CN113640807A - Multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation line-by-line imaging method - Google Patents
Multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation line-by-line imaging method Download PDFInfo
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- 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
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Abstract
The invention belongs to the technical field of synthetic aperture sonar imaging algorithms, and discloses a multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation line-by-line imaging method. Through data preprocessing, converting the echo data of the multiple receiving subarrays into echo data in a receiving and sending combined mode; performing two-dimensional Fourier transform on the echo data in the receiving and transmitting combined form, and transforming the echo data into a two-dimensional frequency domain; correcting for additional range migration by phase multiplication in a two-dimensional frequency domain; and performing imaging processing on the echo data subjected to the additional range migration correction by adopting a traditional transceiving combined imaging algorithm. The invention effectively solves the problem that the imaging quality of the synthetic aperture sonar is reduced under the condition of high surveying and mapping speed (and) high azimuth resolution, and the increase of the arithmetic operation amount is very small.
Description
Technical Field
The invention belongs to the technical field of synthetic aperture sonar imaging algorithms, and particularly relates to an intra-pulse Doppler frequency shift compensation line-by-line imaging method for multi-subarray synthetic aperture sonar.
Background
The synthetic aperture imaging utilizes Doppler frequency shift to obtain a high-azimuth resolution image, and the existing multi-subarray line-by-line imaging algorithm only considers the inter-pulse Doppler frequency shift and ignores the intra-pulse Doppler frequency shift. However, intra-pulse Doppler shift can cause time shifts in the chirp matched filtered output[1]Resulting in additional range migration. As the range of applications of synthetic aperture sonar in civilian and military applications is broadened, the mapping rate (the product of platform velocity and maximum range) and resolution are continuously improved, resulting in larger additional range migration. When additional range migration exceeds the range resolution element, or equivalently the range of motion (the product of platform velocity and pulse width) within the sonar platform pulse exceeds the azimuth resolution element, the imaging process must be corrected for the additional range migration. Therefore, the intra-pulse Doppler shift of the multi-subarray synthetic aperture sonar cannot be ignored when high-azimuth resolution images are expected at high mapping rates. By adopting the existing multi-subarray line-by-line imaging algorithm, the problem that the resolution ratio of the obtained image is reduced and even defocuses occurs.
The method has the advantages that the synthetic aperture imaging with high mapping rate and high azimuth resolution is realized, an imaging signal model of intra-pulse Doppler frequency shift is required to be reconstructed, and a multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation line-by-line imaging method is deduced. Hayes et al[2-4]The intra-pulse Doppler effect of the single-subarray synthetic aperture sonar is theoretically analyzed, but a signal model considering intra-pulse Doppler frequency shift is not established; pailhas et al[5]An approximate signal model is established by considering the intra-pulse motion of the sonar platform, but because the signal model is complex, the intra-pulse Doppler frequency shift is compensated by using a point-by-point algorithm, and the method is difficult to be applied to a line-by-line algorithm.
The multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation line-by-line imaging method can correct extra range migration caused by intra-pulse Doppler frequency shift through phase multiplication processing of a two-dimensional frequency domain or interpolation processing of a range Doppler domain, and accordingly high-mapping-rate and high-azimuth-resolution imaging is achieved. The phase multiplication requires a very small amount of computation, and the range-doppler domain interpolation process can be combined with the range migration correction interpolation process in the range-doppler algorithm, so that the increase in computation amount caused by correcting additional range migration is very small. The high-mapping-rate synthetic aperture sonar can improve the working efficiency, and the platform is high in speed, so that the stability of the platform is kept, and the adverse effect of motion errors on imaging is reduced.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides an intra-pulse Doppler frequency shift compensation line-by-line imaging method for multi-subarray synthetic aperture sonar, which effectively solves the problem that the imaging quality of the synthetic aperture sonar is reduced under the conditions of high surveying and mapping speed and high azimuth resolution, and the increase of the operation amount is very small.
The invention corrects the extra distance migration caused by the intra-pulse Doppler frequency shift based on the phase multiplication processing of the two-dimensional frequency domain, thereby realizing the compensation of the intra-pulse Doppler frequency shift.
Further, the intra-pulse Doppler frequency shift compensation line-by-line imaging method of the multi-subarray synthetic aperture sonar comprises the following steps:
converting multi-receiving subarray echo data into echo data in a receiving and sending combined mode through data preprocessing;
step two, performing two-dimensional Fourier transform on the echo data in the receiving and sending combined form, and transforming the echo data into a two-dimensional frequency domain;
correcting the extra range migration in a two-dimensional frequency domain by phase multiplication;
and step four, imaging processing is carried out on the echo data after the extra range migration correction by adopting a traditional receiving and transmitting combined imaging algorithm.
Further, in the second step, the two-dimensional fourier transform of the echo data in the form of the transmitting and receiving combination can be realized by one-time distance fourier transform and one-time azimuth fourier transform, the order of the distance and azimuth fourier transform can be adjusted, and distance compression or linear frequency modulation scaling processing can be performed between two fourier transforms as required.
Further, in step three, the phase multiplication formula is as follows:
wherein f isrAnd faRespectively representing distance direction and azimuth direction frequencies; krRepresenting the chirp rate of the transmitted signal.
Further, the intra-pulse doppler frequency shift compensation method may also be:
and performing interpolation processing in a range-Doppler domain, and combining the interpolation processing with range migration correction in a range-Doppler algorithm, thereby realizing the correction of extra range migration caused by intra-pulse Doppler shift. The additional range migration amount formula to be corrected for the interpolation process of the range-doppler domain is as follows:
where c represents the speed of sound in water.
Further, the line-by-line imaging algorithm may be: distance-doppler algorithm, line tone scaling algorithm, Chirp-z algorithm, beam domain algorithm and their modified algorithms.
It is another object of the present invention to provide a computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to execute the intra-pulse doppler shift compensation line-by-line imaging method of multi-subarray synthetic aperture sonar.
Another object of the present invention is to provide an information data processing terminal comprising a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to execute the intra-pulse doppler shift compensation line-by-line imaging method of multi-subarray synthetic aperture sonar.
The invention corrects the extra range migration caused by the intra-pulse Doppler shift based on the phase multiplication processing of a two-dimensional frequency domain or the interpolation processing of a range Doppler domain, and combines the step with the existing multi-subarray synthetic aperture sonar line-by-line imaging algorithm to achieve the imaging with high mapping rate and high azimuth resolution, thereby effectively avoiding the problem of image resolution reduction or defocusing, and the algorithm operation amount is increased slightly.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained from the drawings without creative efforts.
Fig. 1 is a schematic diagram of a multi-subarray synthetic aperture sonar intra-pulse doppler frequency shift compensation line-by-line imaging method according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of an imaging result of a conventional multi-subarray range-doppler algorithm provided by an embodiment of the present invention.
Fig. 3 is a schematic diagram of imaging results provided by an embodiment of the present invention.
Fig. 4 is a schematic diagram comparing the distance profiles of fig. 2 and 3.
Fig. 5 is a schematic view comparing the cross sections of fig. 2 and 3.
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 embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Aiming at the problems in the prior art, the invention provides a multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation line-by-line imaging method, and the invention is described in detail below by combining with the attached drawings.
As shown in fig. 1, the intra-pulse doppler shift compensation line-by-line imaging method for multi-subarray synthetic aperture sonar according to the embodiment of the present invention includes the following steps:
converting multi-receiving subarray echo data into echo data in a receiving and sending combined mode through data preprocessing;
step two, performing two-dimensional Fourier transform on the echo data in the receiving and sending combined form, and transforming the echo data into a two-dimensional frequency domain;
correcting the extra range migration in a two-dimensional frequency domain by phase multiplication;
and step four, imaging processing is carried out on the echo data after the extra range migration correction by adopting a traditional receiving and transmitting combined imaging algorithm.
Further, in step three, the phase multiplication formula is as follows:
wherein f isrAnd faRespectively representing distance direction and azimuth direction frequencies; krRepresenting the chirp rate of the transmitted signal.
The technical effects of the present invention will be further described with reference to specific embodiments.
Example 1:
the method for realizing the line-by-line imaging through the Doppler frequency shift compensation in the multi-subarray synthetic aperture sonar is characterized by comprising the following steps of:
1. carrying out data preprocessing on the multi-receiving subarray echo data, compensating time delay and phase errors corresponding to the distance history error item, and converting the multi-receiving subarray echo data into echo data in a receiving and sending combined mode;
2. the echo data in a receiving and sending combined form is transformed into a two-dimensional frequency domain form through two-dimensional Fourier transform, and then distance compression, secondary distance compression and extra distance migration correction are carried out through phase multiplication, wherein a calculation formula of a phase multiplication reference function when extra distance migration is corrected is as follows:
wherein f isrAnd faRespectively representing distance direction and azimuth direction frequencies; krRepresenting the chirp rate of the transmitted signal.
3. And performing azimuth inverse Fourier transform on the echo data subjected to additional range migration correction, transforming the echo data into a range-Doppler domain, and performing range migration correction through interpolation processing.
4. And performing azimuth pulse pressure on the echo data after the range migration correction, and compensating azimuth walk to finish imaging processing.
A set of typical synthetic aperture sonar system parameters at high mapping rates is given below:
| center frequency | 150kHz | Width of transmitting array | 8cm |
| Bandwidth of signal | 40kHz | Width of receiving array | 4cm |
| Pulse width | 20ms | Number of receiving |
50 |
| Pulse repetition period | 0.2s | Platform velocity | 5m/s |
According to the parameters of the sonar system, the intra-pulse Doppler frequency shift is considered to perform echo signal simulation, then the traditional multi-subarray range-Doppler algorithm and the algorithm described in the embodiment are adopted to perform imaging processing, the imaging results are respectively shown in fig. 2 and fig. 3, and the comparison of the two images can be found out, so that the focusing effect of the image after the intra-pulse Doppler frequency shift is compensated is remarkably improved. The comparison of the distance and orientation section diagrams of the target at the middle point of the two images is shown in fig. 4 and 5, wherein the dotted line is the result of the traditional algorithm, and the solid line is the result of the algorithm of the sampling case. As can be clearly seen from the sectional view, the distance and the azimuth of the compensated intra-pulse Doppler frequency shift image are widened to different degrees, and the focusing performance index parameters of the intermediate point target are shown in the following table.
Analyzing various parameters in the table above, it can be found that, compared with the algorithm described in this embodiment, the IRW of the point target image obtained by the conventional algorithm has broadening in both the distance direction and the azimuth direction, the broadening multiples are both about 1.5 times, and the reduction of the PSLR and ISLR values is also caused by severe broadening of the main lobe. Therefore, the focusing effect of the point target image obtained by the algorithm in the sample implementation case is obviously better than that of the point target image obtained by the traditional algorithm.
The documents referred to in the present invention are:
[1]Cook C E,Bernfeld M.Radar Signals:An Introduction to Theory and Application[M].New York London:Academic Press,1967.
[2]Hayes M P.A CTFM synthetic aperture sonar[D].New Zealand:University of Canterbury,1989.
[3]Hayes M P,Gough P T.Broad-band Synthetic Aperture Sonar[J].IEEE Journal of Oceanic Engineering,1992,17(1):80-94.
[4]Gough P T,Hayes M P.Fast Fourier techniques for SAS imagery[C].Oceans-Europe 2005:563-568Vol.561.
[5]Capus Y P S D C.Impact of temporal Doppler on synthetic aperture sonar imagery[J].The Journal of the Acoustical Society of America,2018,143(1):317-329.
the above description is only for the purpose of illustrating the present invention and the appended claims are not to be construed as limiting the scope of the invention, which is intended to cover all modifications, equivalents and improvements that are within the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation line-by-line imaging method is characterized by comprising the following steps: and compensating the intra-pulse Doppler frequency shift of the multi-subarray synthetic aperture sonar in a line-by-line imaging algorithm.
2. The method of multi-subarray synthetic aperture sonar intra-pulse doppler shift compensated line-by-line imaging of claim 1, wherein the method of multi-subarray synthetic aperture sonar intra-pulse doppler shift compensated line-by-line imaging further comprises: and correcting the extra range migration caused by the intra-pulse Doppler frequency shift based on the phase multiplication processing of the two-dimensional frequency domain to realize the compensation of the intra-pulse Doppler frequency shift.
3. The method for line-by-line imaging with doppler shift compensation in a multi-subarray synthetic aperture sonar according to claim 1, wherein the line-by-line imaging with doppler shift compensation in a multi-subarray synthetic aperture sonar specifically comprises the following steps:
converting multi-receiving subarray echo data into echo data in a receiving and sending combined mode through data preprocessing;
performing two-dimensional Fourier transform on the echo data in a receiving and transmitting combined mode, and transforming the echo data to a two-dimensional frequency domain;
correcting the extra range migration in a two-dimensional frequency domain by phase multiplication;
and step four, imaging processing is carried out on the echo data after the extra range migration correction by adopting a traditional receiving and transmitting combined imaging algorithm.
4. The method according to claim 3, wherein in the second step, the two-dimensional Fourier transform of the echo data in the form of combined transmission and reception can be implemented by a distance Fourier transform and an azimuth Fourier transform, the order of the distance and azimuth Fourier transform can be adjusted, and distance compression or linear frequency modulation scaling can be performed between the two Fourier transforms as required.
5. The method for multi-subarray synthetic aperture sonar intra-pulse doppler frequency shift compensation line-by-line imaging according to claim 3, wherein in step three, the phase multiplication reference function of the two-dimensional frequency domain is calculated as follows:
wherein f isrAnd faRespectively representing distance direction and azimuth direction frequencies; krRepresenting the chirp rate of the transmitted signal.
6. The method of claim 3, wherein the intra-pulse Doppler shift compensation line-by-line imaging method further comprises the step of performing additional correction of range migration by interpolation in a range-Doppler domain in combination with range migration correction interpolation in a range-Doppler algorithm.
7. The method of claim 6, wherein the additional range migration amount formula to be corrected for the interpolation process of the range-doppler domain is as follows:
where c represents the speed of sound in water.
8. A computer-readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the intra-pulse doppler shift compensated line-by-line imaging method of a multi-subarray synthetic aperture sonar according to any one of claims 1 to 7.
9. An information data processing terminal, characterized in that the information data processing terminal comprises a memory and a processor, the memory stores a computer program, and the computer program, when executed by the processor, causes the processor to execute the multi-subarray synthetic aperture sonar intra-pulse doppler shift compensation line-by-line imaging method according to any one of claims 1 to 7.
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