CN112330712B - Motion compensation method and device for radar image, electronic equipment and storage medium - Google Patents
Motion compensation method and device for radar image, electronic equipment and storage medium Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/20—Analysis of motion
- G06T7/207—Analysis of motion for motion estimation over a hierarchy of resolutions
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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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- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
- G06T2207/10044—Radar image
Abstract
The disclosure relates to a motion compensation method and device for radar images, electronic equipment and a storage medium, wherein the method comprises the steps of acquiring first motion information of a radar platform and acquiring radar images; re-estimating the first motion information to obtain second motion information; updating the motion trail of the radar platform by using the second motion information; and compensating the radar image by using the motion trail. The embodiment of the disclosure can improve the accuracy of radar images.
Description
Technical Field
The disclosure relates to the technical field of radars, and in particular relates to a method and a device for motion compensation of a radar image, electronic equipment and a storage medium.
Background
The performance of the carrier equipment and the environmental factors such as air flow can influence the stability of the radar platform, so that the radar deviates from the ideal motion track. When the track offset error of the carrier platform is too large, blurring of scene objects is caused. Therefore, in order to obtain a high quality SAR (Synthetic Aperture Radar, synthetic aperture radar image), precise motion error compensation must be performed. If the motion trail of the radar platform can be accurately estimated and accurate motion compensation is performed, the imaging quality can be improved.
The airborne SAR motion error compensation technology mainly comprises motion error compensation based on motion measurement equipment and motion error compensation based on echo data. The motion error compensation based on motion measurement equipment mainly comprises the steps of converting information such as speed, position and gesture of a radar platform recorded by navigation systems such as an Inertial Measurement Unit (IMU), a Global Positioning System (GPS) and the like into motion compensation parameters required by an imaging algorithm, and compensating the motion error during imaging processing.
Since the data update rate of the motion measurement device is not coincident with the pulse repetition Period (PRF) of the on-board SAR system, resulting in inconsistent three-dimensional positions of the actual sampling point of the measurement device and the equivalent sampling point of the echo signal, the obtained radar Antenna Phase Center (APC) data cannot be directly used for SAR motion compensation. Therefore, the measurement data needs to be estimated and resampled to obtain the antenna phase center track consistent with the radar platform.
The traditional fitting method adopts a least square method to estimate motion data, and in order to ensure the accuracy of the estimated data, the method sometimes needs to estimate and smooth the data in a segmented way, and has complex operation.
Disclosure of Invention
The embodiment of the invention does not need to carry out segmentation estimation and smoothing on data, and can also ensure the accuracy and effectiveness of the estimated data and improve the quality of radar images.
According to an aspect of the present disclosure, there is provided a motion compensation method of a radar image, including:
acquiring first motion information of a radar platform and acquired radar images;
re-estimating the first motion information to obtain second motion information;
updating the motion trail of the radar platform by using the second motion information;
and compensating the radar image by using the motion trail.
In some possible embodiments, the re-estimating the first motion information to obtain second motion information includes:
determining a weighted discrete paradigm by using the first motion information and the configured basis functions and weight functions;
determining a coefficient to be solved corresponding to the first motion parameter based on the weighted discrete paradigm;
and obtaining the second motion information by using the coefficient to be solved and the established estimation model.
In some possible embodiments, the basis functions include a linear basis function and a quadratic basis function; and/or
The weight function includes a spline weight function.
In some possible embodiments, the method for establishing the estimation function includes:
establishing a grid model, wherein the grid model represents azimuth time information;
The estimation function is established for at least one local subdomain in the mesh model.
In some possible embodiments, the updating the motion trail of the radar platform using the second motion information includes:
performing integration under an azimuth time variable on the second motion information;
and determining the motion trail of the radar platform based on the integral.
In some possible embodiments, the compensating the radar image with the motion trajectory includes:
performing demodulation processing on radar echo signals corresponding to the radar images to obtain demodulation signals;
performing distance matching filtering pulse compression processing on the demodulation signal to obtain a distance pulse pressure signal;
performing grid division on the radar image to obtain a grid image, and determining the slant distance between the radar platform and grid points in the grid image by utilizing the radar motion trail;
determining a position of the grid point in radar imaging at any azimuth time using the skew;
performing phase compensation on the distance pulse pressure signal based on the position to obtain a compensated distance pulse pressure signal;
and obtaining a compensated radar image by using the compensated distance pulse pressure signals of the grid points at a plurality of times.
In some possible embodiments, the obtaining the compensated radar image using the compensated range pulse pressure signals of the grid points at a plurality of times includes:
obtaining a grid point compensation imaging result by utilizing superposition of the compensated distance pulse pressure signals of the same grid point at the plurality of times;
and obtaining the compensated radar image by using the compensation imaging results of all the grid points.
According to a second aspect of the present disclosure, there is provided a motion compensation apparatus for radar images, comprising:
the acquisition module is used for acquiring the first motion information of the radar platform and the acquired radar image;
the estimation module is used for re-estimating the first motion information to obtain second motion information;
the updating module is used for updating the motion trail of the radar platform by utilizing the second motion information;
and the compensation module is used for compensating the radar image by utilizing the motion trail.
According to a third aspect of the present disclosure, there is provided an electronic device comprising:
a processor; a memory for storing processor-executable instructions;
wherein the processor is configured to invoke the instructions stored in the memory to perform the method of any of the first aspects.
According to a fourth aspect of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions, characterized in that the computer program instructions, when executed by a processor, implement the method of any one of the first aspects.
In the embodiment of the disclosure, the first motion information of the radar platform and the acquired radar image are acquired in real time, the first motion information is re-estimated by using a moving least square method, the second motion information is obtained, the motion track of the radar platform is updated according to the second motion information, and then the radar image is compensated.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, which proceeds with reference to the accompanying drawings.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the technical aspects of the disclosure.
FIG. 1 illustrates a flow chart of a method of motion compensation of radar images in accordance with an embodiment of the present disclosure;
FIG. 2 shows the geometrical relationship of the airborne SAR when there is a motion error;
fig. 3 shows a flowchart of step S20 in a motion compensation method of a radar image according to an embodiment of the present disclosure;
FIG. 4 illustrates a front-to-back effect diagram of a method of motion compensation of radar images according to an embodiment of the present disclosure;
fig. 5 shows a flowchart of step S40 in a motion compensation method of a radar image according to an embodiment of the present disclosure;
FIG. 6 illustrates a block diagram of a motion compensation apparatus for radar images, according to an embodiment of the present disclosure;
fig. 7 illustrates a block diagram of an electronic device 800, according to an embodiment of the disclosure;
fig. 8 illustrates a block diagram of another electronic device 1900 in accordance with an embodiment of the disclosure.
Detailed Description
Various exemplary embodiments, features and aspects of the disclosure will be described in detail below with reference to the drawings. In the drawings, like reference numbers indicate identical or functionally similar elements. Although various aspects of the embodiments are illustrated in the accompanying drawings, the drawings are not necessarily drawn to scale unless specifically indicated.
The word "exemplary" is used herein to mean "serving as an example, embodiment, or illustration. Any embodiment described herein as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.
The term "and/or" is herein merely an association relationship describing an associated object, meaning that there may be three relationships, e.g., a and/or B, may represent: a exists alone, A and B exist together, and B exists alone. In addition, the term "at least one" herein means any one of a plurality or any combination of at least two of a plurality, for example, including at least one of A, B, C, and may mean including any one or more elements selected from the group consisting of A, B and C.
Furthermore, numerous specific details are set forth in the following detailed description in order to provide a better understanding of the present disclosure. It will be understood by those skilled in the art that the present disclosure may be practiced without some of these specific details. In some instances, methods, means, elements, and circuits well known to those skilled in the art have not been described in detail in order not to obscure the present disclosure.
In the embodiments of the present disclosure, the execution subject of the motion compensation method of the radar image may be any information processing apparatus, for example, may be executed by a terminal device or a server or other processing device, where the terminal device may be a User Equipment (UE), a mobile device, a User terminal, a cellular phone, a cordless phone, a personal digital assistant (Personal Digital Assistant, PDA), a handheld device, a computing device, an in-vehicle device, a wearable device, a flying device, or the like. In some possible implementations, the method may be implemented by way of a processor invoking computer readable instructions stored in a memory.
Fig. 1 shows a flowchart of a motion compensation method of a radar image according to an embodiment of the present disclosure, and fig. 2 shows a geometrical relationship of an airborne SAR when there is a motion error. The carrier flies forward along the X-axis, and the dotted curve and the solid line represent an ideal track and an actual track respectively. The ideal track is taken as a reference coordinate system, and the point target is positioned at P. At time t, the ideal and actual positions of the radar platform are located at a and b.
The motion compensation method of the radar image provided by the embodiment of the disclosure can use a mobile least square method to carry out parameter estimation on radar motion information and reconstruct a motion track; and then motion compensation and two-dimensional imaging are completed. Since motion errors can result in degradation of imaging quality, embodiments of the present disclosure can compensate for the motion errors.
As shown in fig. 1, the motion compensation method of the radar image according to the embodiment of the present disclosure includes:
s10: acquiring first motion information of a radar platform and acquired radar images;
in some possible embodiments, the radar platform may comprise an on-board platform, or any device that carries SAR imaging equipment, which is not specifically limited by the present disclosure. The embodiment of the disclosure may further include a detection device in the radar platform for detecting the movement information of the radar platform, and the detection device is used for acquiring the first movement information. The first motion information may include velocity information, position information, attitude information, acceleration, displacement, and the like. The detection means may comprise an IMU, GPS or other motion measuring device, which is not specifically limited in this disclosure.
The speed information in the first motion information according to the embodiment of the present disclosure may include three-dimensional speed data, which is expressed by means of vector information, for example, a three-dimensional speed vector v (t m )＝[v E (t m )，v N (t m )，v U (t m )] T ；v E (t m ) Expressed in azimuth time t m Lei Dadong speed information, v N (t m ) Expressed in azimuth time t m Speed of radar northInformation, v U (t m ) Expressed in azimuth time t m Radar day speed information, T, represents matrix transposition.
S20: re-estimating the first motion information to obtain second motion information;
in the possible embodiment of the disclosure, the least square method is improved, the improved least square method can more accurately obtain the motion information of the radar platform in each azimuth time, the process does not need to carry out sectional estimation and smoothing on the data, and the accuracy and the effectiveness of the estimated data can be ensured.
S30: updating the motion trail of the radar platform by using the second motion information;
in some possible embodiments, the motion profile is obtained using an estimated second motion southwest integration process of the radar platform.
S40: and compensating the radar image by using the motion trail.
In some possible embodiments, the obtained motion trajectory may be used to perform a compensation operation on the radar image acquired in real time, where the compensation operation may include, but is not limited to, phase compensation, and the resolution, accuracy, and imaging quality of the radar image may be improved through the compensation operation.
Specifically, the method of compensating for radar imaging of the present disclosure is described in detail below with reference to examples.
In the moving process of a radar platform (such as an airborne mobile platform), radar imaging can be performed in real time by utilizing radar echo signals corresponding to the transmitted radar signals. The radar image detected by the radar platform at each azimuth time can be acquired in real time, and the first motion information of the radar platform can be detected. In the embodiment of the disclosure, the first motion information may include a three-dimensional velocity vector of the radar platform, for example, to obtain an east, north and sky three-dimensional actual velocity vector v (t) m )＝[v E (t m )，v N (t m )，v U (t m )] T . For example, embodiments of the present disclosure may separately acquire velocity over a first range of azimuth times (ts, te)And (5) vector. In the following, velocity vector re-estimation is taken as an example, and in other embodiments, other motion information may be estimated, such as acceleration, displacement, etc., which is not specifically limited in this disclosure.
When the first motion information is obtained, the first motion information may be re-estimated, a velocity vector in a second azimuth time (ts-tse) range may be estimated, wherein a relationship between tse and te may be set according to requirements, tse may be smaller than or equal to te, and by re-estimating the first motion information, a velocity vector in a more azimuth time may be obtained, that is, velocity vector information in azimuth time other than sampling time in the (ts, te) range may be estimated at least, and the second motion information may be obtained.
Fig. 3 shows a flowchart of step S20 in a motion compensation method of a radar image according to an embodiment of the present disclosure. Wherein, as shown in fig. 3, the re-estimating the first motion information to obtain second motion information includes:
s21: determining a weighted discrete paradigm by using the first motion information and the configured basis functions and weight functions;
in some possible implementations, the present disclosure may preconfigure the basis functions and weight functions for performing the evaluation process, where the basis functions may be linear basis functions or quadratic basis functions; the weight function may be a spline function, and in order to ensure continuity of the estimation function, the weight function in the embodiment of the disclosure adopts a cubic spline weight function, or may also adopt other weight functions with compactness, such as a quaternary spline function, which is not specifically limited in the disclosure.
Wherein the linear basis function can be expressed as p (t m )＝[p 1 (t m ) p 2 (t m ) … p m (t m )] T Can be a k-order complete polynomial, m represents the number of terms of the basis function, t m Representing time variable, p h (t m ) Representing the basis function with respect to t m And a polynomial representing a time variable, h being an integer greater than or equal to 1 and less than or equal to m.
In addition, the weight function of the embodiments of the present disclosure may be expressed as:
wherein, the liquid crystal display device comprises a liquid crystal display device, azimuth time s representing motion information to be estimated max Represents the maximum value of S.
The embodiment of the disclosure can obtain different precision by taking different order basis functions and take different weight functions to change the smoothness of an estimated curve.
In the case of determining the basis functions and the weight functions, a weighted discrete norm is obtained using the determined basis functions and weight functions, the weighted discrete norm being used to determine the coefficients to be found for the velocity vectors in the estimation function corresponding to each time azimuth.
In embodiments of the present disclosure, the manner in which the weighted discrete paradigm is determined includes obtaining the weighted discrete L based on a least squares criterion 2 Paradigm:
where n is the number of nodes in the area of influence,is->Node value vector at>Is node->Is a weight function of (1). Alpha (t) m )＝[α E (t m ) α N (t m ) α U (t m )]，i＝1…m，Representing the eastern coefficient to be solved, a N (t m ) And a U (t m ) The coefficients to be solved are respectively represented in the north direction and the sky direction. In the embodiments of the present disclosure, the- >Only at node +.>A surrounding limited area Ω I Is greater than 0, and is 0 outside the region, i.e. the weight function has compactness and a limited region omega I Impact domain called weight function
Based on the above, a weighted discrete paradigm L can be obtained using the obtained velocity vector, weight function, and basis function at each azimuth time 2 。
S22: determining a coefficient to be solved corresponding to the first motion parameter based on the weighted discrete paradigm;
in some possible embodiments, the weighted discrete norm may be derived where it is derived, and where the derivative is zero, the coefficients to be found for the velocity vector are obtained. In particular. This process can be expressed as:
by derivation, the expression α (t) m )＝A -1 (t m )B(t m )v(t m ) Wherein, the method comprises the steps of, wherein,
where n affects the number of nodes in the region,representation->The value of the base function at v n (t m ) Representing the velocity vector at node n.
From the above, the coefficient of substitution α (t) of the velocity vector in each time direction can be obtained m )＝[α E (t m ) α N (t m ) α U (t m )]。
S23: and obtaining the second motion information by using the coefficient to be solved and the established estimation model.
In some possible embodiments, the method of establishing an estimation model may include: establishing a grid model, wherein the grid model represents azimuth time information; the estimation function is established for at least one local subdomain in the mesh model.
In the embodiment of the disclosure, in estimating the second motion information by using the first motion information, the first azimuth time corresponding to the first motion information may be subjected to gridding processing, for example, the first azimuth time (ts, te) may be interpolated (one way of gridding processing) to obtain the second azimuth time (ts-tse).
Estimation region (azimuth time range) gridding and estimation function generation, the estimation region t m (i.e., the above (ts, te)) meshing to build an estimated function vector over a partial sub-field of the estimated region (at least a portion of the azimuth time range in the estimated region)
Wherein, the liquid crystal display device comprises a liquid crystal display device,representing the eastern coefficient to be solved as the azimuth time variable t m Function of a), a N (t m ) And a U (t m ) The same principle can be obtained; alpha (t) m )＝[α E (t m ) α N (t m ) α U (t m )]Representing a coefficient vector; p (t) m )＝[p 1 (t m ) p 2 (t m ) … p m (t m )] T Called the basis function, is a k-th order perfect polynomial, and m is the term number of the basis function.
The second motion information can be obtained by establishing an estimation function, wherein the estimation function can be expressed asWherein v (t) m )＝[v E (t m )，v N (t m )，v U (t m )] T Is radar east, north and sky three-dimensional actual speed vector,>to estimate a velocity vector.
Fig. 4 shows a front-back effect diagram of a motion compensation method of a radar image according to an embodiment of the disclosure, and as shown in fig. 4, by using the motion compensation method of the embodiment of the disclosure, a speed curve of a radar platform is smoother, and meanwhile, by comparing indexes such as a square sum of error, a mean value and a variance, the accuracy of a speed vector obtained after re-estimation of the embodiment of the disclosure is higher.
After re-estimating the velocity vector, the motion trajectory of the radar platform may be updated with the obtained velocity vector. Wherein updating the motion trail of the radar platform using the second motion information includes: performing integration under an azimuth time variable on the second motion information; and determining the motion trail of the radar platform based on the integral.
The three-dimensional space motion trail of the radar platform is rebuilt, the geometrical relationship of the airborne SAR of fig. 2 is combined, and the speed parameter obtained by the re-estimation is integrated under the azimuth time variable to obtain the space motion trail information of the platform. The track update process of the embodiments of the present disclosure may be expressed as:
wherein L (t) m ) Is a radar platform motion track vector, L E (t m ),L N (t m ),L U (t m ) For the track information of the east, north and sky directions,estimated speed for east, north, day, respectively,/->To estimate a velocity vector.
Under the condition that the motion trail of the radar platform is obtained, the updated motion trail can be utilized to compensate the radar image, and the accuracy of the radar image is improved.
Fig. 5 shows a flowchart of step S40 in a method for motion compensation of a radar image according to an embodiment of the present disclosure, wherein the compensating the radar image using the motion trajectory includes:
S41: performing demodulation processing on radar echo signals corresponding to the radar images to obtain demodulation signals;
in some possible embodiments, the radar platform emits a radar emission signal S tr (t) can be expressed as:
wherein f c For the system operating frequency, T is the distance-to-time variable, and T E [ -T r /2,T r /2]，T r For signal duration, K r For signal modulation frequency, the signal bandwidth is B r ＝K r T r 。
Further, the received radar echo signal is demodulated, and since the observation scene contains a plurality of observation targets, the radar echo signal of the whole observation scene after demodulation can be expressed as:
wherein sigma n For the target scattering coefficient, n represents the number of scattering points,is a distance rectangular window function, t is a distance time variable, t m As azimuth time variable, R n (t m ) To observe the range of a target in a scene to a radar platform.
S42: performing distance matching filtering pulse compression processing on the demodulation signal to obtain a distance pulse pressure signal;
in some possible embodiments, the demodulation signal may be subjected to pulse compression processing to obtain a distance pulse pressure signal, through which the quadratic information in the demodulation signal may be removed. Wherein, the matching function for performing the distance direction matching filtering pulse compression processing is expressed as:
h(t-t ref )＝exp[jπK r (t-t ref ) 2 ]
Wherein t is a distance-to-time variable, K r For adjusting frequency, t ref The distance corresponding to the reference position is the time.
By matching the function h (t-t ref ) And demodulating the signal s (t, t m ) Performing frequency domain conjugate multiplication to obtain a distance pulse pressure signal, wherein the obtained distance pulse pressure signal can be expressed as:
wherein FFT means fast fourier transform, IFFT means inverse fourier transform, conj means conjugate, and c means light speed.
S43: performing grid division on the radar image to obtain a grid image, and determining the slant distance between the radar platform and grid points in the grid image by utilizing the radar motion trail;
in some possible embodiments, the obtained radar image may be subjected to region segmentation, resulting in an image region comprising the detection target. BP imaging grids with azimuth length A and ground distance length R of the ground plane can be arranged to cover the target range, and the grid point number is set as N multiplied by M according to azimuth resolution and distance resolution:
wherein N is the number of azimuth grid points, ρ a For azimuth resolution, M is the number of distance grid points, ρ r Is the distance resolution.
The tilt of the grid point to the radar platform can then be calculated, starting from azimuth i=1, ground j=1, grid point P (a i ,R j ,h ij ) Step to radar platform trajectory L (t) m ) The method of the pitch of (2) can be expressed as:
wherein A is i I=1, 2 … N is the azimuth coordinate, R j J=1, 2 … M is the geodesic, h ij The height of grid point P, H is the height of the radar platform.
S44: determining a position of the grid point in radar imaging at any azimuth time using the skew;
embodiments of the present disclosure may use the skew to obtain the position of a grid point in an echo, grid point P (a i ,R j ,h ij ) For each azimuth time variable t m At a distance from the pulse pressure signal S' (t, t m ) The corresponding positions in (a) can be expressed as:
wherein round [. Cndot.]Represents the nearest rounding, T delay Representing the receive gate delay, f s Representing the distance to the sampling frequency.
S45: performing phase compensation on the distance pulse pressure signal based on the position to obtain a compensated distance pulse pressure signal;
in the presently disclosed embodiments, the grid points P (a i ,R j ,h ij ) Corresponding distance pulse pressure signal S' (t, t) m ) Phase compensation is carried out, and a compensated distance pulse pressure signal is obtained:
where λ is the radar transmit signal wavelength.
S46: and obtaining a compensated radar image by using the compensated distance pulse pressure signals of the grid points at a plurality of times.
The method for obtaining the compensated radar image by using the compensated distance pulse pressure signals of the grid points at a plurality of times comprises the following steps: obtaining a grid point compensation imaging result by utilizing superposition of the compensated distance pulse pressure signals of the same grid point at the plurality of times; and obtaining the compensated radar image by using the compensation imaging results of all the grid points.
The embodiment of the disclosure can perform coherent superposition on distance pulse pressure signals of multiple azimuth time, and phase compensated signalsTime variable t at all azimuths m Superimposed thereon, to obtain grid point P (A i ,R j ,h ij ) Is a result of imaging of (a):
wherein N is the number of azimuth grid points, M is the number of distance grid points, t m Is the azimuth time variable and t is the distance time variable.
When the local distance j is less than or equal to M, the process is circularly executed until j is more than M, and an imaging result of the azimuth direction is obtained:
when the azimuth direction i is less than or equal to N, the process is circularly executed until i is more than N, and an imaging result of the whole imaging area is obtained:
in summary, the embodiment of the disclosure can compensate the motion error of the SAR radar image, so as to realize high-resolution imaging; the method and the device do not need to segment and smooth parameters to be estimated; the base functions of different orders are taken to obtain different accuracies, and the weight functions are taken to change the smoothness of the estimated curve.
It will be appreciated by those skilled in the art that in the above-described method of the specific embodiments, the written order of steps is not meant to imply a strict order of execution but rather should be construed according to the function and possibly inherent logic of the steps.
It will be appreciated that the above-mentioned method embodiments of the present disclosure may be combined with each other to form a combined embodiment without departing from the principle logic, and are limited to the description of the present disclosure.
In addition, the disclosure further provides a motion compensation device, an electronic device, a computer readable storage medium and a program for a radar image, where the foregoing may be used to implement any one of the motion compensation methods for a radar image provided by the disclosure, and the corresponding technical schemes and descriptions and corresponding descriptions referring to the method parts are not repeated.
Fig. 6 illustrates a block diagram of a motion compensation apparatus for radar images, wherein the apparatus may include, as shown in fig. 6:
an acquisition module 10, configured to acquire first motion information of a radar platform, and an acquired radar image;
an estimation module 20, configured to re-estimate the first motion information to obtain second motion information;
an updating module 30, configured to update a motion trail of the radar platform using the second motion information;
a compensation module 40 for compensating the radar image using the motion trajectory.
In some embodiments, functions or modules included in an apparatus provided by the embodiments of the present disclosure may be used to perform a method described in the foregoing method embodiments, and specific implementations thereof may refer to descriptions of the foregoing method embodiments, which are not repeated herein for brevity.
The disclosed embodiments also provide a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the above-described method. The computer readable storage medium may be a non-volatile computer readable storage medium.
The embodiment of the disclosure also provides an electronic device, which comprises: a processor; a memory for storing processor-executable instructions; wherein the processor is configured as the method described above.
The electronic device may be provided as a terminal, server or other form of device.
Fig. 7 illustrates a block diagram of an electronic device 800, according to an embodiment of the disclosure. For example, electronic device 800 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or the like.
Referring to fig. 7, an electronic device 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input/output (I/O) interface 812, a sensor component 814, and a communication component 816.
The processing component 802 generally controls overall operation of the electronic device 800, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 802 can include one or more modules that facilitate interactions between the processing component 802 and other components. For example, the processing component 802 can include a multimedia module to facilitate interaction between the multimedia component 808 and the processing component 802.
The memory 804 is configured to store various types of data to support operations at the electronic device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phonebook data, messages, pictures, videos, and so forth. The memory 804 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
The power supply component 806 provides power to the various components of the electronic device 800. The power components 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power for the electronic device 800.
The multimedia component 808 includes a screen between the electronic device 800 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and/or a rear camera. When the electronic device 800 is in an operational mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.
The audio component 810 is configured to output and/or input audio signals. For example, the audio component 810 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 800 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 804 or transmitted via the communication component 816. In some embodiments, audio component 810 further includes a speaker for outputting audio signals.
The I/O interface 812 provides an interface between the processing component 802 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.
The sensor assembly 814 includes one or more sensors for providing status assessment of various aspects of the electronic device 800. For example, the sensor assembly 814 may detect an on/off state of the electronic device 800, a relative positioning of the components, such as a display and keypad of the electronic device 800, the sensor assembly 814 may also detect a change in position of the electronic device 800 or a component of the electronic device 800, the presence or absence of a user's contact with the electronic device 800, an orientation or acceleration/deceleration of the electronic device 800, and a change in temperature of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component 816 is configured to facilitate communication between the electronic device 800 and other devices, either wired or wireless. The electronic device 800 may access a wireless network based on a communication standard, such as WiFi,2G, or 3G, or a combination thereof. In one exemplary embodiment, the communication component 816 receives broadcast signals or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component 816 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the electronic device 800 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 804 including computer program instructions executable by processor 820 of electronic device 800 to perform the above-described methods.
Fig. 8 illustrates a block diagram of another electronic device 1900 in accordance with an embodiment of the disclosure. For example, electronic device 1900 may be provided as a server. Referring to fig. 8, electronic device 1900 includes a processing component 1922 that further includes one or more processors and memory resources represented by memory 1932 for storing instructions, such as application programs, that can be executed by processing component 1922. The application programs stored in memory 1932 may include one or more modules each corresponding to a set of instructions. Further, processing component 1922 is configured to execute instructions to perform the methods described above.
The electronic device 1900 may also include a power component 1926 configured to perform power management of the electronic device 1900, a wired or wireless network interface 1950 configured to connect the electronic device 1900 to a network, and an input/output (I/O) interface 1958. The electronic device 1900 may operate based on an operating system stored in memory 1932, such as Windows Server, mac OS XTM, unixTM, linuxTM, freeBSDTM, or the like.
In an exemplary embodiment, a non-transitory computer readable storage medium is also provided, such as memory 1932, including computer program instructions executable by processing component 1922 of electronic device 1900 to perform the methods described above.
The present disclosure may be a system, method, and/or computer program product. The computer program product may include a computer readable storage medium having computer readable program instructions embodied thereon for causing a processor to implement aspects of the present disclosure.
The computer readable storage medium may be a tangible device that can hold and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: portable computer disks, hard disks, random Access Memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), static Random Access Memory (SRAM), portable compact disk read-only memory (CD-ROM), digital Versatile Disks (DVD), memory sticks, floppy disks, mechanical coding devices, punch cards or in-groove structures such as punch cards or grooves having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media, as used herein, are not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through waveguides or other transmission media (e.g., optical pulses through fiber optic cables), or electrical signals transmitted through wires.
The computer readable program instructions described herein may be downloaded from a computer readable storage medium to a respective computing/processing device or to an external computer or external storage device over a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmissions, wireless transmissions, routers, firewalls, switches, gateway computers and/or edge servers. The network interface card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium in the respective computing/processing device.
Computer program instructions for performing the operations of the present disclosure can be assembly instructions, instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, c++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer readable program instructions may be executed entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present disclosure are implemented by personalizing electronic circuitry, such as programmable logic circuitry, field Programmable Gate Arrays (FPGAs), or Programmable Logic Arrays (PLAs), with state information of computer readable program instructions, which can execute the computer readable program instructions.
Various aspects of the present disclosure are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the disclosure. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.
These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable medium having the instructions stored therein includes an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.
The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The foregoing description of the embodiments of the present disclosure has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described. The terminology used herein was chosen in order to best explain the principles of the embodiments, the practical application, or the improvement of technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein.
Claims (8)
1. A method of motion compensation of a radar image, comprising:
acquiring first motion information of a radar platform and acquired radar images;
re-estimating the first motion information to obtain second motion information, including: determining a weighted discrete paradigm by using the first motion information and the configured basis functions and weight functions; determining a coefficient to be solved corresponding to the first motion parameter based on the weighted discrete paradigm; obtaining the second motion information by using the coefficients to be solved and the established estimation model;
updating the motion trail of the radar platform by using the second motion information;
Compensating the radar image using the motion profile, comprising: performing demodulation processing on radar echo signals corresponding to the radar images to obtain demodulation signals; performing distance matching filtering pulse compression processing on the demodulation signal to obtain a distance pulse pressure signal; performing grid division on the radar image to obtain a grid image, and determining the slant distance between the radar platform and grid points in the grid image by utilizing the radar motion trail; determining a position of the grid point in radar imaging at any azimuth time using the skew; performing phase compensation on the distance pulse pressure signal based on the position to obtain a compensated distance pulse pressure signal; and obtaining a compensated radar image by using the compensated distance pulse pressure signals of the grid points at a plurality of times.
2. The method of claim 1, wherein the basis functions comprise a linear basis function and a quadratic basis function; and/or
The weight function includes a spline weight function.
3. The method according to any one of claims 1 or 2, wherein the method for establishing the estimation model comprises:
establishing a grid model, wherein the grid model represents azimuth time information;
An estimation function is established for at least one local subdomain in the mesh model.
4. The method of claim 1, wherein updating the motion profile of the radar platform using the second motion information comprises:
performing integration under an azimuth time variable on the second motion information;
and determining the motion trail of the radar platform based on the integral.
5. The method of claim 1, wherein using the compensated range pulse pressure signals of the grid points at a plurality of times to obtain the compensated radar image comprises:
obtaining a grid point compensation imaging result by utilizing superposition of the compensated distance pulse pressure signals of the same grid point at the plurality of times;
and obtaining the compensated radar image by using the compensation imaging results of all the grid points.
6. A motion compensation apparatus for radar images, comprising:
the acquisition module is used for acquiring the first motion information of the radar platform and the acquired radar image;
an estimation module, configured to re-estimate the first motion information, and obtain second motion information, where the estimation module includes: determining a weighted discrete paradigm by using the first motion information and the configured basis functions and weight functions; determining a coefficient to be solved corresponding to the first motion parameter based on the weighted discrete paradigm; obtaining the second motion information by using the coefficients to be solved and the established estimation model;
The updating module is used for updating the motion trail of the radar platform by utilizing the second motion information;
a compensation module for compensating the radar image using the motion trajectory, comprising: performing demodulation processing on radar echo signals corresponding to the radar images to obtain demodulation signals; performing distance matching filtering pulse compression processing on the demodulation signal to obtain a distance pulse pressure signal; performing grid division on the radar image to obtain a grid image, and determining the slant distance between the radar platform and grid points in the grid image by utilizing the radar motion trail; determining a position of the grid point in radar imaging at any azimuth time using the skew; performing phase compensation on the distance pulse pressure signal based on the position to obtain a compensated distance pulse pressure signal; and obtaining a compensated radar image by using the compensated distance pulse pressure signals of the grid points at a plurality of times.
7. An electronic device, comprising:
a processor;
a memory for storing processor-executable instructions;
wherein the processor is configured to invoke the instructions stored in the memory to perform the method of any of claims 1-5.
8. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the method of any of claims 1-5.
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