CN113589281A - GEO SAR ship target imaging method based on micro-Doppler analysis - Google Patents
GEO SAR ship target imaging method based on micro-Doppler analysis Download PDFInfo
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Abstract
The invention provides a GEO SAR ship target imaging method based on micro Doppler analysis, which adopts a swinging ship accurate signal model of GEO SAR accumulated by a plurality of sine functions, redefines GKTGDP to enable the GKTGDP to compensate the movement of the GEO SAR and estimate the frequency of the sine function, realizes the estimation of the amplitude and the initial phase of the sine function through parameter search, and realizes the target imaging of the swinging ship through a back projection algorithm; the problem that the fitting is influenced by the swinging within the long synthetic aperture time in the GEO SAR is solved, and the imaging of the swinging ship target is realized.
Description
Technical Field
The invention relates to the technical field of synthetic aperture radars, in particular to a GEO SAR ship target imaging method based on micro-Doppler analysis.
Background
Geosynchronous orbit synthetic aperture radar (GEO SAR) is an SAR satellite operating in a geosynchronous orbit, one GEO SAR satellite can cover one third of the whole world every day, and repeated observation can be realized for 1.5-2.5 hours for a heavy spot area. Due to the characteristics of high resolution and wide coverage, the GEO SAR has great advantages in the aspect of ocean monitoring.
But the ship is influenced by wind and waves and shows complex three-dimensional swing. The existing ship imaging method is to fit the swing influence by high-order Taylor expansion within the synthetic aperture time of second magnitude. Unfortunately, the synthetic aperture time of GEO SAR is very long (on the order of hundreds of seconds), and each dimensional swing affects a sinusoidal function that tends to be multicycle, which, as is well known, cannot be fitted by a high order taylor expansion. Therefore, the traditional ship imaging method is not suitable for GEO SAR.
Disclosure of Invention
The invention provides a GEO SAR ship target imaging method based on micro-Doppler analysis, which mainly solves the technical problems that: how to realize the influence fitting of the platform on the three-dimensional swing within a long synthetic aperture time.
In order to solve the technical problem, the invention provides a GEO SAR ship target imaging method based on micro Doppler analysis, which comprises the following steps:
and 4, fitting the swing influence through the estimated sine function, and realizing the imaging of the ship target through a back projection algorithm.
Optionally, step 1 includes:
step 11, determining a beam direction and a downward view angle of a satellite, determining a synthetic aperture center position of satellite data acquisition on a reference orbit, determining longitude and latitude of a sea surface point corresponding to a designated view angle, and setting the sea surface point as a scene center point; using synthetic aperture time TsAnd determining the satellite position of each pulse transmitting time on the reference orbit by the pulse repetition time PRT;
step 12, constructing a ship target slope distance model according to the position of the satellite;
and step 13, performing range pulse compression on the echo data.
Optionally, step 2 includes:
step 21, correcting second-order and above distance migration caused by the motion of the GEO SAR platform through generalized trapezoidal transformation GKT according to the parameters of the GEO SAR platform; compensating a corresponding phase by GDP through generalized frequency modulation removal;
step 22, transforming the pulse pressure data to a range-doppler domain, optionally selecting a range gate where a scattering point is located, focusing the signal to the positions of three sine function frequencies, and estimating the frequency through the focused positions
Step 23, selecting a frequency estimation value of a sine function
Constructing a sine function influence compensation function, wherein the amplitude theta of the sine functioni,1And the initial phase
By adopting the search value, when the influence of the sine function is minimum, the amplitude and initial phase search is accurate; then, selecting another frequency estimation value of the sine function, and carrying out parameter estimation on a second group of sine functions in the same way; and analogizing until the estimation of the parameters of the three groups of sine functions is finished, wherein the sine function estimation value of the ith scattering point is
n＝1,2,3。
Optionally, step 3 includes:
step 31, scattering points of the ship target are distributed into a plurality of range gates, a range gate where another scattering point is located is selected, and the frequency of a sine function is selected
And the initial phase
The sine function influence compensation function is constructed, the search value is used for the amplitude of the sine function, and when the influence of the sine function is minimum, the amplitude search is accurate; and analogizing until the estimation of the parameters of the three groups of sine functions is finished, wherein the amplitude estimation value of the sine function of the (i + 1) th scattering point is
n is 1,2, 3; and selecting a range gate where another scattering point is located, and estimating the amplitude of the scattering point until the range gates where all the scattering points are located are completely estimated.
Optionally, the step 4 includes:
step 41, fitting ship swing influence according to multiple groups of sine function estimated values of all scattering points; and then, imaging the ship target by adopting a back projection algorithm.
The invention has the beneficial effects that:
according to the GEO SAR ship target imaging method based on micro Doppler analysis, a swinging ship accurate signal model of a GEO SAR with a plurality of sine function accumulations is adopted, GKTGDP is redefined to enable the GKTGDP to compensate the movement of the GEO SAR and estimate the frequency of a sine function, the estimation of the amplitude and the initial phase of the sine function is realized through parameter search, and the swinging ship target imaging is realized through a back projection algorithm; the problem that the fitting is influenced by the swinging within the long synthetic aperture time in the GEO SAR is solved, and the imaging of the swinging ship target is realized.
Drawings
FIG. 1 is a schematic flow chart of a GEO SAR ship target imaging method based on micro-Doppler analysis according to the present invention;
FIG. 2 is a schematic view of a geometric model of the vessel target oscillation of the present invention;
FIG. 3 is a plot of the root mean square error of the swing effects of different sine function number fits of the present invention;
FIG. 4 is a geometric model of the ship and GEO SAR of the present invention;
FIG. 5 is a schematic diagram of the range-Doppler domain focusing of a wobble target RD in accordance with the present invention;
FIG. 6 is a schematic diagram of the group-by-group compensated sine function of the present invention;
FIG. 7 is a schematic diagram of the sinusoidal function parameter estimation process of the present invention;
FIG. 8 is a ship imaging result of the present invention without swing impact matching;
fig. 9 is a ship-swinging imaging result of the GEO SAR ship target imaging method based on micro-doppler analysis of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following detailed description and accompanying drawings. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The first embodiment is as follows:
in order to solve the problem of how to realize the fitting of the platform on the influence of three-dimensional swing within a long synthetic aperture time, the embodiment provides a GEO SAR ship target imaging method based on micro doppler analysis, and when a ship target reciprocates near a balance point, micro doppler is generated. The swinging of each dimension of the ship target is a reciprocating motion, so that micro Doppler is generated to influence the imaging of the ship. Meanwhile, the GEO SAR has the characteristic of a curved track, so that the key point of the GEO SAR swing ship target imaging lies in realizing the influence fitting of the three-dimensional swing of the platform within a long synthetic aperture time.
According to the scheme, a signal model of swing influence is fitted through multi-sine function accumulation, the characteristics of a GEO SAR bending track and non-negligible signal transmission delay are considered, and the influence of three-dimensional swing on a slope distance process within long synthetic aperture time is considered; redefined generalized trapezoidal transformation and frequency modulation removal processing GKTGDP solve the estimation of sine function frequency; the influence of swing is compensated through parameter search, and the estimation of sine function amplitude and initial phase is realized; and realizing ship target imaging through a back projection algorithm.
Referring to fig. 1, the method mainly includes the following steps:
Before imaging, the slope distance history from the GEO SAR to the ship centroid is obtained according to the track position. There is a problem of orbit bending due to GEO SAR. At this time, if a low-orbit and airborne SAR moving target slope distance model is adopted, the ship target imaging can fail. The invention assumes that the translation of the ship target is compensated, i.e. only the influence of the oscillation on the imaging is considered. Further, in the synthetic aperture time, the ship swing also affects the pitch angle, so the swing effect needs to be modeled.
Therefore, in the invention, firstly, a GEO SAR swinging ship target signal model is provided, and the specific method comprises the following steps:
first, the slope model of the GEO SAR to the ship centroid can be written as:
rO(t)≈r0+k1t+k2t2+k3t3+k4t4 (1)
wherein r is0、k1、k2、k3、k4The coefficients are the zero to fourth order Taylor expansion coefficients of the slope model.
And then determining the slope distance difference from each scattering point on the ship to the centroid, which changes along with the time. The geometric model of the swinging vessel is shown in figure 2. The ship target shows three-dimensional swing along with the stormy waves, namely, the side swing moves around the B axis, the pitching moves around the household axis, and the yawing moves around the Z axis in a reciprocating manner. The swing angle of each dimensional swing can be expressed as:
wherein, thetar，p，yAngle of oscillation, theta, representing the swing in each dimensionr，p，yTo the amplitude of oscillation, fr，p，yIn order to be able to oscillate the frequency,
is the initial phase, and t is the slow time. r isi(t) is the projection of the ith scattering point swing on the centroid slant distance at time t, which can be expressed as:
further, equation (3) can be rewritten as a form of addition of a plurality of sine functions:
wherein f isnIs the frequency of the nth sine function;
is the initial phase of the nth sine function;
is the amplitude of the nth sine function; n is the sequence number of the sine function; n is a radical ofpIs the total number of sine functions. And according to Monte Carlo simulation, when NpWhen 3, the effect of the wobble can be accurately fitted, as shown in fig. 3.
The geometric models of the oscillating ship target and the GEO SAR are shown in fig. 4. The slope model for the ith scattering point on the ship can be expressed as:
thus, after range-wise pulse compression, the echo signal model can be expressed as:
firstly, fixing the beam direction and the downward viewing angle of a satellite, determining the central position of a synthetic aperture for satellite data acquisition according to actual needs, and determining the parameters of satellite motion and earth rotation; the echo data is then range-wise pulse compressed.
The echo signal model equation (6) is subjected to Fourier transform along a fast time to obtain:
wherein A is2＝A1rect(fτ/Bs)；fτA fast time frequency; f. ofcIs the carrier frequency; a. the1Signal amplitude in the frequency domain of the fast time dimension. And (3) carrying out fourth-order KT slow time scaling on the formula (7), wherein the slow time is carried out according to the following formula (8):
then, a fourth order phase compensation is performed, and the compensation function is as follows:
formula (7) can be rewritten as:
and then sequentially carrying out three times to one time KT slow time scaling and phase compensation, wherein the three times of slow time scaling and phase compensation functions are respectively as follows:
the quadratic slow time scaling and phase compensation functions are respectively:
the primary slow time scaling and phase compensation functions are respectively:
after KT and phase compensation three to once, equation (10) can be rewritten as:
then, performing inverse fourier transform on the fast time-frequency domain, where equation (17) can be expressed as:
from the Bessel expansion of the micro-Doppler signal, equation (18) can be expressed as:
at this time, equation (19) is converted to the range-doppler domain, and the signal can be focused to the sine function frequency mfnAs shown in fig. 5. At this time, the sine function frequency is estimated from the focus position, and the estimated value of the frequency is
n＝1,2,3。
Thereafter, the sinusoidal function is compensated group by group, and a compensation diagram is shown in fig. 6. Selecting a frequency estimate of a sine function
Constructing a sine function influence compensation function, wherein the amplitude theta of the sine functioni,1And the initial phase
Using the search value, the compensation function can be expressed as:
when the influence of the sine function is minimum, the amplitude and initial phase search is accurate (the search value is an estimated value). Then another frequency estimation value of the sine function is selected, and a second group of sine function parameter estimation is carried out in the same way. And analogizing until the estimation of the parameters of the three groups of sine functions is finished, wherein the sine function estimation value of the ith scattering point is
n is 1,2, 3. When all the sine functions are compensated, the RD range-doppler domain model of the signal can be expressed as:
S(ft,τ)≈A5sinc(Bs(τ-2r0/c))exp(-j4πr0/λ)
sin c(TCPI(ft-fdc)) (21)
wherein, TCPIIs the synthetic aperture time; f. ofdcThe synthetic aperture center frequency.
And 3, estimating the sine function amplitudes of other scattering points on the basis of the step 2.
Scattering points of the ship target are distributed into a plurality of range gates, the range gate where another scattering point is located is selected, and the frequency of a sine function is selected
And the initial phase
And (3) constructing a sine function influence compensation function, wherein the amplitude of the sine function is used as a search value, and when the influence of the sine function is minimum, the amplitude search is accurate (the search value is the estimated value). And so on until the estimation of the parameters of the three groups of sine functions is finished, the amplitude estimation value of the (i + 1) th sine function is
n is 1,2, 3. Further, another distance gate where another scattering point is located is selected, the amplitude of the scattering point is estimated until the distance gates where all the scattering points are located are estimated, and the parameter estimation value is
And
and 4, fitting the swing influence according to the estimated parameters of the sine function, and imaging the swing ship target.
The ship target needs to calculate the range migration and phase of each scattering point separately, and the fitted slope course of each scattering point can be expressed as:
thereafter, each scatter point is focused by a backprojection algorithm (BPA), which can be expressed as:
thus, the swing fitting and imaging of the ship target is completed. The sine function parameter estimation flow chart is shown in fig. 7.
Next, a ship target imaging simulation experiment is performed. A 5-point target (scattering points a-E) is placed in the center of the GEO SAR scene to represent a ship. Scattering point parameters of the ships are shown in table 1; the wobble parameters are shown in table 2; the system parameters of GEO SAR are shown in table 3.
TABLE 1 parameters of scattering points of ships
TABLE 2 vessel oscillation parameters
TABLE 3 GEO SAR System parameters
Due to the oscillation of the ship target, the imaging result cannot be focused, as shown in fig. 8. The method provided by the invention is adopted to image the swinging ship target, and the imaging result is shown in figure 9.
The effectiveness of the imaging method of the geosynchronous orbit synthetic aperture radar ship target based on the micro-Doppler can be seen through simulation results. The method can realize imaging of the swinging ship target within hundred seconds of synthetic aperture time of GEO SAR.
It will be apparent to those skilled in the art that the steps of the present invention described above may be implemented in a general purpose computing device, centralized on a single computing device or distributed across a network of computing devices, or alternatively, in program code executable by a computing device, such that the steps shown and described may be performed by a computing device stored on a computer storage medium (ROM/RAM, magnetic or optical disk), and in some cases, performed in a different order than that shown and described herein, or separately fabricated into individual integrated circuit modules, or fabricated into a single integrated circuit module from multiple ones of them. Thus, the present invention is not limited to any specific combination of hardware and software.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, several simple deductions or substitutions can be made without departing from the spirit of the invention, and all shall be considered as belonging to the protection scope of the invention.
Claims (5)
1. A GEO SAR ship target imaging method based on micro Doppler analysis is characterized by comprising the following steps:
step 1, selecting GEO SAR ocean observation data, constructing a ship target slope distance model, and performing range-direction pulse compression;
step 2, utilizing generalized trapezoidal transformation and frequency modulation removal processing GKTGDP to compensate distance migration and phase caused by the motion of the GEO SAR platform in the pulse pressure data in the step 1; then, a range gate where a scattering point is located is selected randomly, and the frequency of the sine function is estimated according to the focusing position of the signal in a range-Doppler domain; compensating swing influence through parameter search, and estimating the amplitude and initial phase of a sine function;
step 3, selecting a distance gate where another scattering point is located, and repeating the step 2 to estimate the sine function amplitude and the initial phase of the other scattering point; until the parameters of the scattering points are estimated;
and 4, fitting the swing influence through the estimated sine function, and realizing the imaging of the ship target through a back projection algorithm.
2. The method for imaging a GEO SAR ship target based on micro-doppler analysis according to claim 1, wherein said step 1 comprises:
step 11, determining a beam direction and a downward view angle of a satellite, determining a synthetic aperture center position of satellite data acquisition on a reference orbit, determining longitude and latitude of a sea surface point corresponding to a designated view angle, and setting the sea surface point as a scene center point; using synthetic aperture time TsAnd determining the satellite position of each pulse transmitting time on the reference orbit by the pulse repetition time PRT;
step 12, constructing a ship target slope distance model according to the position of the satellite;
and step 13, performing range pulse compression on the echo data.
3. The method for imaging a GEO SAR ship target based on micro-doppler analysis according to claim 1, wherein said step 2 comprises:
step 21, correcting second-order and above distance migration caused by the motion of the GEO SAR platform through generalized trapezoidal transformation GKT according to the parameters of the GEO SAR platform; compensating a corresponding phase by GDP through generalized frequency modulation removal;
step 22, transform the pulse pressure data to the range-Doppler domain, optionally oneThe signal will be focused to the position of three sine function frequencies by the distance gate where the scattering point is located, and the frequency estimation is realized by the focused position
Step 23, selecting a frequency estimation value of a sine function
Constructing a sine function influence compensation function, wherein the amplitude theta of the sine functioni,1And the initial phase
By adopting the search value, when the influence of the sine function is minimum, the amplitude and initial phase search is accurate; then, selecting another frequency estimation value of the sine function, and carrying out parameter estimation on a second group of sine functions in the same way; and analogizing until the estimation of the parameters of the three groups of sine functions is finished, wherein the sine function estimation value of the ith scattering point is
n＝1,2,3。
4. The method for imaging a GEO SAR ship target based on micro-doppler analysis according to claim 1, wherein said step 3 comprises:
step 31, scattering points of the ship target are distributed into a plurality of range gates, a range gate where another scattering point is located is selected, and the frequency of a sine function is selected
And the initial phase
The sine function influence compensation function is constructed, the search value is used for the amplitude of the sine function, and when the influence of the sine function is minimum, the amplitude search is accurate; by analogy, till threeThe estimation of the parameters of the set of sine functions is finished, and the amplitude estimation value of the sine function of the (i + 1) th scattering point is
n is 1,2, 3; and selecting a range gate where another scattering point is located, and estimating the amplitude of the scattering point until the range gates where all the scattering points are located are completely estimated.
5. The method of micro-doppler analysis based GEO SAR ship target imaging according to claim 1, wherein said step 4 comprises:
step 41, fitting ship swing influence according to multiple groups of sine function estimated values of all scattering points; and then, imaging the ship target by adopting a back projection algorithm.
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