CN112558067B - Radar imaging method based on fusion of range profile and ISAR (inverse synthetic aperture radar) image - Google Patents
Radar imaging method based on fusion of range profile and ISAR (inverse synthetic aperture radar) image Download PDFInfo
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- 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
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Abstract
A radar imaging method based on fusion of a range profile and an ISAR (inverse synthetic aperture radar) image relates to the technical field of radar imaging. The invention aims to fuse multiple radar data so as to improve imaging quality. According to the radar imaging method based on the fusion of the range profile and the ISAR profile, two radars are vertically placed, one radar performs ISAR imaging, the other radar obtains a one-dimensional range profile of a target, and the longitudinal range high resolution of the longitudinal radar is used for compensating the transverse range resolution in the transverse radar ISAR profile.
Description
Technical Field
The invention belongs to the technical field of radar imaging.
Background
The radar can obtain a target distance high-resolution through transmitting a broadband signal (the bandwidth B of the 77GHz millimeter wave radar can reach more than 2 GHz) by a matched filtering or pulse compression technology, and the distance resolution is C/2B, so that a high-resolution one-dimensional range profile of the radar in the sight direction is obtained, and each pulse or frequency modulation signal period corresponds to one range profile. The one-dimensional range profile represents the projected distribution of the three-dimensional spatial scattering of the target on the radar line of sight. The radar signal accumulation time is related to the residence time of the target in the radar beam. However, the high resolution of the distance of only one dimension cannot meet the current requirement, and the actual target has three-dimensional coordinates, so that the distance of the other dimension or even the other dimension needs to be acquired for high resolution. Inverse Synthetic Aperture Radar (ISAR) is a method for obtaining high resolution of two-dimensional coordinates of a target.
For an ideal turntable target, after a one-dimensional range profile sequence is obtained, a two-dimensional ISAR image can be obtained by carrying out Fourier transform on signals in each range unit along the azimuth dimension. Notably, to reduce side lobes and improve imaging quality, the echo of each range bin is windowed prior to azimuth-dimensional compression, a common window function being the hanning window.
The ISAR imaging is based on the fact that relative rotation exists between a target and a radar, and a certain accumulation angle exists in accumulation time due to the fact that the relative rotation exists, different Doppler frequencies can be obtained by using different transverse distances between the accumulation angle and different scattering points, and then the transverse distance of the target can be obtained in a high resolution mode. However, the magnitude of the accumulation angle directly affects the lateral distance resolution, and if the lateral distance resolution is too small, a series of effects such as a distance cell may occur.
When the millimeter wave radar is used for ISAR imaging of a running vehicle, the model rotating speed is low when the vehicle is equivalent to a turntable model because the running speed of the vehicle is low, the accumulation angle is small, and the transverse resolution is low. The improvement of the transverse distance resolution of single radar ISAR imaging is a difficulty and an important point at present, but when a plurality of radars are used for data fusion, more information of a target can be acquired, and the imaging quality is further improved, so that the improvement of the imaging quality by multi-radar data fusion is an important point at present.
Disclosure of Invention
The invention aims to fuse multiple radar data so as to improve imaging quality, and provides a radar imaging method based on fusion of a range profile and an ISAR (inverse synthetic aperture radar) image.
The radar imaging method based on the fusion of the range profile and the ISAR profile is characterized in that two radars are arranged in an imaging scene, the sight directions of the two radars are mutually perpendicular, one radar is set to be a transverse radar, the other radar is set to be a longitudinal radar, and the radar imaging method comprises the following steps:
step one: respectively calculate the transverse directionsTransverse distance resolution d of radar and longitudinal radar to target rc And longitudinal distance resolution d r ，d r ＜d rc ：
Step two: will d rc And d r Dividing to obtain quotient n, rounding n to obtain n 1 ；
Step three: respectively carrying out interpolation processing on each distance unit in one-dimensional distance images of echo data of each frame of two radars;
step four: performing ISAR imaging processing on interpolation results corresponding to echo data of each frame of the transverse radar to obtain an ISAR image of a target,
any echo is selected from interpolation results corresponding to echo data of each frame of the longitudinal radar, and the echo is detected,
when n is 1 If the number is even, the distance unit with the target and each n on the left and right sides thereof 1 The data in/2 distance cells are all replaced with 1,
when n is 1 When=1, the data in the distance unit where the target is located is replaced by 1,
when n is 1 When the distance is an odd number greater than 1, the distance unit on which the target is located is divided into two sides (n 1 Data within 1)/2 distance units are all replaced by 1,
the data in the distance unit without the target is replaced by 100 to obtain a one-dimensional distance image after the longitudinal radar detection processing;
step five: and rotating the one-dimensional range profile subjected to longitudinal radar detection processing by 90 degrees, and multiplying the one-dimensional range profile by an ISAR image of the target to obtain a fused radar image.
The longitudinal distance resolution d r Obtained by the formula:
wherein c is the speed of light, and B is the signal bandwidth;
lateral distance resolution d rc Obtained by the formula:
wherein θ is the rotation angle of the target in the accumulation time, R is the distance from the target to the transverse radar, PRI is the pulse repetition period, v is the movement speed of the target, and λ is the wavelength.
In the third step, for the longitudinal radar:
performing fast Fourier transform on each frame of echo data of the longitudinal radar to obtain a one-dimensional range profile of the longitudinal radar,
n is respectively carried out on each distance unit in the one-dimensional distance image of the longitudinal radar 2 Fast Fourier transform of points to obtain transform results A, N 2 In order to be a number of slow time echoes,
n is carried out on the conversion result A 3 -N 2 Zero-filling to obtain results M, N 3 ＝floor(n*N 2 ) Floor () represents the rounding off,
and performing fast Fourier transform on each distance unit in the result M to obtain an interpolation result corresponding to echo data of each frame of the longitudinal radar.
In the third step, for the transverse radar:
performing fast Fourier transform on echo data of each frame of the transverse radar to obtain a one-dimensional range profile of the transverse radar,
n is respectively carried out on each distance unit in one-dimensional range profile of the transverse radar 3 And (3) carrying out fast Fourier transform on the points to obtain interpolation results corresponding to echo data of each frame of the transverse radar.
And step five, firstly, respectively cutting the ISAR image of the target and the one-dimensional distance image after the longitudinal radar detection processing so that the dimensions of the ISAR image and the one-dimensional distance image are the same.
The cutting basis is as follows:
judging whether or not to accord with N 3 >N 1 Wherein N is 1 For the purpose of fast time sampling of the number of points,
if yes, the two image dimensions conform to N 1 *N 1 ，
Otherwise the two image dimensions conform to N 3 *N 3 。
The invention designs a method for improving ISAR image resolution by adopting double radar data fusion aiming at the condition of lower ISAR image transverse distance resolution caused by insufficient accumulated pulse number or insufficient accumulated angle due to too slow moving vehicle when an ISAR imaging is carried out on a running vehicle by utilizing a millimeter wave radar frame at a road side. According to the radar imaging method based on the fusion of the range profile and the ISAR profile, two radars are used for vertical placement, one radar (transverse radar) is used for ISAR imaging, the other radar (longitudinal radar) is used for obtaining a one-dimensional range profile of a target, and the longitudinal range of the longitudinal radar is used for compensating the transverse range resolution in the transverse radar ISAR profile.
Drawings
FIG. 1 is a schematic view of an imaging scene in accordance with one embodiment;
FIG. 2 is a flow chart of a radar imaging method based on fusion of range profile and ISAR profile according to the present invention;
FIG. 3 is a schematic diagram of a simulation model of fusion of a range profile and an ISAR profile, wherein (a) represents a lateral viewing angle and (b) represents a longitudinal viewing angle;
FIG. 4 is a schematic diagram of ISAR image results;
fig. 5 is a schematic diagram of longitudinal radar RD (range-doppler) results;
FIG. 6 is a schematic diagram of the result of processing a range profile, wherein (a) is a pre-processing range profile and (b) is a post-processing range profile;
FIG. 7 is a schematic diagram of the results after fusion;
FIG. 8 is a diagram showing the results of two radars RD of frame 76, wherein (a) is a transverse radar and (b) is a longitudinal radar;
FIG. 9 is a schematic diagram of a 76 th frame range profile detection process, wherein (a) is a target range profile (before detection), (b) is a single echo range profile, (c) is a single echo range profile (after detection), and (d) is a target range profile (after detection processing);
fig. 10 is a diagram showing the fusion result of the 76 th frame.
Detailed Description
The current method for solving the problem of insufficient resolution of the ISAR image in the transverse distance mostly increases the resolution of the transverse distance by increasing the accumulation time to increase the accumulation angle, but when the accumulation time is too long, the influence of migration of a distance unit and change of an observed scattering point of a target is brought, so that the accumulation time cannot be too long, and the transverse distance resolution is influenced. In addition, the processing can be performed by a compressed sensing method, etc., but there is a certain error in the method.
The first embodiment is as follows: a radar imaging method according to the present embodiment based on fusion of a range profile and an ISAR profile will be described in detail with reference to fig. 1 to 10. Two radars are arranged in the imaging scene, the sight directions of the two radars are mutually perpendicular, one radar is a transverse radar, and the other radar is a longitudinal radar.
As shown in fig. 1, it is assumed that azimuth beam width in an imaging scene is calculated at-45 ° to 45 °, and vertical beam width is calculated at-20 ° to 20 °. The distance from the two radars to the scene center is 50m, the azimuth width which can be observed by the transverse radars is-50 m to 50m, and the vertical width which can be observed by the longitudinal radars is-18 m to 18m. The target is moved along the longitudinal radar line of sight, assuming a target speed of 12m/s, approximately 43.2km/h. The radar acquisition is carried out according to frames, the length of each frame is 100ms, and the total number of the targets is 83 frames in the transverse radar view angle and 31 frames in the longitudinal radar view angle through calculation.
The echo data of two radars need to be preprocessed before extracting range information from a one-dimensional range profile. Because two radars observe the same target at an included angle of 90 degrees, the transverse distance observed by the transverse radars is the longitudinal distance observed by the longitudinal radars. However, the sampling points of the radar echo data in the fast time and the slow time are inconsistent, the same scattering point cannot be completely corresponding to the data of different radars, and influence factors caused by different transverse distance resolution of the transverse radars and different longitudinal distance resolution of the longitudinal radars are also included. For example, a scattering point whose lateral distance is x0m at the lateral radar view angle, assuming that the number of lateral radar returns is 200, assuming that the lateral resolution in the final ISAR image is 1m, and this scattering point is located within the 20 th lateral distance cell; the same scattering point has a longitudinal distance x0m in the longitudinal radar view angle, and if the longitudinal distance resolution is 0.5m, this scattering point is located within the 40 th longitudinal distance unit in the one-dimensional distance obtained by the longitudinal radar. In this case, the same scattering point is located in different radar with different distance units, and subsequent processing cannot be performed, so the following method is adopted for processing, and the radar imaging method comprises the following steps:
step one: the first thing to do is that the distance alignment, although the lateral distance of the lateral radar is the longitudinal distance of the longitudinal radar, since the longitudinal distance resolution is different from the lateral distance resolution, a certain scattering point is not in the same unit in the data matrix obtained by the lateral radar and the data matrix obtained by the longitudinal radar, so that it is first necessary to calculate two distance resolutions d r And d rc And d r ＜d rc 。
Longitudinal distance resolution d r Obtained by the formula:
where c is the speed of light and B is the signal bandwidth.
The calculation of the transverse distance resolution is needed to be determined in an ISAR transverse calibration mode, firstly, the movement speed v of the target is determined by using a longitudinal radar, and then, the determination of the transverse distance resolution can be completed after the rotation angle theta of the target in the accumulation time is needed to be calculated. Specifically, the lateral distance resolution d rc Obtained by the formula:
where θ is the rotation angle of the target in the accumulation time, R is the distance of the target to the transverse radar, PRI is the pulse repetition period, and λ is the wavelength.
Step two: will d rc And d r Dividing to obtain quotient n, rounding n to obtain n 1 。
Step three: assume that the number of fast time samples is N 1 The number of slow time loops is N 2 Then the echo matrix is two N 2 *N 1 Is a data matrix of the data processor. Because the dimensions of the two data matrixes are the same during data fusion, interpolation processing is respectively carried out on the data in each distance unit in the one-dimensional range profile of the echo data of each frame of the two radars. The effect is to make the data matrix dimensions identical to the cells at which the same distance is located in the data matrix.
Specifically, for longitudinal radar:
performing fast Fourier transform on each frame of echo data of the longitudinal radar to obtain a one-dimensional range profile of the longitudinal radar,
n is respectively carried out on each distance unit in the one-dimensional distance image of the longitudinal radar 2 The fast Fourier transform of the points, obtaining a transform result A,
n is carried out on the conversion result A 3 -N 2 Zero-filling to obtain results M, N 3 ＝floor(n*N 2 ) Floor () is a rounding function.
And performing fast Fourier transform on each distance unit in the result M to obtain an interpolation result corresponding to echo data of each frame of the longitudinal radar.
For the transverse radar, the purpose of the data interpolation processing of the transverse radar is to make the unit corresponding to each transverse distance consistent with the unit corresponding to the longitudinal distance in the longitudinal radar, so the interpolation processing is relatively simple, and the FFT point number is changed to N only by carrying out FFT on each distance unit 3 And (3) obtaining the product. Specific:
performing fast Fourier transform on echo data of each frame of the transverse radar to obtain a one-dimensional range profile of the transverse radar,
n is respectively carried out on each distance unit in one-dimensional range profile of the transverse radar 3 And (3) carrying out fast Fourier transform on the points to obtain interpolation results corresponding to echo data of each frame of the transverse radar.
Step four: and performing ISAR imaging processing on interpolation results corresponding to echo data of each frame of the transverse radar to obtain an ISAR image of the target.
Any echo is selected from interpolation results corresponding to echo data of each frame of the longitudinal radar, and detection processing is carried out on the echo, so as to judge whether a target exists in a distance unit or not, further,
when n is 1 If the number is even, the distance unit with the target and each n on the left and right sides thereof 1 The data in/2 distance cells are all replaced with 1,
when n is 1 When=1, the data in the distance unit where the target is located is replaced by 1,
when n is 1 When the distance is an odd number greater than 1, the distance unit on which the target is located is divided into two sides (n 1 Data within 1)/2 distance units are all replaced by 1,
and completely replacing data in the distance unit without the target with 100 to obtain a one-dimensional distance image after the longitudinal radar detection processing.
In the fourth step, the detection process adopts a constant false alarm detection (CFAR) method based on peak detection and fixed threshold detection, wherein the constant false alarm detection adopts a maximum selection constant false alarm detection (GO-CFAR) algorithm. For the GO-CFAR and the minimum-selection constant false alarm detection (SO-CFAR) algorithms, the front and back reference unit windows of the unit to be detected are separated to consider, the detection is performed on the power spectrum of the obtained echo, and the power spectrum is set as S P Let the power value of a single unit in the front reference unit window be S p (m i ) The unit in the rear reference unit window is S p (n i ) The following steps are:
where Z is the estimated clutter power, n is the total number of fore-aft reference units, i=1, 2.
Further, given a constant false alarm rate, the expression of the nominal factor T under GO-CFAR and SO-CFAR can be obtained:
pfa is the false alarm rate and,is a combination number operation.
Both GO-CFAR and SO-CFAR may be used here, but SO-CFAR generates unnecessary garbage, SO GO-CFAR is selected here.
After the fourth step, firstly, clipping the ISAR image of the target and the one-dimensional range profile after the longitudinal radar detection processing respectively so that the dimensions of the ISAR image and the one-dimensional range profile are the same. The cutting basis is as follows:
judging whether or not to accord with N 3 >N 1 Wherein N is 1 For the purpose of fast time sampling of the number of points,
if yes, the two image dimensions conform to N 1 *N 1 ，
Otherwise the two image dimensions conform to N 3 *N 3 。
Step five: and rotating the one-dimensional range profile subjected to longitudinal radar detection processing by 90 degrees, and multiplying the one-dimensional range profile by an ISAR image of the target to obtain a fused radar image.
From simulation results, a plurality of scattering points with lower resolution and at the same longitudinal distance are not resolved in the transverse radar ISAR image, and a large scattering point which is aliased together is seen in the image. After the processing is performed by using the embodiment, the scattering points which are aliased together are successfully distinguished, meanwhile, the focusing performance of other scattering points is improved to a certain extent, and the final fusion result is close to the set model. In the actual measurement data processing, two scattering points which are obvious in the actual vehicle are distinguished to a certain extent from the state of being mixed together, so that the effect of improving the transverse resolution of the image is achieved.
In an actual scene, two radars start to work at the same time, each frame is aligned from the first frame, but fusion processing can be performed only in a common area, namely, from the 1 st frame to the 26 th frame, and a target exists in a transverse radar line of sight but does not exist in a longitudinal radar line of sight. The fusion process starts from frame 27. The data are parameters and calculation results set in simulation experiments, and in practice, each parameter changes, so that the calculation results change to a certain extent.
Claims (4)
1. A radar imaging method based on fusion of distance image and ISAR image is characterized in that,
two radars are arranged in an imaging scene, the sight directions of the two radars are mutually perpendicular, one radar is a transverse radar, the other radar is a longitudinal radar, and the radar imaging method comprises the following steps:
step one: calculating lateral distance resolution d of the lateral radar and the longitudinal radar to the target, respectively rc And longitudinal distance resolution d r ，d r ＜d rc ：
Step two: will d rc And d r Dividing to obtain quotient n, rounding n to obtain n 1 ；
Step three: respectively carrying out interpolation processing on each distance unit in one-dimensional distance images of echo data of each frame of two radars;
for longitudinal radar:
performing fast Fourier transform on each frame of echo data of the longitudinal radar to obtain a one-dimensional range profile of the longitudinal radar,
n is respectively carried out on each distance unit in the one-dimensional distance image of the longitudinal radar 2 Fast Fourier transform of points to obtain transform results A, N 2 In order to be a number of slow time echoes,
n is carried out on the conversion result A 3 -N 2 Zero-filling to obtain results M, N 3 ＝floor(n*N 2 ) Floor () represents the rounding off,
performing fast Fourier transform on each distance unit in the result M to obtain an interpolation result corresponding to echo data of each frame of the longitudinal radar;
for transverse radar:
performing fast Fourier transform on echo data of each frame of the transverse radar to obtain a one-dimensional range profile of the transverse radar,
n is respectively carried out on each distance unit in one-dimensional range profile of the transverse radar 3 The fast Fourier transform of the points is carried out to obtain interpolation results corresponding to echo data of each frame of the transverse radar;
step four: performing ISAR imaging processing on interpolation results corresponding to echo data of each frame of the transverse radar to obtain an ISAR image of a target,
any echo is selected from interpolation results corresponding to echo data of each frame of the longitudinal radar, and the echo is detected,
when n is 1 If the number is even, the distance unit with the target and each n on the left and right sides thereof 1 The data in/2 distance cells are all replaced with 1,
when n is 1 When=1, the data in the distance unit where the target is located is replaced by 1,
when n is 1 When the distance is an odd number greater than 1, the distance unit on which the target is located is divided into two sides (n 1 Data within 1)/2 distance units are all replaced by 1,
the data in the distance unit without the target is replaced by 100 to obtain a one-dimensional distance image after the longitudinal radar detection processing;
step five: and rotating the one-dimensional range profile subjected to longitudinal radar detection processing by 90 degrees, and multiplying the one-dimensional range profile by an ISAR image of the target to obtain a fused radar image.
2. The radar imaging method based on fusion of range profile and ISAR image as recited in claim 1, wherein the longitudinal range resolution d r Obtained by the formula:
wherein c is the speed of light, and B is the signal bandwidth;
lateral distance resolution d rc Obtained by the formula:
wherein θ is the rotation angle of the target in the accumulation time, R is the distance from the target to the transverse radar, PRI is the pulse repetition period, v is the movement speed of the target, and λ is the wavelength.
3. The radar imaging method based on the fusion of distance images and ISAR images according to claim 1, wherein before the fifth step, the ISAR images of the targets and the one-dimensional distance images after the longitudinal radar detection processing are cut respectively so that the dimensions of the two are the same.
4. A radar imaging method based on fusion of range profile and ISAR profile according to claim 3, wherein the clipping basis is:
judging whether or not to accord with N 3 ＞N 1 Wherein N is 1 For the purpose of fast time sampling of the number of points,
if yes, the two image dimensions conform to N 1 *N 1 ，
Otherwise the two image dimensions conform to N 3 *N 3 。
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