CN112764026A - Channel type close-range active millimeter wave motion compensation and three-dimensional imaging method and system - Google Patents
Channel type close-range active millimeter wave motion compensation and three-dimensional imaging method and system Download PDFInfo
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Abstract
The invention discloses a channel type close-range active millimeter wave motion compensation and three-dimensional imaging method and a system, wherein the method comprises the following steps: receiving echo signal data of a traveling person, acquiring motion parameters of all parts of a body of the detected person when the detected person walks through a security inspection system, and performing phase compensation from multi-station sampling to single-station sampling; performing secondary compensation processing on the echo signal data after phase compensation to obtain an integral image; separating the whole image to obtain limb micromotion data, and performing micromotion imaging on the limb micromotion data; and carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the advancing person. The imaging quality of the channel type close-distance active millimeter wave real-time three-dimensional imaging security inspection system for the advancing personnel is improved, two-part compensation and imaging operation is carried out on the echo according to the motion information of the detected personnel, the motion compensation process is simple, the compensation effect is good, and the channel type close-distance active millimeter wave security inspection system can carry out high-quality real-time three-dimensional imaging on the advancing detected personnel.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a channel type short-distance active millimeter wave motion compensation and three-dimensional imaging method and system.
Background
The active millimeter wave security inspection equipment is non-ionizing radiation, has low emission power and is harmless to human bodies; meanwhile, the device can easily penetrate through shielding objects such as clothes and the like to image and identify hidden objects. Compare in traditional manual search security check mode, initiative millimeter wave security check equipment has high-efficient, non-contact advantage. At present, close-range active millimeter wave security inspection equipment in markets at home and abroad needs to be matched with specific positions and postures of detected personnel, and the throughput and the security inspection experience of the detected personnel are improved. The safety inspection scene of the detected person is not needed to be matched with the specific position and posture of the detected person in the non-contact, non-perception and non-stop quick passing safety inspection scene, the passing efficiency of the safety inspection of the person in the public place of the large passenger flow can be improved, the safety inspection experience of the detected person is improved, and the method is a development trend in the field of the safety inspection of the person. In recent years, the channel type short-distance active millimeter wave real-time three-dimensional imaging security inspection technology through which the person to be inspected can walk is more and more emphasized. Based on the technology, Lincoln laboratories of the Massachusetts institute of technology propose a channel type millimeter wave multiple-input multiple-output radar security check system, and Rohde & Schwarz, Germany, propose a multi-station millimeter wave walking passing system and the like. Compared with a fixed standing posture scanning security inspection system, the system realizes three-dimensional imaging of the detected person in the process of moving and outputs a video image in real time in a high-speed electrical scanning and real-time signal processing mode, does not need the cooperation of the specific posture of the detected person, and can greatly improve the throughput of the system. However, the related research and experiment of the current channel-type active millimeter wave imaging technology adopts a "stop-go" model, that is, during each frame of signal transmission and reception by the radar antenna, the detected person is considered to be stationary, and after the signal acquisition is completed, the detected person moves, which is not consistent with the actual situation that the detected person continuously walks through the security inspection system. In practice, the movement of the person to be detected during the signal acquisition process can cause the image quality of the system to be reduced. How to effectively compensate and image the movement of the detected person in the scanning process so as to obtain a high-quality image becomes a key technology in the channel type short-distance active millimeter wave real-time three-dimensional imaging. The motion compensation technology and the imaging method are not published at home and abroad.
Disclosure of Invention
The invention aims to provide a channel type short-distance active millimeter wave motion compensation and three-dimensional imaging method and system, which solve the problem of imaging quality reduction caused by walking motion of a detected person in the current channel type short-distance active millimeter wave real-time three-dimensional imaging security inspection system.
In view of the above, the present invention provides a channel-type close-range active millimeter wave motion compensation and three-dimensional imaging method, which is characterized by comprising:
receiving echo signal data of a traveling person, acquiring motion parameters of all parts of a body of the detected person when the detected person walks through a security inspection system, and performing phase compensation from multi-station sampling to single-station sampling;
performing secondary compensation processing on the echo signal data after phase compensation to obtain an integral image;
separating the whole image to obtain limb micromotion data, and performing micromotion imaging on the limb micromotion data;
and carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the advancing person.
Furthermore, the method for obtaining the motion parameters of all parts of the body of the person to be detected when the person to be detected walks through the security inspection system and performing phase compensation from multi-station sampling to single-station sampling comprises the following steps:
firstly, performing two-dimensional Fourier transform to transform echo signal data from a space domain to a wavenumber domain to obtain data of the wavenumber domain;
then, the distance sensor is used for obtaining the distance and speed information of the travelling personnel, the movement direction and speed of the travelling personnel are obtained through calculation, and the data of the wave number domain are subjected to movement phase compensation according to the movement speed.
Further, the secondary compensation processing is performed on the echo signal data after the phase compensation, and the secondary compensation processing includes:
firstly, performing imaging plane phase compensation on echo signal data after phase compensation;
then, carrying out interpolation processing on the data after the phase compensation of the imaging plane;
and finally, performing three-dimensional inverse Fourier transform on the data subjected to the interpolation processing.
Further, separating the whole image to obtain limb micromotion data, and performing micromotion imaging on the limb micromotion data, wherein the steps of: the whole image is processed by doppler analysis.
Another object of the present invention is to provide a channel type close-range active millimeter wave motion compensation and three-dimensional imaging system, which comprises:
the acquisition module is used for receiving echo signal data of a person who walks, acquiring motion parameters of all parts of a body when the person to be detected walks through the security inspection system, and performing phase compensation from multi-station sampling to single-station sampling;
the processing module is used for carrying out secondary compensation processing on the echo signal data after phase compensation to obtain an integral image;
the micro-motion module is used for separating the whole image to obtain limb micro-motion data and carrying out micro-motion imaging on the limb micro-motion data;
and the synthesis module is used for carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the advancing person.
Further, the obtaining module includes:
the FFT submodule is used for carrying out two-dimensional Fourier transform to transform the echo signal data from a space domain to a wavenumber domain so as to obtain data of the wavenumber domain;
and the resolving submodule is used for acquiring the distance and speed information of the travelling personnel by using the distance sensor, calculating the movement direction and speed of the travelling personnel, and performing movement phase compensation on the data of the wave number domain according to the movement speed.
Further, the processing module comprises:
the compensation submodule is used for carrying out imaging plane phase compensation on the echo signal data after the phase compensation;
the interpolation submodule is used for carrying out interpolation processing on the data after the imaging plane phase compensation;
the IFFT submodule is used for carrying out three-dimensional inverse Fourier transform on the data after the interpolation processing;
further, the micromotion module processes the whole image through doppler analysis.
The invention achieves the following significant beneficial effects:
the realization is simple, include: receiving echo signal data of a traveling person, acquiring motion parameters of all parts of a body of the detected person when the detected person walks through a security inspection system, and performing phase compensation from multi-station sampling to single-station sampling; performing secondary compensation processing on the echo signal data after phase compensation to obtain an integral image; separating the whole image to obtain limb micromotion data, and performing micromotion imaging on the limb micromotion data; and carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the advancing person. The imaging quality of the channel type close-range active millimeter wave real-time three-dimensional imaging security inspection system to the advancing personnel can be effectively improved. The echo is only required to be compensated and imaged in two parts according to the motion information of the detected person, the motion compensation process is simple, the compensation effect is good, and the channel type short-distance active millimeter wave security inspection system can perform high-quality real-time three-dimensional imaging on the detected person in the process of moving.
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FIG. 1 is a flow chart of a channel-type close-range active millimeter wave motion compensation and three-dimensional imaging method of the present invention;
fig. 2 is a schematic diagram of an embodiment of the channel-type close-range active millimeter wave motion compensation and three-dimensional imaging method according to the present invention.
Detailed Description
The advantages and features of the present invention will become more fully apparent from the following description and appended claims, taken in conjunction with the accompanying drawings and detailed description of specific embodiments of the invention. It is to be noted that the drawings are in a very simplified form and are not to scale, which is intended merely for convenience and clarity in describing embodiments of the invention.
It should be noted that, for clarity of description of the present invention, various embodiments are specifically described to further illustrate different implementations of the present invention, wherein the embodiments are illustrative and not exhaustive. In addition, for simplicity of description, the contents mentioned in the previous embodiments are often omitted in the following embodiments, and therefore, the contents not mentioned in the following embodiments may be referred to the previous embodiments accordingly.
While the invention is amenable to various modifications and alternative forms, specifics thereof have been shown by way of example in the drawings and will be described in detail. It should be understood that the inventors do not intend to limit the invention to the particular embodiments described, but intend to protect all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the claims. The same meta-module part number may be used throughout the drawings to represent the same or similar parts.
Referring to fig. 1, the present invention provides a channel type close-range active millimeter wave motion compensation and three-dimensional imaging method, including:
step S101, receiving echo signal data of a person who walks, acquiring motion parameters of all parts of a body of the person to be detected when the person walks through a security inspection system, and performing phase compensation from multi-station sampling to single-station sampling;
step S102, carrying out secondary compensation processing on the echo signal data after phase compensation to obtain an integral image;
step S103, separating the whole image to obtain limb micro-motion data, and performing micro-motion imaging on the limb micro-motion data;
and step S104, carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the travelling personnel.
In one embodiment, acquiring motion parameters of each part of a body of a person to be detected when the person to be detected walks through a security inspection system, and performing phase compensation from multi-station sampling to single-station sampling comprises:
firstly, performing two-dimensional Fourier transform to transform echo signal data from a space domain to a wavenumber domain to obtain data of the wavenumber domain;
then, the distance sensor is used for obtaining the distance and speed information of the travelling personnel, the movement direction and speed of the travelling personnel are obtained through calculation, and the data of the wave number domain are subjected to movement phase compensation according to the movement speed.
In one embodiment, the performing the secondary compensation process on the phase-compensated echo signal data includes:
firstly, performing imaging plane phase compensation on echo signal data after phase compensation;
then, carrying out interpolation processing on the data after the phase compensation of the imaging plane;
and finally, performing three-dimensional inverse Fourier transform on the data subjected to the interpolation processing.
In one embodiment, separating the whole image to obtain the limb micromotion data, and performing micromotion imaging on the limb micromotion data comprises: the whole image is processed by doppler analysis.
Another objective of the present invention is to provide a channel type close-range active millimeter wave motion compensation and three-dimensional imaging system, which includes:
the acquisition module is used for receiving echo signal data of a person who walks, acquiring motion parameters of all parts of a body when the person to be detected walks through the security inspection system, and performing phase compensation from multi-station sampling to single-station sampling;
the processing module is used for carrying out secondary compensation processing on the echo signal data after phase compensation to obtain an integral image;
the micro-motion module is used for separating the whole image to obtain limb micro-motion data and carrying out micro-motion imaging on the limb micro-motion data;
and the synthesis module is used for carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the advancing person.
In one embodiment, the obtaining module includes:
the FFT submodule is used for carrying out two-dimensional Fourier transform to transform the echo signal data from a space domain to a wavenumber domain so as to obtain data of the wavenumber domain;
and the resolving submodule is used for acquiring the distance and speed information of the travelling personnel by using the distance sensor, calculating the movement direction and speed of the travelling personnel, and performing movement phase compensation on the data of the wave number domain according to the movement speed.
In one embodiment, the processing module comprises:
the compensation submodule is used for carrying out imaging plane phase compensation on the echo signal data after the phase compensation;
the interpolation submodule is used for carrying out interpolation processing on the data after the imaging plane phase compensation;
the IFFT submodule is used for carrying out three-dimensional inverse Fourier transform on the data after the interpolation processing;
in one embodiment, the micromotion module processes the whole image by doppler analysis.
As a specific embodiment, the invention firstly performs Fast Fourier Transform (FFT) on the received echo signal data to obtain spatial wave number domain data, and simultaneously obtains motion parameters such as real-time speed, distance and the like of each part of the body of a detected person when the detected person walks through a security system through a distance sensing device installed on the security system; carrying out corresponding phase compensation on the wave number domain echo by using the distance and speed information of the detected person to realize the integral body compensation of the human body movement; then, echoes are separated through Doppler analysis, imaging based on three-dimensional Inverse Fast Fourier Transform (IFFT) and limb micromotion imaging are respectively carried out on the whole trunk, and finally, a three-dimensional image of a traveling person is obtained through image recombination.
As a specific embodiment, the invention has the advantages that only two-part compensation and imaging operation is needed to be carried out on the echo according to the motion information of the detected person, the motion compensation process is simple, the compensation effect is good, and the channel type short-distance active millimeter wave security inspection system can carry out high-quality real-time three-dimensional imaging on the detected person in the process of travelling.
As a specific embodiment, the channel type close-range active millimeter wave motion compensation and real-time three-dimensional imaging method and the principle of the invention are as follows:
firstly, the millimeter wave detection device detects the traveling personnel and receives echo signal data, and the distance sensor detects the traveling personnel and acquires the distance and speed information of the traveling personnel. And then, the real-time computing and processing platform carries out compensation and imaging processing on the data acquired by the millimeter wave detection device and the 2-distance sensor.
Defining the coordinates of any point on the surface of the detected person as (x, y, z), the reflection characteristic of the detected person is f (x, y, z), walking the detected person along the x axis at a speed v through the security inspection system, and the equivalent phase center (n) corresponding to the transmitting and receiving unit in the xy plane in the scanning processx,ny,Z1) Has a scanning time of TnAfter the phase compensation from multi-station sampling to single-station sampling is performed on the echo signal data, the signal corresponding to the equivalent phase center is
Where ω is a time angular frequency, k ═ ω/c is a wave number, c is an electromagnetic wave propagation velocity, and a distance between the 1 millimeter wave detection device and the person to be examined in the Z direction is Z ═ Z1。
The above formula can be written as a superposition approximation of a plurality of plane waves from a spherical wave
Wherein
Is nx、nyThe variable after the fourier transform is performed,
two-dimensional Fourier transform is performed on the echo in the x and y directions to transform the echo signal data from the spatial domain to the wavenumber domain, including
The overall motion compensation of the detected person is realized by performing motion-dependent phase compensation on the echo in the wavenumber domain, wherein the phase compensation term is
And then according to the realization principle of the wave number domain convolution imaging algorithm, compensating the imaging plane, carrying out interpolation processing on the data, and then carrying out three-dimensional inverse Fourier transform to obtain the whole three-dimensional image of the trunk of the detected person.
And then, carrying out body overall movement and limb micromotion data separation on the echo through Doppler analysis, imaging the limb micromotion data, and finally obtaining a three-dimensional image of the detected person in the process of moving through image recombination.
As a specific embodiment, the millimeter wave detection device 1 detects a traveling person and receives echo signal data, and the distance sensor 2 detects the traveling person and acquires distance and speed information of each part of the body of the traveling person. The real-time computing and processing platform 3 analyzes, compensates and images the data acquired by the millimeter wave detection device 1 and the distance sensor 2 and detects and processes dangerous goods. And displaying the imaging and detection results through the terminal display workstation 4.
As a specific embodiment, the phase compensation from multi-station sampling to single-station sampling is performed on the echo signal of the traveling person 2 received by the millimeter wave detection device 1, two-dimensional fourier transform is performed to transform the echo signal data from a space domain to a wave number domain, the moving direction and speed of the traveling person are calculated by using the distance and speed information of the traveling person obtained by the distance sensor, and the moving phase compensation is performed on the data of the wave number domain according to the speed, so that the whole motion compensation of the trunk of the traveling person is realized. And then, carrying out imaging plane phase compensation on the compensated data, carrying out interpolation processing on the data, and then carrying out three-dimensional inverse Fourier transform to obtain an integral three-dimensional image of the detected person. And then separating the whole body movement and the limb micromotion data of the echo signal data after the movement compensation, carrying out micromotion imaging (such as complex inverse radon transformation) on the limb micromotion data, and finally obtaining a three-dimensional image of the detected person in the process of moving through image recombination.
The invention achieves the following significant beneficial effects:
the realization is simple, include: receiving echo signal data of a traveling person, acquiring motion parameters of all parts of a body of the detected person when the detected person walks through a security inspection system, and performing phase compensation from multi-station sampling to single-station sampling; performing secondary compensation processing on the echo signal data after phase compensation to obtain an integral image; separating the whole image to obtain limb micromotion data, and performing micromotion imaging on the limb micromotion data; and carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the advancing person. The imaging quality of the channel type close-range active millimeter wave real-time three-dimensional imaging security inspection system to the advancing personnel can be effectively improved. The echo is only required to be compensated and imaged in two parts according to the motion information of the detected person, the motion compensation process is simple, the compensation effect is good, and the channel type short-distance active millimeter wave security inspection system can perform high-quality real-time three-dimensional imaging on the detected person in the process of moving.
Any other suitable modifications can be made according to the technical scheme and the conception of the invention. All such alternatives, modifications and improvements as would be obvious to one skilled in the art are intended to be included within the scope of the invention as defined by the appended claims.
Claims (8)
1. A channel type close-distance active millimeter wave motion compensation and three-dimensional imaging method is characterized by comprising the following steps:
receiving echo signal data of a traveling person, acquiring motion parameters of all parts of a body of the detected person when the detected person walks through a security inspection system, and performing phase compensation from multi-station sampling to single-station sampling;
performing secondary compensation processing on the echo signal data after phase compensation to obtain an integral image;
separating the whole image to obtain limb micromotion data, and performing micromotion imaging on the limb micromotion data;
and carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the advancing person.
2. The channel type close-range active millimeter wave motion compensation and three-dimensional imaging method according to claim 1, wherein the phase compensation from multi-station sampling to single-station sampling is performed by obtaining the motion parameters of each part of the body of the person to be detected when the person walks through the security inspection system, and comprises:
firstly, performing two-dimensional Fourier transform to transform echo signal data from a space domain to a wavenumber domain to obtain data of the wavenumber domain;
then, the distance sensor is used for obtaining the distance and speed information of the travelling personnel, the movement direction and speed of the travelling personnel are obtained through calculation, and the data of the wave number domain are subjected to movement phase compensation according to the movement speed.
3. The channel type close-range active millimeter wave motion compensation and three-dimensional imaging method according to claim 1, wherein the secondary compensation processing is performed on the echo signal data after the phase compensation, and comprises the following steps:
firstly, performing imaging plane phase compensation on echo signal data after phase compensation;
then, carrying out interpolation processing on the data after the phase compensation of the imaging plane;
and finally, performing three-dimensional inverse Fourier transform on the data subjected to the interpolation processing.
4. The channel type close-range active millimeter wave motion compensation and three-dimensional imaging method according to claim 1, wherein the separating of the whole image to obtain the limb micromotion data and the micromotion imaging of the limb micromotion data comprises: the whole image is processed by doppler analysis.
5. A channel type close-distance active millimeter wave motion compensation and three-dimensional imaging system is characterized by comprising:
the acquisition module is used for receiving echo signal data of a person who walks, acquiring motion parameters of all parts of a body when the person to be detected walks through the security inspection system, and performing phase compensation from multi-station sampling to single-station sampling;
the processing module is used for carrying out secondary compensation processing on the echo signal data after phase compensation to obtain an integral image;
the micro-motion module is used for separating the whole image to obtain limb micro-motion data and carrying out micro-motion imaging on the limb micro-motion data;
and the synthesis module is used for carrying out image recombination on the whole image and the micro-motion imaging to obtain a three-dimensional image of the advancing person.
6. The channel close-range active millimeter wave motion compensation and three-dimensional imaging system according to claim 5, wherein the obtaining module comprises:
the FFT submodule is used for carrying out two-dimensional Fourier transform to transform the echo signal data from a space domain to a wavenumber domain so as to obtain data of the wavenumber domain;
and the resolving submodule is used for acquiring the distance and speed information of the travelling personnel by using the distance sensor, calculating the movement direction and speed of the travelling personnel, and performing movement phase compensation on the data of the wave number domain according to the movement speed.
7. The channel close-range active millimeter wave motion compensation and three-dimensional imaging system according to claim 5, wherein the processing module comprises:
the compensation submodule is used for carrying out imaging plane phase compensation on the echo signal data after the phase compensation;
the interpolation submodule is used for carrying out interpolation processing on the data after the imaging plane phase compensation;
and the IFFT submodule is used for performing three-dimensional inverse Fourier transform on the data after the interpolation processing.
8. The channel close-range active millimeter wave motion compensation and three-dimensional imaging system of claim 5, wherein the micromotion module processes the whole image by Doppler analysis.
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