CN113640807B - Multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation progressive imaging method - Google Patents
Multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation progressive imaging method Download PDFInfo
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
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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 progressive imaging method, which adopts two-dimensional frequency domain phase multiplication processing or distance Doppler domain interpolation processing to correct extra range migration caused by intra-pulse Doppler frequency shift. Converting the multi-receiving subarray echo data into echo data in a receiving and transmitting combined mode through data preprocessing; performing two-dimensional Fourier transform on echo data in a transmitting and receiving combination form, and transforming the echo data into a two-dimensional frequency domain; correcting the extra range migration in the two-dimensional frequency domain through phase multiplication; and carrying out imaging processing on the echo data subjected to the additional range migration correction by adopting a traditional transmit-receive combined imaging algorithm. The invention effectively solves the problem of imaging quality degradation of the synthetic aperture sonar under the conditions of high mapping rate (and) high azimuth resolution, and the increase of the algorithm 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 a multi-subarray synthetic aperture sonar intra-pulse Doppler frequency shift compensation progressive imaging method.
Background
Synthetic aperture imaging utilizes doppler shift to obtain a high-azimuth resolution image, and the existing multi-subarray progressive imaging algorithm only considers inter-pulse doppler shift and ignores intra-pulse doppler shift. However, the intra-pulse doppler shift results in a time shift [1] in the chirped signal matched filtered output, resulting in additional range migration. With the widening of the application range of synthetic aperture sonar in civil and military, the mapping rate (product of platform speed and maximum acting distance) and resolution are continuously improved, resulting in the increase of additional range migration. When the additional range migration exceeds the range resolution unit, or equivalently the distance of movement (the product of the platform velocity and the pulse width) within the sonar platform pulse exceeds the azimuth resolution unit, the additional range migration must be corrected for during the imaging process. Therefore, the doppler shift in the pulse is not negligible when the multi-subarray synthetic aperture sonar is expected to obtain high azimuth resolution images at high mapping rates. By adopting the existing multi-subarray line-by-line imaging algorithm, the obtained image has the problems of resolution reduction and even defocusing.
High mapping rate high azimuth resolution synthetic aperture imaging, a Doppler shift imaging signal model in pitch is required to be reconstructed, and a multi-subarray synthetic aperture sonar intra-pulse Doppler shift compensation progressive imaging method is deduced. Hayes et al [2-4] have analyzed the intra-pulse Doppler effect of a single-array synthetic aperture sonar in theory, but have not established a signal model that takes into account the intra-pulse Doppler shift; pailhas et al [5] establish an approximate signal model in consideration of the intra-pulse motion of the sonar platform, but because the signal model is complex, only the intra-pulse Doppler frequency shift compensation by using a point-by-point algorithm is realized, and the method is difficult to apply 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, so that high mapping rate and high azimuth resolution imaging can be realized. The amount of computation required for phase multiplication is very small, whereas the interpolation process of the range-doppler domain can be combined with the range-migration correction interpolation process in the range-doppler algorithm, thus the increase in the amount of computation caused by correcting additional range migration is very small. The high mapping rate synthetic aperture sonar not only can improve the operation efficiency, but also has high platform speed and is beneficial to maintaining the stability of the platform, so that the adverse effect of motion errors on imaging is reduced.
Disclosure of Invention
Aiming at the problems existing in the prior art, the invention provides a Doppler frequency shift compensation line-by-line imaging method in a multi-subarray synthetic aperture sonar pulse, which effectively solves the problem of imaging quality degradation of the synthetic aperture sonar under the conditions of high mapping rate and high azimuth resolution, and has small calculation amount increase.
The invention corrects the extra range migration caused by the Doppler shift in the pulse based on the phase multiplication processing of the two-dimensional frequency domain, thereby realizing the compensation of the Doppler shift in the pulse.
Further, the multi-subarray synthetic aperture sonar intra-pulse Doppler shift compensation progressive imaging method comprises the following steps:
step one, converting multi-receiving subarray echo data into echo data in a transmitting-receiving combination mode through data preprocessing;
step two, carrying out two-dimensional Fourier transform on echo data in a transmitting and receiving combination mode, and transforming the echo data into a two-dimensional frequency domain;
correcting the extra range migration in the two-dimensional frequency domain through phase multiplication;
and step four, imaging processing is carried out on the echo data after the additional range migration correction by adopting a traditional transmit-receive combined imaging algorithm.
In the second step, the two-dimensional fourier transform of the echo data in the transmit-receive combination form may be implemented by a primary distance fourier transform and a primary azimuth fourier transform, the sequence of the distance and azimuth fourier transforms may be adjusted, and the distance compression or the line frequency modulation scaling may be performed between the two fourier transforms as required.
Further, in the third step, the phase multiplication formula is as follows:
Wherein f r and f a represent distance and azimuth frequencies, respectively; k r denotes the transmit signal chirp rate.
Further, the method for compensating the doppler shift in the pulse may further be:
Interpolation processing is carried out in the range-Doppler domain and combined with range migration correction interpolation processing in a range-Doppler algorithm, so that extra range migration correction caused by intra-pulse Doppler frequency shift is realized. The additional range-migration equation that needs to be corrected for the interpolation process of the range-doppler domain is as follows:
Wherein c represents the sound velocity in water.
Further, the line-by-line imaging algorithm may be: distance-doppler algorithm, line frequency modulation algorithm, chirp-z algorithm, beam domain algorithm, and their improved 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 perform the method of doppler shift compensation progressive imaging in a multi-subarray synthetic aperture sonar pulse.
Another object of the present invention is to provide an information data processing terminal, which includes a memory and a processor, the memory storing a computer program, which when executed by the processor, causes the processor to execute the multi-subarray synthetic aperture sonar intra-pulse doppler shift compensation progressive imaging method.
The invention corrects the extra range migration caused by the Doppler frequency shift in the pulse based on the phase multiplication processing of the two-dimensional frequency domain or the interpolation processing of the 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 having little increase of algorithm operation quantity.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed 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 other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic diagram of a method for compensating doppler shift in a multi-subarray synthetic aperture sonar pulse by using a line-by-line imaging method according to an embodiment of the present invention.
Figure 2 is a schematic diagram of the 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 showing a comparison of the distance profiles in fig. 2 and 3.
Fig. 5 is a schematic diagram illustrating the alignment of fig. 2 and 3.
Detailed Description
The present invention will be described in further detail with reference to the following examples in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Aiming at the problems existing in the prior art, the invention provides a Doppler frequency shift compensation progressive imaging method in a multi-subarray synthetic aperture sonar pulse, and the invention is described in detail below with reference to the accompanying drawings.
As shown in fig. 1, the method for imaging doppler shift compensation line by line in a multi-subarray synthetic aperture sonar pulse provided by the embodiment of the invention comprises the following steps:
step one, converting multi-receiving subarray echo data into echo data in a transmitting-receiving combination mode through data preprocessing;
step two, carrying out two-dimensional Fourier transform on echo data in a transmitting and receiving combination mode, and transforming the echo data into a two-dimensional frequency domain;
correcting the extra range migration in the two-dimensional frequency domain through phase multiplication;
and step four, imaging processing is carried out on the echo data after the additional range migration correction by adopting a traditional transmit-receive combined imaging algorithm.
Further, in the third step, the phase multiplication formula is as follows:
Wherein f r and f a represent distance and azimuth frequencies, respectively; k r denotes the transmit signal chirp rate.
The technical effects of the present invention will be further described with reference to specific examples.
Example 1:
the method for compensating Doppler shift line-by-line imaging in the multi-subarray synthetic aperture sonar pulse according to the embodiment is characterized by comprising the following steps:
1. carrying out data preprocessing on the multi-receiving subarray echo data, compensating time delay and phase errors corresponding to the distance history error items, and converting the multi-receiving subarray echo data into echo data in a receiving-transmitting combination mode;
2. Echo data in a transmitting-receiving combination form is transformed into a two-dimensional frequency domain form through two-dimensional Fourier transform, and then distance compression, secondary distance compression and additional distance migration correction are carried out through phase multiplication, wherein the calculation formula of a phase multiplication reference function during correction of additional distance migration is as follows:
Wherein f r and f a represent distance and azimuth frequencies, respectively; k r denotes the transmit signal chirp rate.
3. And carrying out azimuth inverse Fourier transform on the echo data subjected to the additional range migration correction, transforming the echo data into a range Doppler domain, and carrying out range migration correction through interpolation processing.
4. And carrying out azimuth pulse pressure on the echo data after the range migration correction, compensating azimuth walk, and completing imaging processing.
A typical set of synthetic aperture sonar system parameters at high mapping rates is given below:
| Center frequency | 150kHz | Width of transmitting array | 8cm |
| Signal bandwidth | 40kHz | Width of receiving array | 4cm |
| Pulse width | 20ms | Receiving the number of arrays | 50 |
| Pulse repetition period | 0.2s | Platform speed | 5m/s |
According to the sonar system parameters, the echo signal simulation is performed by considering the Doppler frequency shift in the pulse, then the imaging processing is performed by adopting the traditional multi-subarray distance-Doppler algorithm and the algorithm described in the embodiment, the imaging results are respectively shown in fig. 2 and 3, and compared with two images, the focusing effect of the images after compensating the Doppler frequency shift in the pulse can be obviously improved. The comparison of the distance and azimuth section views of the middle point targets of the two images is shown in fig. 4 and 5, wherein the dotted line is the result of adopting the traditional algorithm, and the solid line is the result of sampling the algorithm in the embodiment. As can be clearly seen from the sectional view, the distance and the azimuth direction main lobe of the image before compensating the Doppler frequency shift in the pulse are widened to different degrees, and the focusing performance index parameters of the intermediate point target are shown in the following table.
As can be seen from analysis of the parameters in the table above, compared with the algorithm described in the present embodiment, the IRW of the point target image obtained by the conventional algorithm is widened in both the distance direction and the azimuth direction, the widening multiple is about 1.5 times, and the decrease of PSLR and ISLR values is also caused by the serious widening of the main lobe. Therefore, the focusing effect of the point target image obtained by the algorithm in the sample sampling embodiment is obviously better than that 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 foregoing is merely illustrative of specific embodiments of the present invention, and the scope of the invention is not limited thereto, but any modifications, equivalents, improvements and alternatives falling within the spirit and principles of the present invention will be apparent to those skilled in the art within the scope of the present invention.
Claims (5)
1. The Doppler frequency shift compensation progressive imaging method in the multi-subarray synthetic aperture sonar pulse is characterized by comprising the following steps of: compensating Doppler frequency shift in the multiple subarray synthetic aperture sonar pulse in a line-by-line imaging algorithm;
The Doppler frequency shift compensation progressive imaging method in the multi-subarray synthetic aperture sonar pulse specifically comprises the following steps:
step one, converting multi-receiving subarray echo data into echo data in a transmitting-receiving combination mode through data preprocessing;
Step two, carrying out two-dimensional Fourier transform on echo data in a receiving and transmitting combination mode, and transforming the echo data into a two-dimensional frequency domain;
correcting the extra range migration in the two-dimensional frequency domain through phase multiplication;
Step four, imaging processing is carried out on the echo data after the additional range migration correction by adopting a traditional transceiving combined imaging algorithm;
In the second step, the two-dimensional fourier transform can be implemented by primary distance fourier transform and primary azimuth fourier transform on the echo data in the transmit-receive combination form, the sequence of the distance and azimuth fourier transforms can be adjusted, and the distance compression or the line frequency modulation and scaling process can be performed between the two fourier transforms as required;
The multi-subarray synthetic aperture sonar intra-pulse Doppler shift compensation progressive imaging method further comprises the following steps: based on the phase multiplication processing of the two-dimensional frequency domain, correcting extra range migration caused by the Doppler frequency shift in the pulse, and realizing the compensation of the Doppler frequency shift in the pulse;
In the third step, the calculation formula of the phase multiplication reference function of the two-dimensional frequency domain is as follows:
Wherein f r and f a represent distance and azimuth frequencies, respectively; k r denotes the transmit signal chirp rate.
2. The method for compensating line-by-line imaging of doppler shift in a multi-subarray synthetic aperture sonar pulse according to claim 1, wherein said method for compensating doppler shift in pulse further comprises the step of interpolating the range-doppler domain and combining with the step of interpolation for correcting range migration in a range-doppler algorithm to realize correction of additional range migration.
3. The method for compensating for doppler shift in a multi-subarray synthetic aperture sonar line-by-line imaging of claim 2, wherein the additional range-migration equation for which the interpolation process of the range-doppler domain requires correction is as follows:
Wherein c represents the sound velocity in water.
4. A computer readable storage medium storing a computer program which, when executed by a processor, causes the processor to perform the multi-subarray synthetic aperture sonar intra-pulse doppler shift compensation line-by-line imaging method of any one of claims 1 to 3.
5. An information data processing terminal, characterized in that the information data processing terminal comprises a memory and a processor, the memory storing a computer program which, when executed by the processor, causes the processor to execute the multi-subarray synthetic aperture sonar intra-doppler shift compensation line-by-line imaging method of any one of claims 1 to 3.
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