CN113848552A - Three-dimensional image imaging method and device, storage medium and electronic equipment - Google Patents

Abstract

The present disclosure provides an imaging method, an imaging device, a storage medium, and an electronic apparatus for a three-dimensional image, wherein the imaging method includes: acquiring echo data; dividing echo data to obtain a plurality of groups of sub-echo data; and calculating each group of sub-echo data by using a pre-established target algorithm to generate a target three-dimensional image corresponding to each group of sub-echo data. According to the method, the echo data are divided, so that the angle decoherence effect and the frequency domain decoherence effect are effectively solved, the divided sub-echo data are calculated by using a target algorithm, target three-dimensional images corresponding to each group of sub-echo data are generated, each target three-dimensional image contains a target object, then a plurality of images of the target object under different observation angles and electromagnetic wave frequencies can be presented, the presented target three-dimensional images can reflect the omnibearing scattering characteristics of the target object, and the omnibearing scattering characteristics of the target can be conveniently analyzed subsequently.

Description

Three-dimensional image imaging method and device, storage medium and electronic equipment

Technical Field

The present disclosure relates to the field of radar imaging technologies, and in particular, to an imaging method and apparatus for a three-dimensional image, a storage medium, and an electronic device.

Background

The Radar scattering cross-sectional area of the target is an important factor for measuring the visibility of the Radar, and is usually calculated through Radar imaging, wherein a two-dimensional image of the target is obtained mainly through circular Synthetic Aperture Radar (SAR) and Inverse Synthetic Aperture Radar (ISAR) imaging, or a three-dimensional image of the target is obtained through a planar array, a cylindrical array and an array SAR, so as to invert the Radar scattering cross-sectional area of the target.

However, in the process of generating the two-dimensional image and the three-dimensional image, the angular decorrelation effect and the frequency domain decorrelation effect are directly ignored, but the angular decorrelation effect and the frequency domain decorrelation effect actually exist, so a method capable of solving the angular decorrelation effect and the frequency domain decorrelation effect and imaging is needed.

Disclosure of Invention

In view of the above, an object of the embodiments of the present disclosure is to provide a method, an apparatus, a storage medium, and an electronic device for imaging a three-dimensional image, which are used to solve the problem in the prior art that the angle decorrelation and frequency domain decorrelation effects cannot be effectively solved and imaging cannot be performed.

In a first aspect, an embodiment of the present disclosure provides an imaging method of a three-dimensional image, where the method includes:

acquiring echo data;

dividing the echo data to obtain a plurality of groups of sub-echo data;

and calculating each group of sub-echo data by utilizing a pre-established target algorithm to generate a target three-dimensional image corresponding to each group of sub-echo data.

In one possible embodiment, the acquiring echo data includes:

establishing an imaging area; wherein the imaging region is a spherical region;

echo data is acquired based on acquisition antennas within the imaging region.

In a possible implementation, the dividing the echo data to obtain a plurality of sets of sub-echo data includes:

and dividing the echo data by taking the preset azimuth angle of the antenna, the preset pitch angle of the antenna and the preset frequency of the electromagnetic waves as intervals to obtain a plurality of groups of sub-echo data.

In a possible implementation manner, before calculating each set of the sub-echo data by using a pre-established target algorithm to generate a target three-dimensional image corresponding to each set of the sub-echo data, the method further includes:

dividing the imaging area by taking a preset azimuth angle of the imaging area, a preset pitch angle of the imaging area and a preset radius of the imaging area as intervals to obtain a plurality of sub-imaging areas;

establishing the target algorithm based on the signal frequency, the information of the acquisition antenna, and the sub-imaging region.

In a second aspect, embodiments of the present disclosure also provide an imaging apparatus, including:

an acquisition module configured to acquire echo data;

the dividing module is configured to divide the echo data to obtain a plurality of groups of sub-echo data;

and the calculation module is configured to calculate each group of sub-echo data by using a pre-established target algorithm and generate a target three-dimensional image corresponding to each group of sub-echo data.

In a possible implementation, the obtaining module is specifically configured to:

establishing an imaging area; wherein the imaging region is a spherical region;

echo data is acquired based on acquisition antennas within the imaging region.

In a possible implementation, the dividing module is specifically configured to:

and dividing the echo data by taking the preset azimuth angle of the antenna, the preset pitch angle of the antenna and the preset frequency of the electromagnetic waves as intervals to obtain a plurality of groups of sub-echo data.

In one possible embodiment, the imaging apparatus further comprises a setup module configured to:

dividing the imaging area by taking a preset azimuth angle of the imaging area, a preset pitch angle of the imaging area and a preset radius of the imaging area as intervals to obtain a plurality of sub-imaging areas;

establishing the target algorithm based on the signal frequency, the information of the acquisition antenna, and the sub-imaging region.

In a third aspect, an embodiment of the present disclosure further provides a storage medium, where the computer readable storage medium has a computer program stored thereon, and the computer program, when executed by a processor, performs the following steps:

acquiring echo data;

dividing the echo data to obtain a plurality of groups of sub-echo data;

and calculating each group of sub-echo data by utilizing a pre-established target algorithm to generate a target three-dimensional image corresponding to each group of sub-echo data.

In a fourth aspect, the present disclosure also provides an electronic device, including: a processor and a memory, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over a bus when an electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of:

acquiring echo data;

dividing the echo data to obtain a plurality of groups of sub-echo data;

and calculating each group of sub-echo data by utilizing a pre-established target algorithm to generate a target three-dimensional image corresponding to each group of sub-echo data.

According to the embodiment of the disclosure, the echo data are divided, so that the angle decoherence effect and the frequency domain decoherence effect are effectively solved, the divided sub-echo data are calculated by using a target algorithm, the target three-dimensional images corresponding to each group of sub-echo data are generated, each target three-dimensional image comprises a target object, and then a plurality of images of the target object under different observation angles and frequencies can be presented, and the presented target three-dimensional images can reflect the omnibearing scattering characteristic of the target opposite side, so that the omnibearing scattering characteristic of the target can be conveniently analyzed subsequently.

In order to make the aforementioned objects, features and advantages of the present disclosure more comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the technical solutions of the present disclosure or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and other drawings can be obtained by those skilled in the art without inventive exercise.

FIG. 1 illustrates a flow chart of a method of imaging a three-dimensional image provided by the present disclosure;

FIG. 2 illustrates a flow chart for acquiring echo data in a three-dimensional image imaging method provided by the present disclosure;

FIG. 3 shows a schematic view of an imaging region provided by the present disclosure;

FIG. 4 shows a schematic diagram of antenna distribution in an imaging region provided by the present disclosure;

FIG. 5 shows a schematic diagram of echo data partitioning provided by the present disclosure;

FIG. 6 illustrates a schematic diagram of another echo data partitioning provided by the present disclosure;

FIG. 7 illustrates a flow chart for establishing a targeting algorithm in a method of imaging a three-dimensional image provided by the present disclosure;

FIG. 8 illustrates a schematic diagram of one imaging region division provided by the present disclosure;

FIG. 9 shows a schematic diagram of another imaging region division provided by the present disclosure;

FIG. 10 shows a schematic diagram of another imaging region division provided by the present disclosure;

FIG. 11 shows a schematic structural diagram of an imaging device for three-dimensional images provided by the present disclosure;

fig. 12 shows a schematic structural diagram of an electronic device provided by the present disclosure.

Detailed Description

Various aspects and features of the disclosure are described herein with reference to the drawings.

It will be understood that various modifications may be made to the embodiments of the present application. Accordingly, the foregoing description should not be construed as limiting, but merely as exemplifications of embodiments. Other modifications will occur to those skilled in the art within the scope and spirit of the disclosure.

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and, together with a general description of the disclosure given above, and the detailed description of the embodiments given below, serve to explain the principles of the disclosure.

These and other characteristics of the present disclosure will become apparent from the following description of preferred forms of embodiment, given as non-limiting examples, with reference to the attached drawings.

It should also be understood that, although the present disclosure has been described with reference to some specific examples, a person of skill in the art shall certainly be able to achieve many other equivalent forms of the disclosure, having the characteristics as set forth in the claims and hence all coming within the field of protection defined thereby.

The above and other aspects, features and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it is to be understood that the disclosed embodiments are merely exemplary of the disclosure that may be embodied in various forms. Well-known and/or repeated functions and structures have not been described in detail so as not to obscure the present disclosure with unnecessary or unnecessary detail. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present disclosure in virtually any appropriately detailed structure.

The specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," which may each refer to one or more of the same or different embodiments in accordance with the disclosure.

In a first aspect, a method for imaging a three-dimensional image provided by the present disclosure will be described in detail first to facilitate understanding of the present disclosure. As shown in fig. 1, the imaging method for three-dimensional images provided for the embodiment of the present disclosure specifically includes the following steps:

and S101, acquiring echo data.

Here, the echo data is signal data of a radar transmitting electromagnetic waves to irradiate a surface of an object to reflect a collecting antenna. The embodiment of the disclosure is applied to a single-station or quasi-single-station scene, wherein single-station radars are received at the same place.

Specifically, echo data is acquired according to the flowchart shown in fig. 2, and the specific steps include S201 and S202.

S201, establishing an imaging area; wherein, the imaging area is a spherical area.

And S202, acquiring echo data based on the acquisition antenna in the imaging area.

In a specific embodiment, an imaging region is previously established, and the imaging region is a spherical region as shown in fig. 3. A spherical coordinate system is established based on the spherical area, and the spherical area can completely contain the target object S (rho) with independent reflectivity and non-directional scattering in the single-station or quasi-single-station scene_p,θ_p,φ_p) The target object is expressed by formula (1), and formula (1) is as follows:

S(ρ_p,θ_p,φ_p)＝A(ρ_p,θ_p,φ_p)exp{jγ(ρ_p,θ_p,φ_p)} (1)

wherein, S (ρ)_p,θ_p,φ_p) Representing the target object, A (ρ)_p,θ_p,φ_p) Representing the amplitude characteristic of the target object, gamma (ρ)_p,θ_p,φ_p) Representing the phase characteristics of the target object, j representing the complex number, target radius ρ_pRepresenting the distance between the target object and the origin of the spherical coordinate system, the target azimuth angle theta_pRepresenting the angle between the vector OS' and the positive X-axis, the target pitch angle phi_pDenotes the angle between the vector OS and the positive Z axis, S' denotes S (ρ)_p,θ_p,φ_p) Projected to the position of the XOY plane.

The radar collecting antenna has a radius of R₀The spherical surface scans a target object in all directions, and the position of the antenna aperture in the acquisition antenna under the spherical coordinate system can be represented as T (R)₀,θ_T,φ_T) T' represents T (R)₀,θ_T,φ_T) Position projected onto XOY plane, where θ_TRepresenting the angle between the vector OT' and the positive X-axis, also called the observation azimuth angle, phi_TRepresenting the angle between the vector OT and the positive Z axis, also referred to as the observed pitch angle. Wherein, the echo data is related to the distribution of the antennas, firstly, the distribution of the antennas is determined, as shown in fig. 4, the uniform sampling of the antennas along the azimuth angle and the pitch angle is collected under the spherical coordinate system, and the sampling intervals of the azimuth angle and the pitch angle are respectively delta theta_T、△φ_TIf the sampling point of the observation azimuth is 0, delta theta_T,…m_T△θ_T…(M_T-1)△θ_TObservation of the pitching sampling point is 0 and delta phi_T,…n_T△φ_T…(N_T-1)△φ_T，n_T＝0,1，L(N_T-1)，m_T＝0,1，L(M_T-1)，M_TIndicating the number of azimuth sample points, spaced from the sample by Delta theta_TIs expressed as Delta theta_T＝2π/(M_T-1), for the same reason N_TRepresenting the number of sampling points in the pitch direction and having a value of delta phi_T＝π/(N_T-1). When the azimuth angle of the acquisition antenna is 0, the pitch angle of the acquisition antenna is 0 and delta phi_T,…n_T△φ_T…(N_T-1)△φ_TTo obtain N_TAperture of each antenna when azimuth angle of the collecting antenna is Delta theta_THour, day of collectionThe pitch angle is 0 and delta phi_T,…n_T△φ_T…(N_T-1)△φ_TTo obtain N_TThe aperture of each antenna, so that the azimuth angle of the collecting antenna is from 0 to (M)_T-1)△θ_TThe time is shared by M_T×N_TAn antenna aperture, m_Tn_TThe coordinates of the individual antenna apertures may be expressed as

Each antenna aperture may receive a set of echo data reflected by the target, the set of echo data having a frequency sampled at f ═ f (f ═ f)_min,f_min+△fL f_min+m_f△fL f_max) Total number of M_fNumber of sampling points at one frequency, thus echo data E_s(f,θ_T,φ_T) Is denoted as M_f×M_T×N_TMatrix of dimensions, denoted E_s. Specifically, echo data E is calculated by formula (2)_s(f,θ_T,φ_T) Equation (2) is as follows:

wherein c represents the speed of light, which is 3 × 10⁸m/s, f represents the frequency f of the electromagnetic wave (f ═ f)_min,f_min+△f,f_min+m_f△fL f_max)，f_minDenotes the starting frequency, f_maxDenotes the maximum frequency,. DELTA.f denotes the sampling interval of the frequency, where m_f＝0,1，L(M_f-1), and has (f) Δ f ═ f_max-f_min)/(M_f-1), the number of samples of frequency is thus M_fD represents the distance between the antenna aperture and the scattering point of the target object, and d is expressed by the following formula (3):

wherein d represents the divergence of the antenna aperture from the target objectDistance between the points of incidence, R₀Is a constant number, theta_THas a value range of (0-2 pi), phi_TThe value range is (0-pi).

The planar array is formed in the traditional technology and is fixed, so that observation dead angles exist in the planar array, dead angles do not exist in the spherical surface, and the spherical area is used as the imaging area, so that the scattering characteristic of a target object can be reflected more comprehensively by an image presented on the imaging area.

And S102, dividing the echo data to obtain a plurality of groups of sub-echo data.

After the echo data in the imaging area are acquired by the acquisition antenna, the echo data are divided by taking the antenna preset azimuth angle, the antenna preset pitch angle and the preset frequency of electromagnetic waves as intervals, and a plurality of groups of sub-echo data are obtained.

Specifically, referring to the echo data division diagram shown in fig. 5, the preset azimuth angle of the antenna is θ_TThe antenna is preset with a pitch angle phi_TThe predetermined frequency of the electromagnetic wave is f and the azimuth angle is theta_TIs a spacing, pitch angle phi_TIf the echo data are divided into a plurality of sub-echo data groups uniformly at intervals of 'interval and frequency f' respectively, the echo data of the abc-th sub-set is denoted as E_{s_abc}And has a-1, 2 … a, B-1, 2 … B, C-1, 2 … C, a-2 pi/theta_T′，B＝π/φ_T′，C＝(f_max-f_min) And/f'. Note that θ_TThe value range of the' is (1 to 60 degrees), phi_TThe value range of the 'is (1-30 degrees), and the value range of the f' is 100 MHz-500 MHz. Observing the azimuth angle theta when the frequency is fixed_TDividing into A intervals, observing pitch angle phi_TDividing the echo data into B intervals, obtaining A multiplied by B groups of echo data according to the permutation and combination of the observation azimuth angle and the observation pitch angle, dividing the frequency into C intervals, dividing the echo data into A multiplied by B multiplied by C groups, and recording the groups as E_{s_111}～E_{s_ABC}The abc group is denoted by E_{s_abc}Denotes a frequency of [ f_min+(c-1)f′,f_min+ cf') observation azimuth angle [ (a-1) θ_T′,aθ_T') and observing a pitch angle of [ (b-1) phi_T′,bφ_T') echo data, it is noted that the ABC th group echo data E_{s_ABC}Representing a frequency of f_max-f′,f_max]The observation azimuth angle is [2 pi-theta_T′,2π]And the observed pitch angle is [ pi-phi ]_T′,π]The echo data of (1). For consistent matrix dimension in subsequent imaging calculation process, each group of sub-echo data E_{s_abc}Should be reacted with E_sKeeping consistent in dimension, and adding sub-echo data E_{s_abc}Is expanded into M by zero filling_f×M_T×N_TA matrix of dimensions. Then M_f×M_T×N_TEcho data E of dimension_sDivided into A × B × C M_f×M_T×N_TThe echo data obtained by dividing the dimensional sub-echo data into sub-echo data and applying zero is shown in FIG. 6 as echo data E_{s_abc}For example, E_{s_abc}Dimension of M_f×M_T×N_TAnd the rest positions except the dotted line frame are all 0.

Furthermore, the purpose of dividing the echo data into a plurality of groups of sub-echo data is achieved, and the angle decorrelation effect and the frequency domain decorrelation effect can be solved.

And S103, calculating each group of sub-echo data by using a pre-established target algorithm to generate a target three-dimensional image corresponding to each group of sub-echo data.

After obtaining a plurality of groups of sub-echo data, calculating each group of sub-echo data respectively to generate a target three-dimensional image aiming at each group of sub-echo data.

Before each group of sub-echo data is calculated by using a pre-established target algorithm and a target three-dimensional image corresponding to each group of sub-echo data is generated, the target algorithm is established according to a flowchart shown in fig. 7, and the specific steps include S701 and S702.

And S701, dividing the imaging area by taking the preset azimuth angle of the imaging area, the preset pitch angle of the imaging area and the preset radius of the imaging area as intervals to obtain a plurality of sub-imaging areas.

S702, establishing a target algorithm based on the signal frequency, the information of the acquisition antenna and the sub-imaging area.

In specific implementation, an imaging area is divided into a plurality of grids, each grid is approximately a pixel point, and a target object is represented as S (rho) in a spherical coordinate system_p,θ_p,φ_p)，ρ_pHas a value range of (0-rho)_Max)，θ_pHas a value range of (0-2 pi), phi_pThe value range is (0-pi). Therefore, the division of the imaging region is specifically as follows:

first, referring to fig. 8, the division is uniformly made along the azimuth angle at intervals of Δ θ_P，△θ_PThat is, the imaging area is divided into 0 and delta theta by the preset azimuth angle_pL m_p△θ_pL(M_p-1)△θ_p，m_p＝0,1，L(M_p-1)，△θ_p＝2π/(M_p-1), then the imaging area is co-divided into M_pA region is shown as

Record as

M-th of imaging area_pThe region is represented as

Record as

Next, referring to fig. 9, each of the small regions obtained by dividing in fig. 8

Evenly divided along the pitch angle with division interval of delta phi_P，△φ_PNamely presetting a pitch angle in the imaging area, wherein the pitch angle is divided into 0 and delta phi_pL n_p△φ_pL(N_p-1)△φ_p，n_p＝0,1，L(N_p-1)，△φ_p＝π/(N_p-1) individual regions

Division into N_pA small area, then

Is divided into M_p×N_pAn area, as

M th_pn_pA region is shown as

Record as

Finally, referring to fig. 10, each of the small regions obtained by dividing in fig. 9

Evenly divided along the radius with division intervals of Deltarho_pRadius divided by 0, Δ ρ_pL l_p△ρ_pL(L_p-1)△ρ_p，l_p＝0,1L(L_p-1)，△ρ_p＝ρ_Max/(L_p-1) individual regions

Is divided into L_pA small area, then

Is divided into L_p×M_p×N_pAn area, as

First_pm_pn_pA region is shown as

Record as

Wherein,

i.e. the sub-imaging region.

The relationship of three-dimensional fourier transform is satisfied between the echo data and the target three-dimensional image according to the above formula (2), and further, the three-dimensional image of the target object is represented by formula (4), specifically, formula (4) is as follows:

wherein, F_s(f,θ_T,φ_T,ρ_p,θ_P,φ_p) Representing the near field focusing function, the expression of which is referred to equation (5) below:

wherein D represents a constant after Jacobian transformation, and has a value of 8/c³(c represents the speed of light, and is 3X 10⁸m/s)。

Wherein, further expanding the formula (3) to obtain the formula (6), as follows:

substituting equation (6) into equation (5) yields equation (7) as follows:

the expression of the focusing function is derived from three-dimensional Fourier transform and third-order Jacobian determinant of a target three-dimensional scattering image function and is based on theta_TAnd theta_pThe focusing function is further expressed as F_s(f,φ_T,ρ_p,θ_T-θ_P,φ_p) In order to derive the final expression of the focusing function, the three-dimensional image acquisition process needs to be described first, the relationship between the target three-dimensional image, the echo data and the focusing function can be known from formula (4), and further the target three-dimensional image of the target object can be represented by formula (8), which is specifically as follows:

where ". x" denotes a circular convolution calculation.

Observation of echo data and focusing function with respect to theta_TAnd theta_pCan be converted to a value related to theta_pThe resulting expression of the focusing function is thus expressed as equation (9), as follows:

it should be noted that the repeated parameters in formulas (4) to (9) are not annotated with meanings, and reference can be made to the above comments.

From equation (9), the focusing function is related to the frequency f and the observed pitch angle phi_TTarget radius ρ_pTarget azimuth angle θ_pAnd target pitch angle phi_pAnd thus the focusing function, depends on the spatial distribution of the acquisition antennas, the frequency of the signal and the division of the imaging area, which details the distribution of the acquisition antennas, the frequency domain sampling form of the signal, the meshing of the target area, f_min+m_fΔ f denotes the m-th_fFrequency value of individual signal, n_T△φ_TDenotes the n-th_TPitch angle of antenna_p△ρ_pL < th > representing an object_pValue of radius, m_p△θ_pM < th > representing an object_pValue of individual azimuth, n_p△φ_pN-th representing an object_pPitch angle value, whereby the focusing function is denoted as M_f×N_T×L_P×M_p×N_PThe 5-dimensional matrix of (1) is denoted as F_s，F_{s_00000}Representing the first element of the matrix, i.e. m_f＝n_T＝l_p＝m_p＝n_pThe value when the value is equal to 0,

denotes the m-th_fn_Tl_pm_pn_pThe value of (a). And the m th focusing function_fn_Tl_pm_pn_pThe value of (d) can be expressed by equation (10), as follows:

further, formula (11) below is combined:

wherein f ═ f_min，f_min+△f…f_min+m_f△f…f_min+(M_f-1)△f，φ_T＝0,△φ_TL n_T△φ_TL(N_T-1)△φ_T，ρ_p＝0,△ρ_pL l_p△ρ_pL(L_p-1)△ρ_p，θ_p＝0,△θ_pL m_p△θ_pL(M_p-1)△θ_p，φ_p＝0,△φ_pL n_p△φ_pL(N_p-1)△φ_pIt is worth mentioning that, in the case of the above-mentioned,

any value can be represented by the above formula (10), and further, the embodiment of the present disclosure further specifically describes a calculation process, including steps 711 and 718:

step 711: let m_f＝0,n_T＝0,l_p＝0,m_p＝0,n _p0, and f is f_min+m_f△f，φ_T＝n_T△φ_T，ρ_p＝l_p△ρ_p，θ_p＝m_p△θ_p，φ_p＝n_p△φ_p；

Step 712: calculated according to equation (10)

Step 713 is performed;

step 713: let n be_pPlus 1, if n_p>N_pGo to step 714 if n_p<N_pStep 712 is executed;

step 714: let m_pPlus 1, if m_p>M_pGo to step 715 if m is_p<M_pLet n be_p0 and step 712 is performed;

step 715: let l_pPlus 1, if l_p>L_pGo to step 716, if l_p<L_pLet m stand for_p＝0,n _p0 and step 712 is performed;

step 716: let n be_TPlus 1, if n_T>N_TGo to step 717 if n_T<N_TLet l_p＝0,m_p＝0,n _p0 and step 712 is performed;

step 717: let m_fPlus 1, if m_f>M_fOutputting a focusing function F_sGo to step 718, if m_f>M_fLet n be_T＝0,l_p＝0,m_p＝0,n _p0 and step 712 is performed;

step 718: and acquiring a target three-dimensional image.

Here, the focusing function is the target algorithm in the embodiment of the present application.

In particular, the three-dimensional image of the object is obtained by coherent focusing of the echo data in the image domain, by E_{s_111}～E_{s_ABC}Totaling AxBxC groupsAnd obtaining A multiplied by B multiplied by C target three-dimensional images by coherent focusing of echo data, wherein different target three-dimensional images represent the scattering characteristics of the target object at different observation angles and frequency bands. For example, from the abc-th set of echo data E_{s_abc}The resulting three-dimensional image of the target is denoted S_abc(ρ_p,θ_p,φ_p) Only the target object is characterized in the azimuth angle [ (a-1) theta_T′,aθ_T') and a pitch angle [ (b-1) phi_T′,bφ_T') and a frequency [ f_min+(c-1)f′,f_min+ cf'), the above-mentioned azimuth, pitch and frequency ranges are of particular concern, and when a is equal to a, the range of azimuth is [ (a-1) θ ″_T′,Aθ_T′]When a is not equal to A, the range of the azimuth angle is [ (a-1) theta ≠ A_T′,aθ_T') and the pitch angle range when B equals B is [ (B-1) phi_T′,Bφ_T′]B is not equal to B pitch angle value range [ (B-1) phi ≠ B pitch angle value range_T′,bφ_T'), C ═ C with a frequency range of [ f [_min+(C-1)f′,f_min+Cf′]The frequency range of C ≠ C is [ f ≠ C_min+(c-1)f′,f_min+ cf'), a ═ 1,2 … a, B ═ 1,2 … B, C ═ 1,2 … C, where S is_abc(ρ_p,θ_p,φ_p) Can be expressed by equation (12), specifically as follows:

here, the meaning of each parameter in the formula (12) is referred to above, and will not be described in detail here.

Another example is the ABC th image S_ABC(ρ_p,θ_p,φ_p) Characterised target object in azimuth [2 pi-theta ]_T′,2π]Angle of pitch [ pi-phi ]_T′,π]Sum frequency [ f_max-f′,f_max]And 2 pi ═ a θ_T′,π＝Bφ_T′,f_max＝f_min+ Cf'. It should be noted that the premise behind the use of circular convolution is that the antenna azimuth angle θ_TIs sampled and the target azimuth angle theta_pOfIn this case, there is θ_T＝θ_p。

Then, with S_abc(ρ_p,θ_p,φ_p) The specific steps of generating the target three-dimensional image are elaborated for example, and include 721-:

step 721: echo data E_{s_abc}To theta_pA Fast Fourier Transform (FFT) is performed, denoted as

Step 722: focusing function F_sTo theta_pPerforming FFT, represented as

Step 723: will E_s′_{_abc}And F_s' dot multiplication is followed by Inverse Fast Fourier Transform (IFFT), denoted as IFFT

Record as

Step 724: will be provided with

Along an observed pitch angle phi_TIntegrate and convert the integration into a summation operation, denoted as

And is M_f×L_P×M_p×N_POf the matrix of (a).

Step 725:

integrating along the frequency f of the signal, and converting the integration into summation operation to obtain a three-dimensional image S of the target_abc(ρ_p,θ_p,φ_p) Expressed as:

according to the embodiment of the disclosure, the echo data are divided, so that the angle decoherence effect and the frequency domain decoherence effect are effectively solved, the divided sub-echo data are calculated by using a target algorithm, the target three-dimensional images corresponding to each group of sub-echo data are generated, each target three-dimensional image comprises a target object, and then a plurality of images of the target object under different observation angles and frequencies can be presented, and the presented target three-dimensional images can reflect the omnibearing scattering characteristic of the target opposite side, so that the omnibearing scattering characteristic of the target can be conveniently analyzed subsequently.

Based on the same inventive concept, the second aspect of the present disclosure further provides an imaging apparatus corresponding to the imaging method, and since the principle of the apparatus in the present disclosure for solving the problem is similar to the imaging method described above in the present disclosure, the implementation of the apparatus may refer to the implementation of the method, and repeated details are not repeated.

Referring to fig. 11, the apparatus for imaging a three-dimensional image includes:

an acquisition module 1101 configured to acquire echo data;

a dividing module 1102 configured to divide the echo data to obtain a plurality of sets of sub-echo data;

a calculating module 1103 configured to calculate each group of sub-echo data by using a pre-established target algorithm, and generate a target three-dimensional image corresponding to each group of sub-echo data.

In another embodiment, the obtaining module 1101 is specifically configured to:

establishing an imaging area; wherein the imaging region is a spherical region;

echo data is acquired based on acquisition antennas within the imaging region.

In another embodiment, the dividing module 1102 is specifically configured to:

and dividing the echo data by taking the preset azimuth angle of the antenna, the preset pitch angle of the antenna and the preset frequency of the electromagnetic waves as intervals to obtain a plurality of groups of sub-echo data.

In another embodiment, the imaging apparatus further comprises a setup module 1104 configured to:

dividing the imaging area by taking a preset azimuth angle of the imaging area, a preset pitch angle of the imaging area and a preset radius of the imaging area as intervals to obtain a plurality of sub-imaging areas;

establishing the target algorithm based on the signal frequency, the information of the acquisition antenna, and the sub-imaging region.

According to the embodiment of the disclosure, the echo data are divided, so that the angle decoherence effect and the frequency domain decoherence effect are effectively solved, the divided sub-echo data are calculated by using a target algorithm, the target three-dimensional images corresponding to each group of sub-echo data are generated, each target three-dimensional image comprises a target object, and then a plurality of images of the target object under different observation angles and frequencies can be presented, and the presented target three-dimensional images can reflect the omnibearing scattering characteristic of the target opposite side, so that the omnibearing scattering characteristic of the target can be conveniently analyzed subsequently.

The third aspect of the present disclosure also provides a storage medium, which is a computer-readable medium storing a computer program, and when the computer program is executed by a processor, the computer program implements the method provided in any embodiment of the present disclosure, including the following steps:

s11, acquiring echo data;

s12, dividing the echo data to obtain a plurality of groups of sub-echo data;

and S13, calculating each group of sub-echo data by using a pre-established target algorithm, and generating a target three-dimensional image corresponding to each group of sub-echo data.

When the computer program is executed by the processor to acquire the echo data, the processor further specifically executes the following steps: establishing an imaging area; wherein the imaging region is a spherical region; echo data is acquired based on acquisition antennas within the imaging region.

When the computer program is executed by the processor to divide the echo data to obtain a plurality of groups of sub-echo data, the processor specifically executes the following steps: and dividing the echo data by taking the preset azimuth angle of the antenna, the preset pitch angle of the antenna and the preset frequency of the electromagnetic waves as intervals to obtain a plurality of groups of sub-echo data.

The computer program is executed by the processor to calculate each group of sub-echo data by using a pre-established target algorithm, and before generating a target three-dimensional image corresponding to each group of sub-echo data, the processor further executes the following steps: dividing the imaging area by taking a preset azimuth angle of the imaging area, a preset pitch angle of the imaging area and a preset radius of the imaging area as intervals to obtain a plurality of sub-imaging areas; establishing the target algorithm based on the signal frequency, the information of the acquisition antenna, and the sub-imaging region.

According to the embodiment of the disclosure, the echo data are divided, so that the angle decoherence effect and the frequency domain decoherence effect are effectively solved, the divided sub-echo data are calculated by using a target algorithm, the target three-dimensional images corresponding to each group of sub-echo data are generated, each target three-dimensional image comprises a target object, and then a plurality of images of the target object under different observation angles and frequencies can be presented, and the presented target three-dimensional images can reflect the omnibearing scattering characteristic of the target opposite side, so that the omnibearing scattering characteristic of the target can be conveniently analyzed subsequently.

It should be noted that the storage media described above in this disclosure can be computer readable signal media or computer readable storage media or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any storage medium that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a storage medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.

The fourth aspect of the present disclosure also provides an electronic device, as shown in fig. 12, the electronic device at least includes a memory 1201 and a processor 1202, the memory 1201 stores a computer program thereon, and the processor 1202 implements the method provided by any embodiment of the present disclosure when executing the computer program on the memory 1201. Illustratively, the method performed by the electronic device computer program is as follows:

s21, acquiring echo data;

s22, dividing the echo data to obtain a plurality of groups of sub-echo data;

and S23, calculating each group of sub-echo data by using a pre-established target algorithm, and generating a target three-dimensional image corresponding to each group of sub-echo data.

The processor, when executing the acquired echo data stored on the memory, further executes the following computer program: establishing an imaging area; wherein the imaging region is a spherical region; echo data is acquired based on acquisition antennas within the imaging region.

When the processor divides the echo data stored in the execution memory to obtain a plurality of groups of sub-echo data, the processor also executes the following computer program: and dividing the echo data by taking the preset azimuth angle of the antenna, the preset pitch angle of the antenna and the preset frequency of the electromagnetic waves as intervals to obtain a plurality of groups of sub-echo data.

Before the processor executes a target algorithm stored in the memory and established in advance to calculate each group of sub-echo data and generate a target three-dimensional image corresponding to each group of sub-echo data, the processor further executes the following computer program: dividing the imaging area by taking a preset azimuth angle of the imaging area, a preset pitch angle of the imaging area and a preset radius of the imaging area as intervals to obtain a plurality of sub-imaging areas; establishing the target algorithm based on the signal frequency, the information of the acquisition antenna, and the sub-imaging region.

According to the embodiment of the disclosure, the echo data are divided, so that the angle decoherence effect and the frequency domain decoherence effect are effectively solved, the divided sub-echo data are calculated by using a target algorithm, the target three-dimensional images corresponding to each group of sub-echo data are generated, each target three-dimensional image comprises a target object, and then a plurality of images of the target object under different observation angles and frequencies can be presented, and the presented target three-dimensional images can reflect the omnibearing scattering characteristic of the target opposite side, so that the omnibearing scattering characteristic of the target can be conveniently analyzed subsequently.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by persons skilled in the art that the scope of the disclosure herein is not limited to the particular combination of features described above, but also encompasses other arrangements formed by any combination of the above features or their equivalents without departing from the spirit of the disclosure. For example, the above features and (but not limited to) the features disclosed in this disclosure having similar functions are replaced with each other to form the technical solution.

Further, while operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limitations on the scope of the disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are disclosed as example forms of implementing the claims.

While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.

Claims (10)

1. A method of imaging a three-dimensional image, comprising:

acquiring echo data;

dividing the echo data to obtain a plurality of groups of sub-echo data;

and calculating each group of sub-echo data by utilizing a pre-established target algorithm to generate a target three-dimensional image corresponding to each group of sub-echo data.

2. The imaging method of claim 1, wherein the acquiring echo data comprises:

establishing an imaging area; wherein the imaging region is a spherical region;

echo data is acquired based on acquisition antennas within the imaging region.

3. The imaging method of claim 1, wherein the dividing the echo data into a plurality of sets of sub-echo data comprises:

and dividing the echo data by taking the preset azimuth angle of the antenna, the preset pitch angle of the antenna and the preset frequency of the electromagnetic waves as intervals to obtain a plurality of groups of sub-echo data.

4. The imaging method according to claim 2, before calculating each set of sub-echo data by using a pre-established target algorithm to generate a target three-dimensional image corresponding to each set of sub-echo data, further comprising:

dividing the imaging area by taking a preset azimuth angle of the imaging area, a preset pitch angle of the imaging area and a preset radius of the imaging area as intervals to obtain a plurality of sub-imaging areas;

establishing the target algorithm based on the signal frequency, the information of the acquisition antenna, and the sub-imaging region.

5. An imaging apparatus for three-dimensional images, comprising:

an acquisition module configured to acquire echo data;

the dividing module is configured to divide the echo data to obtain a plurality of groups of sub-echo data;

and the calculation module is configured to calculate each group of sub-echo data by using a pre-established target algorithm and generate a target three-dimensional image corresponding to each group of sub-echo data.

6. The imaging apparatus of claim 5, wherein the acquisition module is specifically configured to:

establishing an imaging area; wherein the imaging region is a spherical region;

echo data is acquired based on acquisition antennas within the imaging region.

7. The imaging apparatus of claim 5, wherein the partitioning module is specifically configured to:

and dividing the echo data by taking the preset azimuth angle of the antenna, the preset pitch angle of the antenna and the preset frequency of the electromagnetic waves as intervals to obtain a plurality of groups of sub-echo data.

8. The imaging apparatus of claim 6, further comprising a setup module configured to:

dividing the imaging area by taking a preset azimuth angle of the imaging area, a preset pitch angle of the imaging area and a preset radius of the imaging area as intervals to obtain a plurality of sub-imaging areas;

establishing the target algorithm based on the signal frequency, the information of the acquisition antenna, and the sub-imaging region.

9. A storage medium, having a computer program stored thereon, the computer program when executed by a processor performing the steps of:

acquiring echo data;

dividing the echo data to obtain a plurality of groups of sub-echo data;

and calculating each group of sub-echo data by utilizing a pre-established target algorithm to generate a target three-dimensional image corresponding to each group of sub-echo data.

10. An electronic device, comprising: a processor and a memory, the memory storing machine-readable instructions executable by the processor, the processor and the memory communicating over a bus when an electronic device is operating, the machine-readable instructions when executed by the processor performing the steps of:

acquiring echo data;

dividing the echo data to obtain a plurality of groups of sub-echo data;

and calculating each group of sub-echo data by utilizing a pre-established target algorithm to generate a target three-dimensional image corresponding to each group of sub-echo data.

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