CN113031014A - Sea surface ice flow detection system based on GNSS reflected signal imaging - Google Patents

Sea surface ice flow detection system based on GNSS reflected signal imaging Download PDF

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CN113031014A
CN113031014A CN202110243009.5A CN202110243009A CN113031014A CN 113031014 A CN113031014 A CN 113031014A CN 202110243009 A CN202110243009 A CN 202110243009A CN 113031014 A CN113031014 A CN 113031014A
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sea surface
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navigation satellite
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CN113031014B (en
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杨东凯
牛明杰
王峰
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Beihang University
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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
    • G01S13/904—SAR modes
    • G01S13/9058—Bistatic or multistatic SAR
    • 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
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/13—Receivers
    • G01S19/14—Receivers specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
    • G01B7/32—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring areas
    • 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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  • Radar, Positioning & Navigation (AREA)
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  • Computer Networks & Wireless Communication (AREA)
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  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention relates to a sea surface ice flow detection system based on GNSS reflected signal imaging. The system comprises a detection region information acquisition module, a detection region information acquisition module and a detection region information acquisition module, wherein the detection region information acquisition module is used for acquiring the position and the area of a region to be detected; the reflection antenna setting module is used for determining the azimuth angle and the height of the reflection antenna according to the position and the area of the area to be detected; the position determining module of the navigation satellite is used for determining the position of the navigation satellite according to the azimuth angle of the reflecting antenna; and the sea surface flowing ice determining module is used for receiving the direct signals of the area to be detected and the reflection signals of the navigation satellite reflected by the sea surface, which are transmitted by the navigation satellite, and determining the position and the area of the sea surface flowing ice of the area to be detected by utilizing a global navigation satellite-radar (GNSS-R) receiver according to the position of the navigation satellite, the position of the GNSS-R receiver, the direct signals and the reflection signals by adopting a Back Propagation (BP) algorithm and an OTSU (over the Top) algorithm. The method has the advantages of abundant signal resources, global all-weather coverage, wide detection range and low cost, and further improves the accuracy of ice flow detection.

Description

Sea surface ice flow detection system based on GNSS reflected signal imaging
Technical Field
The invention relates to the field of sea surface flowing ice detection, in particular to a sea surface flowing ice detection system based on GNSS reflected signal imaging.
Background
At present, the most widely applied sea ice monitoring methods mainly comprise three types: the first is that the visual inspection is carried out by a professional, and the long-time and large-range continuous observation cannot be realized; the second method is 'measuring method', which is easily affected by environment and weather; the third method is a remote sensing method, which is mainly used for monitoring sea ice by a microwave remote sensing method, has a wide detection range and can be well guaranteed in an extreme environment. The traditional microwave remote sensing means is mainly used for monitoring sea ice through a Synthetic Aperture Radar (SAR), but the required cost is extremely high, and a certain blind area exists in sea ice monitoring on the offshore area.
Therefore, a new sea surface ice detection system is needed to solve the above problems.
Disclosure of Invention
The invention aims to provide a GNSS reflected signal imaging-based sea surface flowing ice detection system which has the advantages of rich signal resources, global full-time and all-weather coverage, wide detection range and low cost, and further improves the accuracy of flowing ice detection.
In order to achieve the purpose, the invention provides the following scheme:
a sea surface ice flow detection system based on GNSS reflected signal imaging comprises:
the detection region information acquisition module is used for acquiring the position and the area of a region to be detected;
the reflecting antenna setting module is used for determining the azimuth angle and the height of the reflecting antenna according to the position and the area of the region to be detected;
the position determining module of the navigation satellite is used for determining the position of the navigation satellite according to the azimuth angle of the reflecting antenna;
and the sea surface flowing ice determining module is used for receiving the direct signals of the area to be detected transmitted by the navigation satellite and the reflection signals of the navigation satellite reflected by the sea surface, and determining the position and the area of the sea surface flowing ice of the area to be detected by utilizing a global navigation satellite-receiver (GNSS-R) through a Back Propagation (BP) algorithm and an OTSU algorithm according to the position of the navigation satellite, the position of the GNSS-R receiver, the direct signals and the reflection signals.
Optionally, the reflection antenna setting module specifically includes:
the azimuth angle determining submodule of the reflecting antenna is used for determining the azimuth angle of the reflecting antenna according to the position of the area to be detected and the direction relative to the observation station;
and the height determining submodule of the reflecting antenna is used for determining the height of the reflecting antenna according to the distance between the position of the area to be detected and the observation station and the area of the area to be detected.
Optionally, the sea surface ice flow determination module specifically includes:
the signal receiving submodule is used for receiving a direct signal transmitted by the navigation satellite and receiving a reflected signal of the navigation satellite reflected by the sea surface;
and the GNSS-R receiver processing submodule is used for determining the position and the area of the sea surface flowing ice of the area to be detected by adopting a BP algorithm and an OTSU algorithm according to the position of the navigation satellite, the position of the receiver, the direct signal and the reflected signal.
Optionally, the signal receiving sub-module specifically includes:
the direct signal receiving unit is used for receiving the direct signal of the navigation satellite by utilizing a GNSS right-hand circularly polarized direct antenna;
and the reflected signal receiving unit is used for receiving the reflected signal of the navigation satellite reflected by the sea surface by using the left-handed circularly polarized reflecting antenna.
Optionally, the GNSS-R receiver processing sub-module specifically includes:
the SAR image determining unit is used for determining the SAR image of the area to be detected by utilizing a BP algorithm according to the position of a navigation satellite, the position of a GNSS-R receiver, the direct signal and the reflected signal;
the sea surface flowing ice pixel point extraction unit is used for carrying out binarization processing on the SAR image by utilizing an OTSU algorithm and extracting pixel points representing the sea surface flowing ice;
and the sea surface flowing ice determining unit is used for determining the position and the area of the sea surface flowing ice of the area to be detected according to the pixel points representing the sea surface flowing ice.
Optionally, the SAR image determination unit specifically includes:
the echo signal determining subunit is used for superposing the reflected signals to determine echo signals;
the imaging area determining subunit is used for performing matched filtering processing on the echo signal, determining a coverage area according to the azimuth angle and the height of the reflection antenna, and determining an imaging area according to the coverage area;
the time delay determining subunit of the pixel point is used for determining the time delay of each pixel point in the imaging area according to the position of the navigation satellite, the position of the receiver and the imaging area;
and the SAR image determining subunit is used for performing phase compensation, coherent accumulation and azimuth matched filtering on the time delay of each pixel point in the imaging area to determine the SAR image.
Optionally, the sea surface ice flow determination unit specifically includes:
the sea surface flowing ice area determining subunit is used for determining the sea surface flowing ice area of the region to be detected according to the number of the pixel points representing the sea surface flowing ice;
and the sea surface flowing ice position determining subunit is used for determining the sea surface flowing ice position of the area to be detected according to the position of the pixel point representing the sea surface flowing ice in the SAR image and the imaging geometric model.
Optionally, the sea surface ice flow determination module further includes:
and the signal synchronization submodule is used for capturing, tracking and positioning resolving the direct signals and synchronizing the reflected signals by using positioning results.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
according to the sea surface flowing ice detection system based on GNSS reflected signal imaging, the position and the area of the sea surface flowing ice in the area to be detected are determined by adopting a BP algorithm and an OTSU algorithm according to the received direct and reflected signals of the navigation satellite and the GNSS-R receiver according to the position of the navigation satellite, the position of the GNSS-R receiver, the direct and reflected signals. And realizing sea surface ice flow detection according to the difference between the sea ice and the sea water in the SAR image. The algorithm complexity is low, and the detection precision is high; the GNSS reflected signal imaging technology is adopted, and the GNSS reflected signal imaging system has the advantages of abundant signal resources, global full-time, all-weather coverage, wide detection range and low cost; the SAR image of the detection sea area is obtained based on the BP algorithm, the SAR image is not limited by the geometrical configuration of an SAR system, the mode of a receiver and the like, the algorithm complexity is low, the imaging precision is high, and the accuracy of ice flow detection can be effectively improved.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a system for detecting ice flow on the sea surface based on GNSS reflected signal imaging according to the present invention;
FIG. 2 is a schematic view of a geometry for GNSS reflected signal imaging;
fig. 3 is a BP algorithm flow chart.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a GNSS reflected signal imaging-based sea surface flowing ice detection system which has the advantages of rich signal resources, global full-time and all-weather coverage, wide detection range and low cost, and further improves the accuracy of flowing ice detection.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Fig. 1 is a schematic structural diagram of a GNSS reflected signal imaging-based sea surface ice flow detection system, as shown in fig. 1, the GNSS reflected signal imaging-based sea surface ice flow detection system provided by the present invention includes: a detection area information acquisition module 101, a reflection antenna setting module 102, a navigation satellite position determination module 103, and a sea surface ice flow determination module 104.
The detection region information acquiring module 101 is configured to acquire a position and an area of a region to be detected.
The reflector antenna setting module 102 is configured to determine an azimuth angle and an elevation of the reflector antenna according to the position and the area of the region to be detected. Further causing the reflective antenna to face the area to be detected.
And according to the distance and the area between the area to be detected and the observation station, the height of the reflector antenna is changed, so that the antenna can receive the signal of the whole area to be detected.
The position determining module 103 of the navigation satellite is used for determining the position of the navigation satellite according to the azimuth angle of the reflecting antenna.
As shown in fig. 2, the reflector antenna needs to receive the back scattering signal of the region to be detected, and a navigation satellite with a lower elevation angle opposite to the reflector antenna is selected as a signal source.
The sea surface ice flow determination module 104 is configured to receive the direct signal of the area to be detected transmitted by the navigation satellite and the reflected signal of the navigation satellite reflected by the sea surface, and determine the position and the area of the sea surface ice flow of the area to be detected by using a BP algorithm and an OTSU algorithm according to the position of the navigation satellite, the position of the GNSS-R receiver, the direct signal and the reflected signal by a GNSS-R receiver.
The reflective antenna setting module 102 specifically includes:
and the azimuth angle determining submodule of the reflecting antenna is used for determining the azimuth angle of the reflecting antenna according to the position of the area to be detected and the direction relative to the observation station.
And the height determining submodule of the reflecting antenna is used for determining the height of the reflecting antenna according to the distance between the position of the area to be detected and the observation station and the area of the area to be detected.
The sea surface ice flow determination module 104 specifically includes:
and the signal receiving submodule is used for receiving the direct signals transmitted by the navigation satellite and receiving the reflected signals of the navigation satellite reflected by the sea surface.
And the GNSS-R receiver processing submodule is used for determining the position and the area of the sea surface flowing ice of the area to be detected by adopting a BP algorithm and an OTSU algorithm according to the position of the navigation satellite, the position of the receiver, the direct signal and the reflected signal.
The signal receiving sub-module specifically includes:
and the direct signal receiving unit is used for receiving the direct signal of the navigation satellite by utilizing the GNSS right-hand circularly polarized direct antenna.
And the reflected signal receiving unit is used for receiving the reflected signal of the navigation satellite reflected by the sea surface by using the left-handed circularly polarized reflecting antenna.
Namely, the navigation satellite signal is a right-hand circularly polarized signal, so that the direct signal of the navigation satellite is received by the GNSS right-hand circularly polarized antenna. After the right-hand circularly polarized electromagnetic wave is reflected by the sea surface (or ice surface), the main component of the right-hand circularly polarized electromagnetic wave is changed into left-hand circularly polarized electromagnetic wave, so that the left-hand circularly polarized antenna is used for receiving the reflected signal of the area to be detected.
The GNSS-R receiver processing sub-module specifically includes:
and the SAR image determining unit is used for determining the SAR image of the area to be detected by utilizing a BP algorithm according to the position of the navigation satellite, the position of the GNSS-R receiver, the direct signal and the reflected signal.
The calculation process of the BP algorithm is as follows: assume a set of points within the detection region as (x)i，yi) Then the reflected signal at any point in the area can representComprises the following steps:
Figure BDA0002962997000000061
the echo signal received by the receiver is the superposition of the reflected signals of all the points in the detection area, namely:
Figure BDA0002962997000000062
accumulating the results of sampling time of different directions to obtain a final SAR image, which comprises the following steps:
f(xi，yi)＝∫∫sr(t，η)·s*[t-tij(η)]dtdη。
in the formula s*[t-tij(η)]Is a point (x)i，yi) The imaging result of the point is the convolution result of the echo signal and the matched filter of the point.
Referring to fig. 3, the BP algorithm flow chart. The BP algorithm imaging comprises the following specific steps:
1) and performing matched filtering processing on the echo signal to obtain a range-direction pulse compression result.
2) Determining an antenna coverage area, determining an imaging area according to the antenna coverage area, and calculating time delay of each point in the imaging area according to the geometrical relationship among the satellite, the receiver and the imaging area.
3) And carrying out phase compensation according to the time delay result of each point in the imaging area.
4) And (5) coherent accumulation, azimuth matching filtering and SAR image output.
And the sea surface flowing ice pixel point extraction unit is used for carrying out binarization processing on the SAR image by utilizing an OTSU algorithm and extracting pixel points representing the sea surface flowing ice.
Since the backscattering component of sea ice is large and the backscattering component of sea water is small, the relevant power of the sea ice reflection signal is higher than that of sea water. When flowing ice exists on the sea surface, bright spots exist in the generated image. And carrying out binarization processing on the image by using an OTSU algorithm. The method mainly comprises the following steps:
1) and calculating a normalized histogram of the obtained SAR image. Using piI-0, 1, 2.., L-1 denotes each component of the histogram.
2) Calculating a probability P that a pixel with a gray level k 0, 1, 21(k) And the average gray value m (k) of the pixel.
3) Calculating a global gray level mean value:
Figure BDA0002962997000000071
4) calculating the between-class variance
Figure BDA0002962997000000072
Figure BDA0002962997000000073
5) Obtain the OTSU threshold k*And carrying out binarization on the obtained SAR image, and separating out pixel points representing sea ice.
And the sea surface flowing ice determining unit is used for determining the position and the area of the sea surface flowing ice of the area to be detected according to the pixel points representing the sea surface flowing ice.
The SAR image determination unit specifically includes:
and the echo signal determining subunit is used for superposing the reflected signals to determine echo signals.
And the imaging area determining subunit is used for performing matched filtering processing on the echo signal, determining a coverage area according to the azimuth angle and the height of the reflection antenna, and determining the imaging area according to the coverage area.
As shown in fig. 2, the GNSS reflector antenna receives only electromagnetic wave signals from within the beam angle. According to the geometrical relation, the section of the cone formed by the beam angle of the antenna and the sea surface (or ice surface) is an ellipse, so that only electromagnetic wave signals in the ellipse are received. The center position of the ellipse is a point opposite to the center point of the antenna, and the area of the ellipse is the accurate size of the imaging area.
And the time delay determining subunit of the pixel points is used for determining the time delay of each pixel point in the imaging area according to the position of the navigation satellite, the position of the receiver and the imaging area.
And the SAR image determining subunit is used for performing phase compensation, coherent accumulation and azimuth matched filtering on the time delay of each pixel point in the imaging area to determine the SAR image.
The sea surface ice flow determination unit specifically comprises:
and the sea surface flowing ice area determining subunit is used for determining the sea surface flowing ice area of the region to be detected according to the number of the pixel points representing the sea surface flowing ice.
And the sea surface flowing ice position determining subunit is used for determining the sea surface flowing ice position of the area to be detected according to the position of the pixel point representing the sea surface flowing ice in the SAR image and the imaging geometric model.
The sea surface ice flow determination module 104 further comprises:
and the signal synchronization submodule is used for capturing, tracking and positioning resolving the direct signals and synchronizing the reflected signals by using positioning results.
That is, under the bank condition, the doppler shifts of the direct signal and the reflected signal can be considered to be approximately equal, so the tracking result (code phase and doppler shift) of the direct signal is directly used for the correlation operation of the reflected signal to realize the synchronization of the reflected signal.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.

Claims (8)

1. A sea surface ice flow detection system based on GNSS reflected signal imaging is characterized by comprising:
the detection region information acquisition module is used for acquiring the position and the area of a region to be detected;
the reflecting antenna setting module is used for determining the azimuth angle and the height of the reflecting antenna according to the position and the area of the region to be detected;
the position determining module of the navigation satellite is used for determining the position of the navigation satellite according to the azimuth angle of the reflecting antenna;
and the sea surface flowing ice determining module is used for receiving the direct signals of the area to be detected transmitted by the navigation satellite and the reflection signals of the navigation satellite reflected by the sea surface, and determining the position and the area of the sea surface flowing ice of the area to be detected by utilizing a global navigation satellite-receiver (GNSS-R) through a Back Propagation (BP) algorithm and an OTSU algorithm according to the position of the navigation satellite, the position of the GNSS-R receiver, the direct signals and the reflection signals.
2. The GNSS reflected signal imaging-based sea surface ice detection system according to claim 1, wherein the reflected antenna setting module specifically comprises:
the azimuth angle determining submodule of the reflecting antenna is used for determining the azimuth angle of the reflecting antenna according to the position of the area to be detected and the direction relative to the observation station;
and the height determining submodule of the reflecting antenna is used for determining the height of the reflecting antenna according to the distance between the position of the area to be detected and the observation station and the area of the area to be detected.
3. The GNSS reflected signal imaging-based sea surface ice flow detection system of claim 1, wherein the sea surface ice flow determination module specifically comprises:
the signal receiving submodule is used for receiving a direct signal transmitted by the navigation satellite and receiving a reflected signal of the navigation satellite reflected by the sea surface;
and the GNSS-R receiver processing submodule is used for determining the position and the area of the sea surface flowing ice of the area to be detected by adopting a BP algorithm and an OTSU algorithm according to the position of the navigation satellite, the position of the receiver, the direct signal and the reflected signal.
4. The GNSS reflected signal imaging-based sea surface ice detection system according to claim 3, wherein the signal receiving sub-module specifically comprises:
the direct signal receiving unit is used for receiving the direct signal of the navigation satellite by utilizing a GNSS right-hand circularly polarized direct antenna;
and the reflected signal receiving unit is used for receiving the reflected signal of the navigation satellite reflected by the sea surface by using the left-handed circularly polarized reflecting antenna.
5. The GNSS reflected signal imaging-based sea surface ice detection system according to claim 3, wherein the GNSS-R receiver processing sub-module specifically comprises:
the SAR image determining unit is used for determining the SAR image of the area to be detected by utilizing a BP algorithm according to the position of a navigation satellite, the position of a GNSS-R receiver, the direct signal and the reflected signal;
the sea surface flowing ice pixel point extraction unit is used for carrying out binarization processing on the SAR image by utilizing an OTSU algorithm and extracting pixel points representing the sea surface flowing ice;
and the sea surface flowing ice determining unit is used for determining the position and the area of the sea surface flowing ice of the area to be detected according to the pixel points representing the sea surface flowing ice.
6. The GNSS reflected signal imaging-based sea surface ice detection system according to claim 5, wherein the SAR image determination unit specifically comprises:
the echo signal determining subunit is used for superposing the reflected signals to determine echo signals;
the imaging area determining subunit is used for performing matched filtering processing on the echo signal, determining a coverage area according to the azimuth angle and the height of the reflection antenna, and determining an imaging area according to the coverage area;
the time delay determining subunit of the pixel point is used for determining the time delay of each pixel point in the imaging area according to the position of the navigation satellite, the position of the receiver and the imaging area;
and the SAR image determining subunit is used for performing phase compensation, coherent accumulation and azimuth matched filtering on the time delay of each pixel point in the imaging area to determine the SAR image.
7. The GNSS reflected signal imaging-based sea surface ice flow detection system according to claim 5, wherein the sea surface ice flow determination unit specifically comprises:
the sea surface flowing ice area determining subunit is used for determining the sea surface flowing ice area of the region to be detected according to the number of the pixel points representing the sea surface flowing ice;
and the sea surface flowing ice position determining subunit is used for determining the sea surface flowing ice position of the area to be detected according to the position of the pixel point representing the sea surface flowing ice in the SAR image and the imaging geometric model.
8. The GNSS reflected signal imaging-based sea surface ice detection system of claim 5, wherein the sea surface ice determination module further comprises:
and the signal synchronization submodule is used for capturing, tracking and positioning resolving the direct signals and synchronizing the reflected signals by using positioning results.
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