CN115327537A - Building layout reconstruction method based on transparent and reflective cooperation - Google Patents

Building layout reconstruction method based on transparent and reflective cooperation Download PDF

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CN115327537A
CN115327537A CN202210972364.0A CN202210972364A CN115327537A CN 115327537 A CN115327537 A CN 115327537A CN 202210972364 A CN202210972364 A CN 202210972364A CN 115327537 A CN115327537 A CN 115327537A
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郭世盛
陈家辉
赖样明
薛舒程
崔国龙
孔令讲
杨晓波
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University of Electronic Science and Technology of China
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
    • G01S13/888—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons through wall detection
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    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging

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Abstract

The invention discloses a building layout reconstruction method based on transmission-reflection cooperation, which is applied to the field of building layout imaging based on radar and aims at solving the problems of image holes, wall body deviation and the like existing in the layout reconstruction result based on reflection signals and the problems of serious artifact interference and the like existing in the layout reconstruction result based on transmission signals in the prior art; the time delay compensation of the reflected signal is completed based on the imaging result, and then a back projection imaging method is adopted to obtain the imaging result of the reflected signal; finally, completing image fusion of the two signal systems by adopting a feature level fusion algorithm; the invention can obtain high-precision building layout under a sparse sampling path, and effectively improves the imaging quality compared with a single type signal imaging result.

Description

Building layout reconstruction method based on transparent and reflective cooperation
Technical Field
The invention belongs to the technical field of radar building layout imaging, and particularly relates to a building layout reconstruction technology.
Background
Through-wall radars have received extensive research attention due to their high range resolution and good penetration capability into non-metallic obstacles. Building layout reconstruction is an important application of through-wall radar, which can provide relative positions of targets in buildings and decision assistance for follow-up actions, and has been widely applied in the fields of disaster relief, urban surveying and mapping and the like.
Building layout reconstruction techniques can be classified into two types, i.e., reflected wave-based imaging models and transmitted wave-based imaging models, according to the data acquisition mode. In reflected wave based imaging models, the transmit and receive antennas are typically located on the same side of the building, collecting echoes reflected off the building's exterior walls and internal obstructions. The disadvantage of this model is that the inside of the wall of the imaged result is hollow and easily defocused. The transmission wave based imaging model is an extension of the idea of Computed Tomography (CT), and has the advantages of flexible node deployment, high imaging precision and the like. This imaging model uses measurements of the transmission signal along different paths through the monitored region to reconstruct the spatial field of the transmission parameters throughout the medium. However, such an imaging model based on transmitted wave signals relies on the observation of multiple viewing angles, and the imaging results can be severely disturbed by artifacts when the observation viewing angle is limited.
Disclosure of Invention
In order to solve the technical problems, the invention provides a building layout reconstruction method based on transflective cooperation, which can realize the imaging of unknown building layouts and obviously improve the recovery degree of scenes.
The technical scheme adopted by the invention is as follows: a building layout reconstruction method based on transflective synergy comprises the following steps:
s1, data acquisition: scanning a scene in the horizontal and vertical directions by adopting a transmitting-receiving ultra-wideband radar, wherein one transmitting antenna and one receiving antenna are arranged on the same side of the scene to obtain a reflection echo of a building, and the other antenna is arranged on the opposite side of the scene to collect a transmission echo;
s2, transmission signal modeling: estimating the time delay of the direct path of the transmission signal by adopting a maximum amplitude estimation method, and stacking the time delay into vectors
Figure BDA0003796979440000011
Discretizing the imaged scene into N two-dimensional grids of the same size, with an imaging vector O represented as:
Figure BDA0003796979440000012
the transmission signal is modeled as:
Z＝AO+n,
where M represents the total number of data points, c is the speed of light, ε (r) n ) Is the dielectric constant of the nth mesh, r n For each grid index, N =1,2,3, \8230, N, a is the projection matrix;
s3, transmission signal imaging: solving a signal model based on the transmission signal, wherein the solved objective function is as follows:
Figure BDA0003796979440000021
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003796979440000022
Figure BDA0003796979440000023
and
Figure BDA0003796979440000024
first order differences in the horizontal and vertical directions, respectively;
Figure BDA0003796979440000025
c is two-dimensional heightA kernel function;
Figure BDA0003796979440000026
for material constraint, W represents a weight matrix, and the weight of the ith grid is
Figure BDA0003796979440000027
O 1i Representing the estimated value of the imaging result of the transmission signal corresponding to the ith grid,
Figure BDA0003796979440000028
the dielectric constant of the material is preset, and h is a scaling factor.
The imaging result of the transmission signal obtained by solving by adopting an alternating direction multiplier method is marked as O 1 ；
S4, reflected signal time delay compensation: according to the imaging result of the S3, the thickness of the wall body of the imaging device is obtained, the reflected echo is compensated based on the thickness, and extra delay caused by the wall body is eliminated;
s5, reflected signal imaging: and carrying out back projection imaging on the compensated reflection echo:
Figure BDA0003796979440000029
wherein, X v For the set of all sampling positions in the v-th path, L represents each specific sampling position, and d (r, L) is the distance from the transceiving antenna to the pixel point r;
the imaging result of the reflected signal is recorded as O 2 ；
S6, trans-inverse fusion imaging:
result of imaging transmitted wave O 1 Performing Hough transform, extracting a straight line segment in a result, and marking the result as G;
imaging the reflected wave result O 2 And performing characteristic level fusion with the transmission wave imaging result G after the linear extraction, wherein the fusion criterion is as follows:
Figure BDA00037969794400000210
wherein the content of the first and second substances,
Figure BDA00037969794400000211
r k for a grid index within the search window, k =1,2,3, \8230N t ，N t For the number of grids of the search window, G (r) k ) For the scene vector after line detection, T (r) n ) Is in one N t Result of the accumulation summation within the window, N t For the number of grids of the search window, α gate As empirical threshold, beta gate Is a decision statistic.
The invention has the beneficial effects that: the invention provides a building layout reconstruction method based on transmission and reflection coordination, which comprehensively utilizes transmission and reflection signals, can solve the problems of artifact interference caused by only using the transmission signals, wall body deviation, internal cavities and the like caused by only using the reflection signals, and greatly improves the building layout imaging quality. In addition, the method only needs to scan the scene in the horizontal and vertical directions, so that the method has the advantages of high scanning efficiency and strong environmental adaptability, and can be used for quickly and accurately acquiring the layout structure of the unknown scene, such as in the fields of disaster relief and the like.
Drawings
FIG. 1 is a schematic view of a scanning mode and a scene;
FIG. 2 is a fusion block diagram;
FIG. 3 shows the results of electromagnetic simulation imaging;
wherein (a) in fig. 3 is an imaging result based on the transmission signal, (b) in fig. 3 is an imaging result based on the reflection signal, and (c) in fig. 3 is a fusion result;
FIG. 4 is an experimental scenario;
FIG. 5 shows the results of the experiment;
in fig. 5, (a) is an imaging result based on the transmission signal, (b) is an imaging result based on the reflection signal in fig. 5, and (c) is a fusion result in fig. 5.
Detailed Description
In order to facilitate the understanding of the technical contents of the present invention by those skilled in the art, the present invention will be further explained with reference to the accompanying drawings.
The working schematic diagram of the radar node of the invention is shown in fig. 1, the scene size is 2m × 2m, the radar node comprises a transmitting node and two receiving nodes, one group of the transmitting node and the receiving node is arranged on the same side of the scene to receive the reflection echo of a building, and the other receiving antenna is arranged on the other side of the scene to receive the transmission signal. All nodes move synchronously along the planned path (the path set by the embodiment is a 0-degree, 90-degree, 180-degree and 270-degree path), the moving interval is 2cm, and the total number of the nodes is 604 sampling points.
The invention takes fig. 1 as an example to introduce specific implementation steps:
step 1: transmission signal modeling
According to the time delay and scene dielectric constant expression:
Figure BDA0003796979440000031
wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003796979440000032
for integration along the line between transmit and receive, c is the speed of light, ε (r) is the value of the dielectric constant at r, representing the imaging grid location,
Figure BDA0003796979440000033
in order to receive the position of the antenna,
Figure BDA0003796979440000034
is the transmit antenna location. Therefore, according to the maximum amplitude criterion, the time delay values corresponding to 604 direct paths can be estimated and accumulated into a column vector to obtain
Figure BDA0003796979440000041
Figure BDA0003796979440000042
For the estimated direct path delay value, τ is the actual delay value, M represents the total number of data points, M =604 in this embodiment. Can then be establishedThe relationship between the reception delay and the scene imaging vector is shown in formula (2) -formula (3), in which the imaged scene is discretized into N two-dimensional grids of equal size.
Constructing an imaging model among the received signal time delay, the projection matrix and the imaging vector, wherein the imaging model is specifically shown as the following formula:
Z＝AO+n (2)
wherein n = [ n = 1 ,n 2 ,…,n M ]Is the noise vector, O denotes the imaging vector, and a is the projection matrix. Specifically, for the mth measurement, the projection matrix of the nth grid has the following elements:
Figure BDA0003796979440000043
wherein, d m Distance between transceivers for the m-th set of measurements, D (r) n ,X m ) For the mth set of measurements, σ is set to one-half wavelength, the sum of the distances from the transmitter to the nth grid and from the receiver to the nth grid.
Step 2: transmission signal inversion imaging
Solving the imaging model based on the transmission signals, wherein the solved objective function is
Figure BDA0003796979440000044
Wherein, the first and the second end of the pipe are connected with each other,
Figure BDA0003796979440000045
in order to be a constraint of the gradient,
Figure BDA0003796979440000046
Figure BDA0003796979440000047
and
Figure BDA0003796979440000048
are respectively an edgeA first order difference between the horizontal and vertical directions, the constraint being used to smooth the image;
Figure BDA0003796979440000049
c is a two-dimensional Gaussian kernel function, T is a transposed symbol, and the constraint is used for limiting the horizontal and vertical orientation of the structure in the imaging result;
Figure BDA00037969794400000410
for material constraint, W represents a weight matrix, wherein the elements in the matrix are the weight of each grid, and the weight of the ith grid is
Figure BDA00037969794400000411
Figure BDA00037969794400000412
Is the closest preset value to the estimated value in the current iteration process, for example, the preset value is 1,2,3, when the nth grid estimated value O n Is 1.9, that
Figure BDA00037969794400000413
Is 2, h is the scaling factor. The solving method of the formula (4) adopts an alternating direction multiplier method, and the imaging result is marked as O 1 。
Based on the objective function (4), we preset the material vector
Figure BDA00037969794400000414
The medium element values include 1 (air) and 4 (wall). The specific expression of the elements in the Gaussian kernel function C is
Figure BDA0003796979440000051
Wherein d is x (i, j) and d y (i, j) are the horizontal and vertical distances from grid i to grid j, respectively, and the parameter k x And k y Is defined as
Figure BDA0003796979440000052
k 1 ＞＞k 2 Set to 100 and 1 in the simulation, respectively. Solving the objective function by adopting an alternative direction multiplier method, and defining the result as O 1 。
And step 3: reflected signal time delay calibration
The electromagnetic waves cause additional propagation delay when penetrating the wall, resulting in a deviation of the wall position in the direct imaging result. Therefore, it needs further calibration processing. The wall thickness in the transmission signal imaging result is taken as a reference value, and the compensation value of the front surface and the rear surface of the wall is
Figure BDA0003796979440000053
Wherein
Figure BDA0003796979440000054
Delta tau is the time delay difference of the back surface of the wall body,
Figure BDA0003796979440000055
is a wall body at O 1 Of (4).
And 4, step 4: reflected signal inversion imaging
For the compensated reflection echo
Figure BDA0003796979440000056
Performing back projection imaging
Figure BDA0003796979440000057
Wherein, X v For the set of all sampling positions in the v-th path, L represents each specific sampling position, d (r, L) is the distance from the transceiving antenna to the pixel point r, and the imaging result is marked as O 2 。
Carrying out back projection imaging by using the calibrated signal, wherein the specific process is shown in formula (7), obtaining different view angle results, and then obtaining a final result O by incoherent superposition 2 。
And 5: image fusion
Step 5-1: image O 1 And O 2 And carrying out normalization processing.
Step 5-2: imaging result O of transmission signal by Hough transform 1 Performing linear detection, wherein the detection result is defined as G;
step 5-3: image G and image O by adopting a characteristic level fusion method 2 The fusion process is performed by the method shown in equations (8) - (9), wherein the search window is set to 25 × 25 and the threshold α is set gate Set to 28 and the parameter gamma is set to 0.001.
Figure BDA0003796979440000061
Wherein the content of the first and second substances,
Figure BDA0003796979440000062
r n for each grid index, the range is 1-N, N represents the total number of grids, r k For a grid index within a search window, in the range of 1-N t ，N t Number of grids for search window, G (r) k ) For the scene vector after line detection, T (r) n ) Is in one N t Result of accumulation summation within window, alpha gate Is an empirical threshold set to
Figure BDA0003796979440000063
β gate For decision statistics, the expression is as follows:
Figure BDA0003796979440000064
the parameter gamma is an adjustable threshold and is typically set to 0.003.
The effects of the invention are further illustrated by the following simulation and experimental verification:
and (3) simulation results:
the relative dielectric constant and the conductivity of the scene in the simulation are respectively 4 and 0.01, the transmitted signal is a step frequency signal, the frequency range is 1GHz-2GHz, and the sampling paths are 4 and respectively are 0 degree, 90 degree, 180 degree and 270 degree. The moving interval of the radar in each sampling path is 0.02m. The fusion diagram is shown in fig. 2.
Fig. 3 (a) is a transmission signal imaging result, which has a serious artifact interference due to fewer scanning paths, but has the advantage of structural integrity; FIG. 3 (b) is a reflection signal imaging result, which shows that the overall layout is complete, but there are cavities inside the wall and the wall is severely interfered by noise; the fusion result is shown in fig. 3 (c), and it can be found that the imaging result is significantly improved after the transmission and the reflection are cooperatively utilized.
An experimental scene is shown in fig. 4, a one-transmitting and two-receiving ultra-wideband system is used for reconstructing the scene, the frequency range of the radar is 1.6GHz-2.2GHz, the stepping interval is 2MHz, the antenna is a horn antenna, the horizontal beam range is 32 degrees, the vertical direction is 45 degrees, and the scene size is 2.08m × 2.18m. The acquisition paths are still 0 °,90 °,180 ° and 270 °.
For the acquired transmission and reflection signals, after the processing scheme of the invention, the transmission signal imaging result, the reflection signal imaging result and the fusion result are respectively shown in fig. 5 (a) - (c), and the results show that the content provided by the invention can also obtain good imaging effect when applied to actually measured data. Simulation and actual measurement results show that the method comprehensively utilizes the transmission and reflection signals and can realize high-precision reconstruction of unknown scenes.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (6)

1. A building layout reconstruction method based on transflective synergy is characterized by comprising the following steps:
s1, data acquisition: scanning a scene in the horizontal and vertical directions by adopting a transmitting-receiving ultra-wideband radar, wherein one transmitting antenna and one receiving antenna are arranged on the same side of the scene to obtain a reflection echo of a building, and the other antenna is arranged on the opposite side of the scene to collect a transmission echo;
s2, transmission echo modeling: estimating the time delay of the transmission echo direct path by adopting a maximum amplitude estimation method, and stacking the time delay into vectors
Figure FDA0003796979430000011
Discretizing the imaged scene into N two-dimensional grids of equal size, with the imaging vector O being represented as:
Figure FDA0003796979430000012
the transmission echo model is then:
Z＝AO+n,
where M represents the total number of data points, c is the speed of light, ε (r) n ) Is the dielectric constant of the nth mesh, r n For each grid index, N =1,2,3, \8230, N, a is the projection matrix;
s3, transmission echo imaging: solving a signal model based on the transmission echo, wherein the solved objective function is as follows:
Figure FDA0003796979430000013
wherein the content of the first and second substances,
Figure FDA0003796979430000014
Figure FDA0003796979430000015
and
Figure FDA0003796979430000016
the first order difference of the imaging vector O along the horizontal direction and the vertical direction respectively;
Figure FDA0003796979430000017
c is a two-dimensional Gaussian kernel function;
Figure FDA0003796979430000018
for material constraint, W represents a weight matrix;
and recording the transmission echo imaging result obtained by solving by adopting an alternating direction multiplier method as O 1 ；
S4, reflected echo time delay compensation: according to the imaging result of the S3, the thickness of the wall body of the imaging device is obtained, the reflected echo is compensated based on the thickness, and extra delay caused by the wall body is eliminated;
s5, reflection echo imaging: and carrying out back projection imaging on the compensated reflection echo:
Figure FDA0003796979430000019
wherein, X v For the set of all sampling positions in the v-th path, L represents each specific sampling position, and d (r, L) is the distance from the transceiving antenna to a pixel point r;
the imaging result of the reflected signal is recorded as O 2 ；
S6, trans-inverse fusion imaging:
result of imaging transmitted wave O 1 Carrying out Hough transform, extracting a straight line segment in a result, and recording the result as G;
imaging the reflected signal 2 And carrying out characteristic level fusion with the transmission wave imaging result G after the straight line extraction, thereby obtaining a building layout reconstruction result.
2. The building layout reconstruction method based on transflective synergy as claimed in claim 1, wherein the weight of the ith grid is
Figure FDA0003796979430000021
O 1i Representing the estimated value of the imaging result of the transmission signal corresponding to the ith grid,
Figure FDA0003796979430000022
is a predetermined material dielectric constant value, and h is a scaling factor.
3. The building layout reconstruction method based on the transflective synergy as claimed in claim 2, wherein the blending criterion is as follows:
Figure FDA0003796979430000023
wherein, the first and the second end of the pipe are connected with each other,
Figure FDA0003796979430000024
r k for the grid index within the search window, k =1,2,3, \ 8230; N t ，N t Number of grids for search window, G (r) k ) For the scene vector after line detection, T (r) n ) Is in one N t Result of the accumulation summation within the window, N t For the number of grids of the search window, α gate As empirical threshold, beta gate Is a decision statistic.
4. The building layout reconstruction method based on transflective synergy as claimed in claim 2, wherein for the m-th measurement, the n-th grid, element A of the projection matrix mn The expression is as follows:
Figure FDA0003796979430000025
wherein d is m Distance between transceivers at the time of the mth set of measurements; d (r) n ,X m ) The sum of the distances from the transmitter to the nth grid and from the receiver to the nth grid for the mth set of measurements; σ is set to one-half wavelength.
5. The building layout reconstruction method based on transflective synergy as claimed in claim 4, wherein the specific expression of the elements in the Gaussian kernel function C is
Figure FDA0003796979430000026
Wherein d is x (i, j) and d y (i, j) are the horizontal and vertical distances from grid i to grid j, respectively, and the parameter k x And k y Is defined as
Figure FDA0003796979430000027
Wherein k is 1 、k 2 Is an integer, k 1 ＞＞k 2 ，
Figure FDA0003796979430000031
Represents the first order difference of (i, j) in the horizontal direction,
Figure FDA0003796979430000032
representing the first order difference of (i, j) in the vertical direction.
6. The building layout reconstruction method based on transflective synergy as claimed in claim 5, wherein β is β gate The expression of (c) is as follows:
Figure FDA0003796979430000033
the parameter gamma is an adjustable threshold.
CN202210972364.0A 2022-08-15 2022-08-15 Building layout reconstruction method based on transparent and reflective cooperation Pending CN115327537A (en)

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