CN112099006A - Method, system and device for correcting relative positioning error of synthetic aperture radar - Google Patents
Method, system and device for correcting relative positioning error of synthetic aperture radar Download PDFInfo
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- CN112099006A CN112099006A CN202010966833.9A CN202010966833A CN112099006A CN 112099006 A CN112099006 A CN 112099006A CN 202010966833 A CN202010966833 A CN 202010966833A CN 112099006 A CN112099006 A CN 112099006A
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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
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/9021—SAR image post-processing techniques
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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
- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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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
- G01S7/40—Means for monitoring or calibrating
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Abstract
The invention discloses a method, a system and a device for correcting relative positioning errors of a synthetic aperture radar, wherein the method comprises the following steps: obtaining an area digital elevation model of an actual image based on a digital elevation model gradient self-adaptive intercepting method; obtaining an analog synthetic aperture radar image and a mapping relation according to the corrected imaging parameters and the regional digital elevation model; registering the simulated synthetic aperture radar image and the actual synthetic aperture radar image to obtain a transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image; and obtaining the positioning of the actual image in the digital elevation model coordinate system according to the mapping relation and the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image. By using the method and the device, the relative error between the digital elevation model and the imaging parameters of the synthetic aperture radar can be solved. The method, the system and the device for correcting the relative positioning error of the synthetic aperture radar can be widely applied to the field of radar image processing.
Description
Technical Field
The invention relates to the field of radar image processing, in particular to a method, a system and a device for correcting relative positioning errors of a synthetic aperture radar.
Background
The synthetic aperture radar image positioning and geometric correction need to be combined with radar image information, imaging parameters and an external auxiliary digital elevation model. Due to the influence of various error sources in the production process of the digital elevation model, corresponding system errors such as positioning and elevation errors exist in the data. Meanwhile, the synthetic aperture radar system itself may have a series of error sources, such as imaging platform position measurement error, velocity measurement error, timing error, and the like. When the digital elevation model is used for correcting the topographic relief distortion of the image, if the digital elevation model and the synthetic aperture radar image are not homologous, a relative system error exists between the digital elevation model and the synthetic aperture radar image. At this time, if the digital elevation model is directly applied to the range-doppler positioning model with relative errors for solving, the improvement of the positioning accuracy is not facilitated, but the mapping relationship between the digital elevation model and the synthetic aperture radar image may become less accurate.
Disclosure of Invention
In order to solve the above technical problems, an object of the present invention is to provide a method, a system, and a device for correcting relative positioning error of a synthetic aperture radar, which can overcome the influence of relative error between a digital elevation model and imaging parameters of the synthetic aperture radar on geometric distortion correction performance.
The first technical scheme adopted by the invention is as follows: a relative positioning error correction method for a synthetic aperture radar comprises the following steps:
obtaining an area digital elevation model of an actual image based on a digital elevation model gradient self-adaptive intercepting method;
correcting imaging parameters, and obtaining an analog synthetic aperture radar image and a mapping relation according to the corrected imaging parameters and the regional digital elevation model;
registering the simulated synthetic aperture radar image and the actual synthetic aperture radar image to obtain a transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image;
and obtaining the positioning of the actual image in the digital elevation model coordinate system according to the mapping relation and the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image.
Further, the step of correcting the imaging parameters to obtain the simulated synthetic aperture radar image and the mapping relation according to the corrected imaging parameters and the regional digital elevation model specifically includes:
correcting imaging parameters by an antenna phase center equivalent position offset correction method for relative error inversion of an area digital elevation model and an actual synthetic aperture radar image;
and combining the area digital elevation model with the corrected imaging parameters, obtaining a simulated synthetic aperture radar image of the corresponding area through a simulation algorithm, and recording a mapping relation.
Further, the step of correcting the imaging parameters by the antenna phase center equivalent position offset correction method for the relative error inversion of the regional digital elevation model and the actual synthetic aperture radar image specifically includes:
the relative error between the digital elevation model and the imaging parameter of the synthetic aperture radar is equivalent to the position deviation of the antenna phase center along the course and the vertical course;
obtaining equivalent position offset of the antenna phase center along the course and the vertical course through the offset of the azimuth direction and the distance direction to obtain the offset;
and correcting the antenna phase center position vector according to the offset to obtain the corrected imaging parameter.
Further, the equivalent position offset of the antenna phase center along the course is obtained through the offset of the azimuth direction, and the expression is as follows:
in the above formula, taFor azimuthal sampling interval, P, of synthetic aperture radar imagesS、PTDivided into the position vector, V, of the navigation and target at the moment of imagingGFor the speed of movement of the beam along the ground, Δ IaIs the post-registration azimuthal deviation, and Δ a is the azimuthal deviation.
Further, the equivalent position offset of the antenna phase center vertical course is obtained by reverse deduction of the offset of the distance direction, and the expression is as follows:
in the above formula, τrFor the range-wise sampling interval of the synthetic aperture radar image, Δ τ is the range-wise delay, θ is the downward viewing angle, and c is the speed of light.
The second technical scheme adopted by the invention is as follows: a synthetic aperture radar relative positioning error correction system, comprising:
the elevation model module is used for obtaining an area digital elevation model of an actual image based on a digital elevation model gradient self-adaptive intercepting method;
the correction module is used for correcting the imaging parameters and obtaining an analog synthetic aperture radar image and a mapping relation according to the corrected imaging parameters and the regional digital elevation model;
a registration module for registering the simulated synthetic aperture radar image and the actual synthetic aperture radar image to obtain the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image
And the positioning module is used for obtaining the positioning of the actual image in the digital elevation model coordinate system according to the mapping relation and the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image.
The third technical scheme adopted by the invention is as follows: a synthetic aperture radar image relative positioning error correction apparatus, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a synthetic aperture radar relative positioning error correction method as described above.
The fourth technical scheme adopted by the invention is as follows: a storage medium having stored therein instructions executable by a processor, the storage medium comprising: the processor-executable instructions, when executed by a processor, are for implementing a synthetic aperture radar relative positioning error correction method as described above.
The method, the system, the device and the storage medium have the advantages that: the method comprises the steps of obtaining a mapping relation by simulating a synthetic aperture radar image, obtaining a transformation relation by registering the image, and calculating the positioning of an actual image in a digital elevation model coordinate system according to the transformation relation and the mapping relation so as to solve the relative error between the digital elevation model and the synthetic aperture radar imaging parameter.
Drawings
FIG. 1 is a flow chart of the steps of a method for correcting relative positioning errors of a synthetic aperture radar according to the present invention;
FIG. 2 is a block diagram of a relative positioning error correction system for a synthetic aperture radar according to the present invention;
FIG. 3 is a synthetic aperture radar image according to an embodiment of the present invention;
FIG. 4 is a digital elevation model in accordance with an embodiment of the present invention;
FIG. 5 is a distortion corrected image in the presence of relative systematic errors for a specific embodiment of the present invention;
FIG. 6 is a simulated synthetic aperture radar pattern based on a digital elevation model in accordance with an exemplary embodiment of the present invention;
FIG. 7 is a distortion corrected image implemented by image registration in accordance with a specific embodiment of the present invention;
FIG. 8 is a partial simulated synthetic aperture radar image according to an embodiment of the present invention;
FIG. 9 is a partial magnified view of a real synthetic aperture radar image of an embodiment of the present invention;
FIG. 10 is a corrected and distorted image relative to system errors in accordance with an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art.
Before the image topographic distortion correction processing is carried out, the relative system error between the image topographic distortion correction processing and the image topographic distortion correction processing is needed to be corrected, in order to solve the problem, a digital elevation model can be used for combining an image parameter simulation synthetic aperture radar image, then the simulation synthetic aperture radar image is registered with an actual synthetic aperture radar image, the transformation relation between the simulation synthetic aperture radar image and the actual synthetic aperture radar image can be obtained, the mapping relation between the digital elevation model and the simulation synthetic aperture radar image is determined, and finally the actual synthetic aperture radar image is positioned into a digital elevation model coordinate system according to the transformation relation and the mapping relation.
As shown in fig. 1, the present invention provides a method for correcting relative positioning error of a synthetic aperture radar, comprising the following steps:
s101, obtaining an area digital elevation model of an actual image based on a digital elevation model gradient self-adaptive intercepting method;
s102, correcting the corrected imaging parameters, and obtaining an analog synthetic aperture radar image and a mapping relation according to the corrected imaging parameters and the regional digital elevation model;
specifically, when the imaging range-doppler model is analyzed, an error in the position of the phase center of the antenna along the course causes an azimuth positioning offset, and an error in the position of the vertical course causes a range positioning offset. Therefore, the relative error of the digital elevation model and the imaging parameters of the synthetic aperture radar can be equivalent to the position deviation of the antenna phase center along the course and the vertical course. The equivalent position deviation of the antenna phase center along the course and the vertical course can be reversely deduced by utilizing the deviation of the azimuth direction and the distance direction, so that the parameters are corrected.
S103, registering the simulated synthetic aperture radar image and the actual synthetic aperture radar image to obtain a transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image;
specifically, the actual synthetic aperture radar image is a synthetic aperture radar image obtained by an actual means, and a comparison result is a simulated synthetic image. The actual image is the object we are calibrating.
And S104, obtaining the positioning of the actual image in the digital elevation model coordinate system according to the mapping relation and the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image.
As a preferred embodiment of the method, the step of correcting the imaging parameters to obtain an image and a mapping relation of the simulated synthetic aperture radar according to the corrected imaging parameters and the digital elevation model of the area specifically includes:
correcting imaging parameters by an antenna phase center equivalent position offset correction method for relative error inversion of an area digital elevation model and an actual synthetic aperture radar image;
and combining the area digital elevation model with the corrected imaging parameters, obtaining a simulated synthetic aperture radar image of the corresponding area through a simulation algorithm, and recording a mapping relation.
Specifically, the mapping relationship between the digital elevation model and the simulated synthetic aperture radar image is determined, and the mapping relationship between the simulated synthetic aperture radar image and the actual synthetic aperture radar image can be obtained after the simulated synthetic aperture radar image is obtained.
Further, as a preferred embodiment of the method, the step of correcting the imaging parameter by using the antenna phase center equivalent position offset correction method for the relative error inversion of the regional digital elevation model and the actual synthetic aperture radar image specifically includes:
the relative error between the digital elevation model and the imaging parameter of the actual synthetic aperture radar is equivalent to the position deviation of the antenna phase center along the course and the vertical course;
obtaining equivalent position offset of the antenna phase center along the course and the vertical course through the offset of the azimuth direction and the distance direction to obtain the offset;
and correcting the antenna phase center position vector according to the offset to obtain the corrected imaging parameter.
Further, as a preferred embodiment of the method, the equivalent position offset of the antenna phase center along the heading is obtained through the offset of the azimuth, and the expression is as follows:
in the above formula, taFor azimuthal sampling interval, P, of synthetic aperture radar imagesS、PTDivided into the position vector, V, of the navigation and target at the moment of imagingGFor the speed of movement of the beam along the ground, Δ IaIs the post-registration azimuthal deviation, and Δ a is the azimuthal deviation.
Further, as a preferred embodiment of the method, the equivalent position offset of the antenna phase center in the vertical heading is obtained by the offset of the distance direction, and the expression is as follows:
in the above formula, τrFor the range-wise sampling interval of the synthetic aperture radar image, Δ τ is the range-wise delay, θ is the downward viewing angle, and c is the speed of light.
In particular, even if only Δ P is utilizedx、ΔPyThe positioning performance is greatly improved by correcting the vector of the phase center position of the antenna by a constant term. When processing a continuous multi-scene synthetic aperture radar image of a navigation band, delta P can be obtained according to a certain intervalxi、ΔPyiI 1,2, …, n, and then establishes a low order(1-3 order) polynomial fitting to obtain Δ Pxi、ΔPyiAnd the time-dependent change rule is adopted, so that the antenna phase center position vector of different time in one flight band is corrected.
The specific application of the embodiment of the invention is as follows:
fig. 3 is a synthetic aperture radar amplitude image, and the digital elevation model data of fig. 4 is directly used for image topographic distortion correction processing, and the resulting corrected image is shown in fig. 5. It can be seen that because of the relative error between the digital elevation model and the synthetic aperture radar imaging parameters, the mapping relationship between the digital elevation model and the synthetic aperture radar image becomes less accurate and the geometric distortion of the synthetic aperture radar image is not effectively corrected. A synthetic aperture radar image obtained by using the digital elevation model simulation is shown in fig. 6, and a distortion correction image realized by fine image registration is shown in fig. 7. It can be seen that the geometric distortion correction performance is significantly improved. An image obtained by intercepting the intermediate local digital elevation model of the experimental area and combining the synthetic aperture radar imaging parameter simulation is shown in fig. 8, and an actual synthetic aperture radar image of the corresponding area is shown in fig. 7. After the offset is obtained by image registration, the relative system error is corrected by combining the formula (1) and the formula (2), and it can be seen that the actual synthetic aperture radar image topographic relief distortion correction processing result is shown in fig. 9 and is basically consistent with the correction result of the simulated whole synthetic aperture radar image, namely fig. 10.
As shown in fig. 2, a synthetic aperture radar relative positioning error correction system includes:
the elevation model module is used for obtaining an area digital elevation model of an actual image based on a digital elevation model gradient self-adaptive intercepting method;
the correction module is used for correcting the imaging parameters and obtaining an analog synthetic aperture radar image and a mapping relation according to the corrected imaging parameters and the regional digital elevation model;
a registration module for registering the simulated synthetic aperture radar image and the actual synthetic aperture radar image to obtain the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image
And the positioning module is used for obtaining the positioning of the actual image in the digital elevation model coordinate system according to the mapping relation and the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image.
As a further preferred embodiment of the present system, the correction module further includes:
the offset submodule is used for correcting imaging parameters by an antenna phase center equivalent position offset correction method for relative error inversion of an area digital elevation model and an actual synthetic aperture radar image;
and the simulation submodule is used for combining the area digital elevation model with the corrected imaging parameters and obtaining a simulated synthetic aperture radar image of the corresponding area through a simulation algorithm.
The contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
A relative positioning error correcting device for synthetic aperture radar images comprises:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a synthetic aperture radar relative positioning error correction method as described above.
The contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.
A storage medium having stored therein instructions executable by a processor, the storage medium comprising: the processor-executable instructions, when executed by a processor, are for implementing a synthetic aperture radar relative positioning error correction method as described above.
The contents in the above method embodiments are all applicable to the present storage medium embodiment, the functions specifically implemented by the present storage medium embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present storage medium embodiment are also the same as those achieved by the above method embodiments.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. A method for correcting relative positioning error of a synthetic aperture radar is characterized by comprising the following steps:
obtaining an area digital elevation model of an actual image based on a digital elevation model gradient self-adaptive intercepting method;
correcting imaging parameters, and obtaining an analog synthetic aperture radar image and a mapping relation according to the corrected imaging parameters and the regional digital elevation model;
registering the simulated synthetic aperture radar image and the actual synthetic aperture radar image to obtain a transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image;
and obtaining the positioning of the actual image in the digital elevation model coordinate system according to the mapping relation and the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image.
2. The method according to claim 1, wherein the step of correcting the imaging parameters and obtaining the simulated synthetic aperture radar image and the mapping relationship according to the corrected imaging parameters and the regional digital elevation model specifically comprises:
correcting imaging parameters by an antenna phase center equivalent position offset correction method for relative error inversion of an area digital elevation model and an actual synthetic aperture radar image;
and combining the area digital elevation model with the corrected imaging parameters, obtaining a simulated synthetic aperture radar image of the corresponding area through a simulation algorithm, and recording a mapping relation.
3. The method for correcting the relative positioning error of the synthetic aperture radar according to claim 2, wherein the step of correcting the imaging parameters by the antenna phase center equivalent position offset correction method for the relative error inversion of the regional digital elevation model and the actual synthetic aperture radar image specifically comprises:
the relative error between the digital elevation model and the imaging parameter of the synthetic aperture radar is equivalent to the position deviation of the antenna phase center along the course and the vertical course;
obtaining equivalent position offset of the antenna phase center along the course and the vertical course through the offset of the azimuth direction and the distance direction to obtain the offset;
and correcting the antenna phase center position vector according to the offset to obtain the corrected imaging parameter.
4. The method of claim 2, wherein the equivalent position offset of the antenna phase center along the heading direction is obtained by the offset of the azimuth direction, and the expression is as follows:
in the above formula, taFor azimuthal sampling interval, P, of synthetic aperture radar imagesS、PTDivided into the position vector, V, of the navigation and target at the moment of imagingGFor the speed of movement of the beam along the ground, Δ IaIs the post-registration azimuthal deviation, and Δ a is the azimuthal deviation.
5. The method for correcting the relative positioning error of the synthetic aperture radar as claimed in claim 3, wherein the equivalent position offset of the vertical heading of the phase center of the antenna is obtained by the offset of the distance direction, and the expression is as follows:
in the above formula, τrFor the range-wise sampling interval of the synthetic aperture radar image, Δ τ is the range-wise delay, θ is the downward viewing angle, and c is the speed of light.
6. A synthetic aperture radar relative positioning error correction system, comprising:
the elevation model module is used for obtaining an area digital elevation model of an actual image based on a digital elevation model gradient self-adaptive intercepting method;
the correction module is used for correcting the imaging parameters and obtaining an analog synthetic aperture radar image and a mapping relation according to the corrected imaging parameters and the regional digital elevation model;
the registration module is used for registering the simulated synthetic aperture radar image and the actual synthetic aperture radar image to obtain a transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image;
and the positioning module is used for obtaining the positioning of the actual image in the digital elevation model coordinate system according to the mapping relation and the transformation relation between the simulated synthetic aperture radar image and the actual synthetic aperture radar image.
7. A synthetic aperture radar image relative positioning error correction apparatus, comprising:
at least one processor;
at least one memory for storing at least one program;
when executed by the at least one processor, cause the at least one processor to implement a method of synthetic aperture radar relative positioning error correction according to any one of claims 1-5.
8. A storage medium having stored therein instructions executable by a processor, the storage medium comprising: the processor-executable instructions, when executed by a processor, are for implementing a method of synthetic aperture radar relative positioning error correction as claimed in any one of claims 1 to 5.
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| CN116244662A (en) * | 2023-02-24 | 2023-06-09 | 中山大学 | Multisource elevation data fusion method, multisource elevation data fusion device, computer equipment and medium |
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Application publication date: 20201218 |