CN112764026B - Channel type short-distance active millimeter wave motion compensation and three-dimensional imaging method and system - Google Patents
Channel type short-distance 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 near-distance active millimeter wave motion compensation and three-dimensional imaging method and system, comprising the following steps: receiving echo signal data of a travelling person, acquiring motion parameters of each part of a body when the person to be detected walks through a security inspection system, and performing multi-station sampling to single-station sampling phase compensation; performing secondary compensation processing on the echo signal data after phase compensation to obtain an overall image; separating the whole image to obtain limb jog data, and performing jog imaging on the limb jog data; and carrying out image recombination on the integral image and the micro-motion imaging to obtain a three-dimensional image of the advancing personnel. The imaging quality of the channel type near-distance active millimeter wave real-time three-dimensional imaging security inspection system to the travelling personnel is improved, the echo is subjected to two-part compensation and imaging operation according to the motion information of the inspected personnel, the motion compensation process is simple, the compensation effect is good, and the high-quality real-time three-dimensional imaging of the travelling inspected personnel can be realized by the channel type near-distance active millimeter wave security inspection system.
Description
Technical Field
The invention belongs to the technical field of communication, and particularly relates to a channel type near-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; at the same time, it can easily penetrate the shielding articles such as clothes, etc., and image and identify the hidden articles. Compared with the traditional manual searching security inspection mode, the active millimeter wave security inspection equipment has the advantages of high efficiency and non-contact. At present, the close-range active millimeter wave security inspection equipment in the markets at home and abroad needs the cooperation of the specific position and the gesture of the inspected personnel, and the throughput and the security inspection experience of the inspected personnel are required to be improved. The rapid passing security inspection scene without contact, perception and residence does not need the cooperation of the specific position and the gesture of the inspected personnel, can improve the personnel security inspection passing efficiency in the public places with large passenger flows, improves the security inspection experience of the inspected personnel, and is a development trend of the personnel security inspection field. In recent years, attention is paid to a channel type near-distance active millimeter wave real-time three-dimensional imaging security inspection technology through which a person to be inspected can walk. Based on the technology, a channel type millimeter wave multiple-input multiple-output radar security inspection system is proposed by the Lincoln laboratory of the Ma province college of technology, and a multi-station millimeter wave walk-through system is proposed by Rohde & Schwarz company of Germany. Compared with a fixed standing posture scanning security inspection system, the system realizes three-dimensional imaging of the person to be inspected in the advancing process in a high-speed electric scanning and real-time signal processing mode and outputs video images in real time, does not need the cooperation of the specific posture of the person to be inspected, and can greatly improve the throughput of the system. However, a "stop-and-go" model is adopted in related research and experiments of the current channel type active millimeter wave imaging technology, namely, during the period of transmitting and receiving each frame of signals by the radar antenna, the detected personnel is considered to be stationary, and after the signal acquisition is completed, the detected personnel moves, which is not in accordance with the actual condition that the detected personnel continuously walk through the security inspection system. In practice, the movement of the person to be inspected during the signal acquisition process may cause the image quality of the system to be reduced. How to effectively compensate and image the movement of the detected personnel in the scanning process, thereby obtaining high-quality images becomes a key technology in channel type near-distance active millimeter wave real-time three-dimensional imaging. The motion compensation technology and the imaging method have no public report at home and abroad.
Disclosure of Invention
The invention aims to provide a channel type near-distance active millimeter wave motion compensation and three-dimensional imaging method and system, which solve the problem that imaging quality is reduced due to walking motion of a detected person in a current channel type near-distance active millimeter wave real-time three-dimensional imaging security inspection system.
In view of the above, the present invention provides a channel type near-field active millimeter wave motion compensation and three-dimensional imaging method, which is characterized by comprising:
receiving echo signal data of a travelling person, acquiring motion parameters of each part of a body when the person to be detected walks through a security inspection system, and performing multi-station sampling to single-station sampling phase compensation;
performing secondary compensation processing on the echo signal data after phase compensation to obtain an overall image;
separating the whole image to obtain limb jog data, and performing jog imaging on the limb jog data;
and carrying out image recombination on the integral image and the micro-motion imaging to obtain a three-dimensional image of the advancing personnel.
Further, the method for obtaining the motion parameters of each part of the body when the person to be detected walks through the security inspection system and performing the 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 wave number domain to obtain data of the wave number domain;
and then, acquiring distance and speed information of the travelling personnel by utilizing a 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, performing a second compensation process on the echo signal data after the phase compensation, including:
firstly, carrying out imaging plane phase compensation on echo signal data after phase compensation;
then, carrying out interpolation processing on the data subjected to phase compensation of the imaging plane;
and finally, performing three-dimensional inverse Fourier transform on the data after interpolation processing.
Further, separating the whole image to obtain limb jog data, and performing jog imaging on the limb jog data, including: the whole image is processed by doppler analysis.
Another object of the present invention is to provide a channel-type near-field active millimeter wave motion compensation and three-dimensional imaging system, which is characterized by comprising:
the acquisition module is used for receiving echo signal data of the travelling personnel, acquiring motion parameters of each part of the body when the detected personnel walk 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 the 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 performing micro-motion imaging on the limb micro-motion data;
and the synthesis module is used for carrying out image recombination on the integral image and the micro-imaging to obtain a three-dimensional image of the advancing personnel.
Further, the acquisition module includes:
the FFT submodule is used for carrying out two-dimensional Fourier transform to transform echo signal data from a space domain to a wave number domain so as to obtain data of the wave number domain;
and the solution sub-module is used for acquiring distance and speed information of the advancing personnel by using a distance sensor, calculating the movement direction and speed of the advancing personnel, and performing movement phase compensation on the data of the wave number domain according to the movement speed.
Further, the processing module includes:
the compensation sub-module is used for carrying out imaging plane phase compensation on the echo signal data after the phase compensation;
the interpolation sub-module is used for carrying out interpolation processing on the data subjected to the phase compensation of the imaging plane;
the IFFT sub-module is used for performing three-dimensional inverse Fourier transform on the data after interpolation processing;
further, the micro-motion module processes the whole image through Doppler analysis.
The invention realizes the following remarkable beneficial effects:
the realization is simple, including: receiving echo signal data of a travelling person, acquiring motion parameters of each part of a body when the person to be detected walks through a security inspection system, and performing multi-station sampling to single-station sampling phase compensation; performing secondary compensation processing on the echo signal data after phase compensation to obtain an overall image; separating the whole image to obtain limb jog data, and performing jog imaging on the limb jog data; and carrying out image recombination on the integral image and the micro-motion imaging to obtain a three-dimensional image of the advancing personnel. The imaging quality of the channel type near-distance active millimeter wave real-time three-dimensional imaging security inspection system to the advancing personnel can be effectively improved. Only two-part compensation and imaging operation are 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 high-quality real-time three-dimensional imaging of the detected person in the advancing process can be realized by the channel type near-distance active millimeter wave security inspection system.
Drawings
FIG. 1 is a flow chart of a channel-type near-field active millimeter wave motion compensation and three-dimensional imaging method of the present invention;
fig. 2 is a schematic diagram of an embodiment of a channel-type near-field 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. It should be noted that the drawings are in a very simplified form and are adapted to non-precise proportions, merely for the purpose of facilitating and clearly aiding in the description of embodiments of the invention.
It should be noted that, in order to clearly illustrate the present invention, various embodiments of the present invention are specifically illustrated by the present embodiments to further illustrate different implementations of the present invention, where the various embodiments are listed and not exhaustive. Furthermore, for simplicity of explanation, what has been mentioned in the previous embodiment is often omitted in the latter embodiment, and therefore, what has not been mentioned in the latter embodiment can be referred to the previous embodiment accordingly.
While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof have been shown by way of example in the drawings and are herein described in detail. It should be understood that the invention is not to be limited to the particular embodiments disclosed, but on the contrary, the invention is to cover all modifications, equivalents, and alternatives falling within the spirit or scope of the invention as defined by the appended claims. The same element numbers may be used throughout the drawings to refer to the same or like parts.
Referring to fig. 1, the present invention provides a channel type near-field active millimeter wave motion compensation and three-dimensional imaging method, which includes:
step S101, receiving echo signal data of a travelling person, acquiring motion parameters of each part of a body when the person to be detected walks through a security inspection system, and performing multi-station sampling to single-station sampling phase compensation;
step S102, performing secondary compensation processing on echo signal data after phase compensation to obtain an integral image;
step S103, separating the whole image to obtain limb jog data, and performing jog imaging on the limb jog data;
and step S104, performing image recombination on the integral image and the micro-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 tested walking through the security inspection system, performing multi-station sampling to single-station sampling phase compensation, comprising:
firstly, performing two-dimensional Fourier transform to transform echo signal data from a space domain to a wave number domain to obtain data of the wave number domain;
and then, acquiring distance and speed information of the travelling personnel by utilizing a 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, performing a secondary compensation process on the phase compensated echo signal data includes:
firstly, carrying out imaging plane phase compensation on echo signal data after phase compensation;
then, carrying out interpolation processing on the data subjected to phase compensation of the imaging plane;
and finally, performing three-dimensional inverse Fourier transform on the data after interpolation processing.
In one embodiment, separating the whole image to obtain limb jog data, and jog imaging the limb jog data includes: the whole image is processed by doppler analysis.
Another object of the present invention is to provide a channel-type near-field active millimeter wave motion compensation and three-dimensional imaging system, comprising:
the acquisition module is used for receiving echo signal data of the travelling personnel, acquiring motion parameters of each part of the body when the detected personnel walk 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 the 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 performing micro-motion imaging on the limb micro-motion data;
and the synthesis module is used for carrying out image recombination on the integral image and the micro-imaging to obtain a three-dimensional image of the advancing personnel.
In one embodiment, the acquisition module includes:
the FFT submodule is used for carrying out two-dimensional Fourier transform to transform echo signal data from a space domain to a wave number domain so as to obtain data of the wave number domain;
and the solution sub-module is used for acquiring distance and speed information of the advancing personnel by using a distance sensor, calculating the movement direction and speed of the advancing 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 sub-module is used for carrying out imaging plane phase compensation on the echo signal data after the phase compensation;
the interpolation sub-module is used for carrying out interpolation processing on the data subjected to the phase compensation of the imaging plane;
the IFFT sub-module is used for performing three-dimensional inverse Fourier transform on the data after interpolation processing;
in one embodiment, the micro-motion module processes the overall image by doppler analysis.
As a specific embodiment, the method comprises the steps of firstly carrying out azimuth two-dimensional fast Fourier transform (Fast Fourier Transform, FFT) on received echo signal data to obtain spatial wave number domain data, and simultaneously obtaining real-time speed, distance and other motion parameters of each part of a body when a person to be detected walks through a security inspection system through distance sensing equipment arranged on the security inspection system; the wave number domain echo is subjected to corresponding phase compensation by using the distance and speed information of the detected person, so that the whole compensation of the trunk of the human body motion is realized; then, the echoes are separated through Doppler analysis, imaging based on three-dimensional inverse fast Fourier transform (Inverse Fast Fourier Transform, IFFT) and micro-imaging are respectively carried out on the whole trunk, and finally, three-dimensional images of the advancing personnel are obtained through image recombination.
As a specific embodiment, the invention has the advantages that only two parts of compensation and imaging operation are 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 high-quality real-time three-dimensional imaging of the detected person in the advancing process can be realized by the channel type near-distance active millimeter wave security inspection system.
As a specific embodiment, the channel type near-distance active millimeter wave motion compensation and real-time three-dimensional imaging method and the principle of the invention are as follows:
first, the millimeter wave detection device detects a traveling person and receives the echo signal data, and the distance sensor detects the traveling person and acquires distance and speed information of the traveling person. And then, the real-time calculation processing platform compensates and images 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 person to be detected as (x, y, z), the reflection characteristic of the person to be detected as f (x, y, z), the person to be detected walks 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 during scanning x ,n y ,Z 1 ) Is set to T n The signal corresponding to the equivalent phase center after the multi-station sampling to the single-station sampling phase compensation is carried out on the echo signal data is
Wherein ω is time angular frequency, k=ω/c is wave number, c is electromagnetic wave propagation speed, and the distance between the 1 millimeter wave detection device and the person to be detected in the Z direction is z=z 1 。
According to the superposition approximation of a plurality of plane waves which can be written by spherical waves, the method can be written as
Wherein the method comprises the steps ofIs n x 、n y Fourier transformed variables,/>
Performing two-dimensional Fourier transform of the echo in x and y directions to change the echo signal data from the space domain to the wave number domain, wherein the two-dimensional Fourier transform comprises
The whole motion compensation of the person to be detected is realized by carrying out motion-related phase compensation on the echo in the wave number domain, wherein the compensation phase term is that
And then, according to the implementation principle of the wave number domain convolution imaging algorithm, compensating an imaging plane, carrying out interpolation processing on data, and then carrying out three-dimensional inverse Fourier transform to obtain the trunk integral three-dimensional image of the person to be detected.
And then, carrying out overall motion of the trunk and limb micro-motion data separation on the echo by Doppler analysis, imaging the limb micro-motion data, and finally obtaining a three-dimensional image of the person to be detected in the advancing process by image recombination.
As a specific example, the millimeter wave detection device 1 detects a traveling person and receives echo signal data, while the distance sensor 2 detects the traveling person and acquires distance and speed information of each part of the traveling person's body. The real-time computing and processing platform 3 analyzes, compensates, images and detects the dangerous goods on the data collected by the millimeter wave detection device 1 and the distance sensor 2. The imaging and detection results are displayed by the terminal display workstation 4.
As a specific embodiment, the echo signal of the travelling person 2 received by the millimeter wave detection device 1 is subjected to multi-station sampling to single-station sampling phase compensation, two-dimensional fourier transform is performed to transform echo signal data from a space domain to a wave number domain, the moving direction and speed of the travelling person are calculated by using distance and speed information of the travelling person acquired by a distance sensor, and the data of the wave number domain is subjected to motion phase compensation according to the speed, so that the overall motion compensation of the trunk of the travelling 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 overall three-dimensional image of the detected person. And then, carrying out overall motion of the trunk and limb micro-motion data separation on the echo signal data after motion compensation, carrying out micro-motion imaging (such as complex inverse radon transformation) on the limb micro-motion data, and finally obtaining a three-dimensional image of the person to be detected in the process of advancing through image recombination.
The invention realizes the following remarkable beneficial effects:
the realization is simple, including: receiving echo signal data of a travelling person, acquiring motion parameters of each part of a body when the person to be detected walks through a security inspection system, and performing multi-station sampling to single-station sampling phase compensation; performing secondary compensation processing on the echo signal data after phase compensation to obtain an overall image; separating the whole image to obtain limb jog data, and performing jog imaging on the limb jog data; and carrying out image recombination on the integral image and the micro-motion imaging to obtain a three-dimensional image of the advancing personnel. The imaging quality of the channel type near-distance active millimeter wave real-time three-dimensional imaging security inspection system to the advancing personnel can be effectively improved. Only two-part compensation and imaging operation are 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 high-quality real-time three-dimensional imaging of the detected person in the advancing process can be realized by the channel type near-distance active millimeter wave security inspection system.
Any other suitable modification may also be made according to the technical solution and the idea of the invention. All such alternatives, modifications and improvements will readily occur to those skilled in the art and are intended to be within the scope of the invention as defined in the appended claims.
Claims (4)
1. A channel type near-distance active millimeter wave motion compensation and three-dimensional imaging method is characterized by comprising the following steps:
receiving echo signal data of a travelling person, acquiring motion parameters of each part of a body when the person to be detected walks through a security inspection system, and performing multi-station sampling to single-station sampling phase compensation;
performing secondary compensation processing on the echo signal data after phase compensation to obtain an overall image;
separating the whole image to obtain limb jog data, and performing jog imaging on the limb jog data;
the integral image and the micro-imaging are subjected to image recombination to obtain a three-dimensional image of the advancing personnel,
the method for performing multi-station sampling to single-station sampling phase compensation comprises the following steps of: firstly, performing two-dimensional Fourier transform to transform echo signal data from a space domain to a wave number domain to obtain data of the wave number domain; then, distance and speed information of the travelling personnel are obtained by utilizing a distance sensor, the movement direction and speed of the travelling personnel are obtained by calculation, and the data of the wave number domain is subjected to movement phase compensation according to the movement speed; and performing a second compensation process on the phase-compensated echo signal data, including: firstly, carrying out imaging plane phase compensation on echo signal data after phase compensation; then, carrying out interpolation processing on the data subjected to phase compensation of the imaging plane; finally, carrying out three-dimensional inverse Fourier transform on the data after interpolation processing;
and wherein the coordinates of any point on the surface of the person under inspection are defined as (x, y, z), the reflection characteristics thereof are defined as f (x, y, z), the person under inspection walks through the security inspection system along the x-axis at a speed v, and the equivalent phase center (n) corresponding to the transmitting and receiving unit in the xy plane during scanning x ,n y ,Z 1 ) Is set to T n The signal corresponding to the equivalent phase center after the multi-station sampling to the single-station sampling phase compensation is carried out on the echo signal data is
Wherein ω is time angular frequency, k=ω/c is wave number, c is electromagnetic wave propagation speed, and the distance between the millimeter wave detection device and the person to be detected in the Z direction is z=z 1 ；
According to the superposition approximation of a plurality of plane waves which can be written by spherical waves, the method can be written as
Wherein the method comprises the steps ofIs n x 、n y Fourier transformed variables,/>
Performing two-dimensional Fourier transform of the echo in x and y directions to change the echo signal data from the space domain to the wave number domain, wherein the two-dimensional Fourier transform comprises
The whole motion compensation of the person to be detected is realized by carrying out motion-related phase compensation on the echo in the wave number domain, wherein the compensation phase term is that
2. The method for channel-type near-field active millimeter wave motion compensation and three-dimensional imaging according to claim 1, wherein separating the whole image to obtain limb micro-motion data, and performing micro-motion imaging on the limb micro-motion data comprises: the whole image is processed by doppler analysis.
3. A channel-type near-field active millimeter wave motion compensation and three-dimensional imaging system, comprising:
the acquisition module is used for receiving echo signal data of the travelling personnel, acquiring motion parameters of each part of the body when the detected personnel walk 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 the 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 performing micro-motion imaging on the limb micro-motion data;
a synthesis module for carrying out image recombination on the integral image and the micro-imaging to obtain a three-dimensional image of the advancing personnel,
wherein, the acquisition module includes: the FFT submodule is used for carrying out two-dimensional Fourier transform to transform echo signal data from a space domain to a wave number domain so as to obtain data of the wave number domain; the solution sub-module is used for acquiring distance and speed information of the travelling personnel by using a 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; the processing module comprises: the compensation sub-module is used for carrying out imaging plane phase compensation on the echo signal data after the phase compensation; the interpolation sub-module is used for carrying out interpolation processing on the data subjected to the phase compensation of the imaging plane; the IFFT sub-module is used for performing three-dimensional inverse Fourier transform on the data after interpolation processing;
and wherein the coordinates of any point on the surface of the person under inspection are defined as (x, y, z), the reflection characteristics thereof are defined as f (x, y, z), the person under inspection walks through the security inspection system along the x-axis at a speed v, and the equivalent phase center (n) corresponding to the transmitting and receiving unit in the xy plane during scanning x ,n y ,Z 1 ) Is set to T n The signal corresponding to the equivalent phase center after the multi-station sampling to the single-station sampling phase compensation is carried out on the echo signal data is
Wherein ω is time angular frequency, k=ω/c is wave number, c is electromagnetic wave propagation speed, and the distance between the millimeter wave detection device and the person to be detected in the Z direction is z=z 1 ；
According to the superposition approximation of a plurality of plane waves which can be written by spherical waves, the method can be written as
Wherein the method comprises the steps ofIs n x 、n y Fourier transformed variables,/>
Performing two-dimensional Fourier transform of the echo in x and y directions to change the echo signal data from the space domain to the wave number domain, wherein the two-dimensional Fourier transform comprises
The whole motion compensation of the person to be detected is realized by carrying out motion-related phase compensation on the echo in the wave number domain, wherein the compensation phase term is that
4. The system of claim 3, wherein the micro-motion module processes the global image by doppler analysis.
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