandwidth.
7. The method for selecting the super-resolution imaging field of view of the scanning radar of the moving platform according to claim 6, wherein the following conditions are satisfied for the imaging field of view range of the echo model of the complex convolution modulation:
the spatial sampling bandwidth of the antenna pattern is greater than or equal to the echo doppler phase bandwidth.
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