CN115825903A - Doppler center fine compensation method based on PFA algorithm real-time imaging - Google Patents

Doppler center fine compensation method based on PFA algorithm real-time imaging Download PDF

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CN115825903A
CN115825903A CN202211282099.XA CN202211282099A CN115825903A CN 115825903 A CN115825903 A CN 115825903A CN 202211282099 A CN202211282099 A CN 202211282099A CN 115825903 A CN115825903 A CN 115825903A
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郭振宇
陈德民
朱明�
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Leihua Electronic Technology Research Institute Aviation Industry Corp of China
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Abstract

The invention relates to the field of airborne synthetic aperture radar imaging, and discloses a Doppler center fine compensation method based on PFA algorithm real-time imaging. The method can solve the problem of imaging center deviation caused by beam control errors, antenna installation errors and carrier non-ideal motion errors, is combined with the current real-time processing architecture based on the PFA algorithm, avoids the problem of time lag in real-time processing, realizes the real-time processing capability of frame estimation and frame compensation when frames are used, can avoid the problems of SAR image scene center deviation, azimuth defocusing and the like, realizes the consistency of the imaging center and the beam center, and further improves the imaging quality.

Description

Doppler center fine compensation method based on PFA algorithm real-time imaging
Technical Field
The invention relates to the field of airborne synthetic aperture radar imaging, in particular to a Doppler center fine compensation method based on PFA algorithm real-time imaging.
Background
Synthetic Aperture Radar (SAR) is an active microwave remote sensing device and has the capability of carrying out high-resolution imaging and motion detection positioning on an interested area all day long and all weather. The high-resolution airborne SAR real-time imaging significance is obvious, the real-time reconnaissance can be carried out on a battlefield in the military aspect, information is timely provided for a command system, and the real-time processing can be carried out on-site monitoring in other aspects such as geological exploration, disaster assessment, agriculture, forests and the like, so that the high-resolution airborne SAR real-time imaging significance is also significant. Meanwhile, radar images are compressed in real time and then transmitted, so that the requirement on a number transmission channel can be greatly reduced.
The airborne beamforming SAR always points to the same area by controlling the antenna beam, so that the synthetic aperture length is increased, and continuous observation and high-resolution imaging of the scene are realized. The PFA algorithm is a classical bunching SAR imaging algorithm, the algorithm adopts a polar coordinate format to store data, coupling is eliminated through two-dimensional interpolation after an imaging center is selected, the problem of the walking of a cross-resolution unit far away from a central scattering point of an imaging area can be effectively solved, and errors caused by non-ideal flight of a radar platform can be simply and efficiently compensated. Due to the existence of radar antenna installation errors, beam control errors and inertial navigation attitude errors, an actual beam energy coverage area deviates from a preset scene, and when an imaging center selected in imaging deviates from the center of the actual pointing direction of a beam, the image generates distance and azimuth direction deviation, which is not beneficial to continuous multi-frame continuous observation and positioning, and defocusing of the image or even incapability of imaging is caused in severe cases.
In order to have the real-time processing capability, the airborne SAR real-time imaging system not only depends on high-performance digital signal processor hardware, but also puts higher requirements on the imaging signal processing flow and algorithm. The existing real-time processing flow usually adopts a stream processing architecture, completes the range-wise processing of the echo while accumulating the azimuth aperture, and then carries out the subsequent processing after waiting for the accumulation of a frame of echo. Compared with the mode of uniformly processing after collecting all echoes, the method improves the processing efficiency and shortens the imaging time. However, this method of processing while accumulating requires that the motion state of the carrier and the beam direction of the radar be assumed in advance as input to the distance direction processing. When the true track and the beam direction deviate from the ideal setting, the real track and the beam direction cannot be perceived during distance direction processing, time lag exists, and real-time compensation of echoes with errors is difficult to perform after the azimuth accumulation is completed.
The prior art has the following defects:
1) The method only estimates the azimuth imaging angle, does not estimate the imaging center position, can only solve the problems of image azimuth offset and defocusing, and cannot solve the problem of distance offset.
2) The Doppler center frequency is directly used for estimating the azimuth imaging angle from the original data, the estimated value contains the carrier motion error, and the beam pointing error cannot be truly reflected.
3) The estimated azimuth imaging angle is difficult to compensate in real time in a current frame, can only compensate in the next frame, has hysteresis, and needs multi-frame iteration to converge.
Disclosure of Invention
In view of the above, the present invention provides a real-time imaging doppler center fine compensation method based on PFA algorithm, which solves the problems of shift and defocus of the real-time image of the beamformed SAR by re-estimating the imaging center and compensating the echo, and realizes real-time compensation of the current frame, thereby ensuring the consistency of the imaging center and the beam energy center, and improving the imaging quality and the continuous multi-frame imaging capability.
A Doppler center fine compensation method based on PFA algorithm real-time imaging comprises the following steps:
determining a virtual imaging center by setting an ideal track, and performing range-wise processing on an original echo to obtain an echo subjected to range-wise processing;
secondly, performing Doppler center estimation on the echo subjected to range direction processing, and calculating a horizontal plane squint angle error;
step three, repositioning the imaging center according to the actual track;
and step four, compensating echo data to a new imaging center in real time according to the errors of the inclined view angles of the ground plane, and updating the azimuth interpolation parameters so as to complete the subsequent PFA imaging processing flow.
Further, the distance direction processing method for the original echo in the step one is as follows:
obtaining s (m, n) = s for original echo motion compensation 0 (m,n)×H moco (m, n); wherein H moco (m, n) is a motion compensated reference function, H moco (m,n)=exp{j·[K c +K r (n)]·[R p (m)-R ref ]},
Figure BDA0003898615190000031
Is the center wave number, f c Is the center frequency of the frequency band,
Figure BDA0003898615190000032
n is the distance wavenumber, N r For the number of distance-direction sampling points, the instantaneous slope distance R of the carrier p (m),m=1,2,L,N a ,N a Sampling points in the azimuth direction; f. of s For the distance-wise sampling frequency, j is the complex imaginary component; s 0 (m, n) is the original echo, s (m, n) is the echo after range direction processing; r ref Is a reference slope distance.
Further, the method for calculating the squint angle error in the second step includes the following steps:
1) In the course of distance-oriented processing, open up N r Row and 2 column complex number array temp Nr×2 For temporarily storing the echo;
2) From the first echo, putting the echo after the distance direction processing into a first temp column until all the echoes are aligned;
3) From the second echo, conjugate multiplication is carried out on the current echo after the distance direction processing and the previous echo, the current echo is added to the second temp column, and the current echo is placed into the second temp column until all the echoes are aligned;
temp(n,2)=temp(n,2)+s(m,n)s * (m-1,n)
m=2,3,L,N a ;n=1,2,L,N r
4) The phase angle of the temp second row is calculated, the average value is taken, and the Doppler central frequency offset delta f is calculated dc
Figure BDA0003898615190000041
Wherein PRF is the pulse repetition frequency;
5) Calculating the oblique angle error of the ground plane
Figure BDA0003898615190000042
Figure BDA0003898615190000043
Is the average speed of the carrier over the entire aperture, and λ is the radar wavelength.
Further, in the third step, the actual beam center position is calculated through the imaging geometric relationship, and the method specifically includes the following steps as a new imaging center:
calculating the distance from the ground projection of the center of the actual synthetic aperture to the virtual imaging center;
taking the projection point of the actual synthetic aperture center on the ground as the center of a circle, taking the distance from the projection of the actual synthetic aperture center on the ground to the virtual imaging center as the radius, and rotating the virtual imaging center by an angle delta theta along the track direction g
The rotated end point serves as a new imaging center.
Further, in the fourth step, the position interpolation parameter is corrected by using the instantaneous slant distance from the aerial carrier to the new imaging center, and the method specifically comprises the following steps:
calculating the instantaneous slant distance from the carrier to the new imaging center according to the instantaneous pitch angle, the instantaneous slant angle of the ground plane, the horizontal plane distance vertical wave number and the instantaneous slant distance in the distance direction processing process;
multiplying the echo after the distance direction processing by a residual motion compensation phase function to be used as the echo input of the subsequent azimuth processing;
and calculating the instantaneous oblique angle of the ground plane under the new imaging center to serve as an input parameter of subsequent azimuth interpolation, and finishing subsequent imaging processing work.
Further, the residual motion compensated phase function is:
Figure BDA0003898615190000051
wherein,
Figure BDA0003898615190000052
as the original echoInstantaneous pitch angle, θ, during the course of the range-wise processing g (m) is the instantaneous squint angle of the original echo ground plane, K y (n) is the wave number in the plane distance direction, R, of the original echo p (m) is the instantaneous slope distance of the original echo,
Figure BDA0003898615190000053
as a new imaging center
Figure BDA0003898615190000054
Instantaneous slope of (e), theta gc The ground plane squint angle at the aperture center instant.
Compared with the prior art, the invention has the beneficial effects that:
1. the method is combined with a real-time processing flow of the bunching SAR, solves the problems of deviation and defocusing of the real-time image of the bunching SAR by re-estimating the imaging center and compensating the echo, and realizes real-time compensation of the current frame, thereby ensuring the consistency of the imaging center and the beam energy center and improving the imaging quality and the continuous multi-frame imaging capability.
2. The invention can solve the problem of imaging center deviation caused by beam control error, antenna installation error and carrier non-ideal motion error, is combined with the current real-time processing architecture based on PFA algorithm, avoids the problem of time lag in real-time processing, realizes the real-time processing capability of frame estimation and frame compensation, and can be used in the field of carrier-borne beam bunching SAR and strip SAR real-time imaging.
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In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a flow chart of a Doppler center fine compensation method based on PFA algorithm real-time imaging in example 2;
FIG. 2 is a schematic view of the imaging geometry in example 2;
fig. 3 is the imaging center relocation compensation result in embodiment 2.
Detailed Description
The embodiments of the present application will be described in detail below with reference to the accompanying drawings.
The following description of the embodiments of the present application is provided by way of specific examples, and other advantages and effects of the present application will be readily apparent to those skilled in the art from the disclosure herein. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. The present application is capable of other and different embodiments and its several details are capable of modifications and/or changes in various respects, all without departing from the spirit of the present application. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Example 1
Referring to fig. 1, a method for precisely compensating a doppler center based on real-time imaging of a PFA algorithm includes the following steps:
determining a virtual imaging center by setting an ideal track, and performing range-wise processing on an original echo to obtain an echo subjected to range-wise processing;
secondly, performing Doppler center estimation on the echo subjected to range direction processing, and calculating a horizontal plane squint angle error;
step three, repositioning the imaging center according to the actual track;
and step four, compensating echo data to a new imaging center in real time according to the errors of the inclined angle of the ground plane, and updating the azimuth interpolation parameters so as to complete the subsequent PFA imaging processing flow.
In the embodiment, in the radar current-frame imaging process, a virtual imaging center is determined through a current-frame ideal track, distance direction processing is carried out on an original echo, after all echoes of a current frame are collected, doppler center estimation is carried out on motion-compensated data, and an actual imaging squint angle of the current frame is obtained; and then recalculating the central slant distance and the instantaneous slant distance of the synthetic aperture according to the actual track of the current frame, and finally compensating the central azimuth and distance direction offset of the scene caused by the slant angle error and the instantaneous slant distance residual error before azimuth interpolation, thereby realizing real-time estimation and compensation of the current frame. The method can solve the problem of imaging center deviation caused by beam control errors, antenna installation errors and carrier non-ideal motion errors, is combined with the current real-time processing architecture based on the PFA algorithm, avoids the problem of time lag in real-time processing, realizes the real-time processing capability of frame estimation and frame compensation when frames are used, can avoid the problems of SAR image scene center deviation, azimuth defocusing and the like, realizes the consistency of the imaging center and the beam center, and further improves the imaging quality.
It should be noted that, after the imaging process of the frame is completed, the imaging process from the starting point to the end point of the track of the next frame is repeated from step one to step four.
Example 2
Step one, determining a virtual imaging center by setting an ideal track, and performing distance direction processing:
fig. 2 is a geometric imaging diagram of a bunching SAR, assuming that the carrier moves linearly at a constant speed, A, B is a start point and an end point of an ideal track of a current imaging frame, respectively, and C is a synthetic aperture center. When the carrier moves to the point A, the carrier is used as the start of the current frame, namely the first echo data sampling point of the current frame, and an ideal track virtual imaging center P is established at the moment. Theta track The track angle of the ideal track (the included angle between the projection line from AB to the ground and the north direction can be determined according to the average track angle of the previous frame or the track angle of the current frame a).
P is the virtual imaging center when imaging by the PFA algorithm, and can pass through the distance from A to P (i.e., R when m is 1) P (m) value), azimuth of the ground plane θ ga And a pitch angle
Figure BDA0003898615190000081
To determine the three-dimensional coordinates of P with respect to a. Calculating the range R from C to P ref As the reference slope distance of the echo distance of the current frame to the sample.
Curve AE is the actual track of the vehicle motion and can be measured by the inertial navigation device. Assuming the m-th azimuth sampling point, the instantaneous slope distance from the carrier to P is R p (m),m=1,2,L,N a ,N a For the number of azimuth sampling points, the motion compensation in PFA range-wise processing needs to be multiplied by a reference function H moco (m,n)
s(m,n)=s 0 (m,n)×H moco (m,n)
Wherein H moco (m,n)=exp{j·[K c +K r (n)]·[R p (m)-R ref ]},
Figure BDA0003898615190000091
Is the number of the center wave numbers,
Figure BDA0003898615190000092
is the distance wavenumber, N r Number of sampling points in the direction of distance, f s For the distance-wise sampling frequency, j is the complex imaginary component; s 0 (m, n) is the raw echo and s (m, n) is the range-wise processed echo.
Step two, performing Doppler center estimation on the echo after the distance direction processing, and calculating a horizontal plane squint angle error:
if the actual beam direction is correct, the Doppler center is zero after the echo is subjected to range direction processing (matched filtering, motion compensation and range interpolation), namely the motion compensation removes the Doppler shift of the echo caused by the non-ideal motion of the carrier. However, due to the presence of antenna mounting errors and beam steering errors, the actual beam center is
Figure BDA0003898615190000093
Imaging with the virtual center P will cause image shifts and even defocusing.
It is therefore necessary to estimate the true squint angle from the echo and calculate the actual beam center
Figure BDA0003898615190000094
The coordinates of (c). The squint angle error can be calculated by performing Doppler center estimation on the echo after the distance direction processing. The specific implementation method comprises the following steps:
1) In distance-oriented processing, N is opened up r Row and 2 column complex number array temp Nr×2 For temporary storage of the echo.
2) Starting with the first echo, the range-wise processed echoes are placed in the temp first column until all echoes are aligned.
3) And (4) from the second echo, performing conjugate multiplication on the current echo after the distance direction processing and the previous echo, adding the current echo and the second temp column, and putting the current echo into the second temp column until all the echoes are aligned.
temp(n,2)=temp(n,2)+s(m,n)s * (m-1,n)
m=2,3,L,N a ;n=1,2,L,N r
4) The phase angle of the temp second row is calculated, the average value is taken, and the Doppler central frequency offset delta f is calculated dc
Figure BDA0003898615190000101
Wherein PRF is the pulse repetition frequency
5) Calculating the horizontal plane squint angle error delta theta g
Figure BDA0003898615190000102
Figure BDA0003898615190000103
Is the average speed of the carrier in the whole aperture, and lambda is the radar wavelength;
step three: recalculating the imaging center according to the actual track of the current frame
Figure BDA0003898615190000104
The coordinates of (c).
The Doppler center estimation in the step two is completed after the distance direction processing, and is an average value of instantaneous Doppler, which represents the deviation of the actual beam pointing direction of the synthetic aperture center on the ground plane relative to the ideal beam pointing direction. Thus, the actual beam center position can be calculated from the imaging geometry and used as the new imaging center.
1) Calculating the projection D of the actual synthetic aperture center on the ground g Distance R to virtual imaging center P dg
2) Fixed D g Rotating the line segment D in the track direction g Angle P [ Delta ] theta g
3) Computing rotated end points
Figure BDA0003898615190000105
Will be provided with
Figure BDA0003898615190000106
As a new imaging center.
Step four: real-time compensation of echo data to a new imaging center
Figure BDA0003898615190000107
According to step three, a new imaging center
Figure BDA0003898615190000108
The estimation must be done after the azimuth accumulation is complete, at which point range-wise processing of the echo data, including matched filtering, motion compensation and range-wise interpolation, has been completed. The influence of changing the imaging center is mainly reflected in two aspects of distance direction processing and azimuth direction processing, wherein the distance direction processing comprises the instantaneous slant distance R from the carrier to the imaging center in motion compensation p (m), a change in the distance-to-interpolation input parameter, and the azimuth processing includes a change in the input parameter in the azimuth interpolation.
The distance direction interpolation input parameters mainly comprise instantaneous pitch angle
Figure BDA0003898615190000111
Instantaneous oblique angle theta of ground plane g (m) that varies depending on the imaging center position. In the interpolation process, the coordinates of the grid to be interpolated are calculated according to the parameters, and the coordinates are caused by the change of the imaging centerThe change of the grid coordinate to be interpolated is usually less than a distance frequency unit and can be ignored, namely, the new interpolation grid coordinate can be approximately replaced by the nearest neighbor of the original grid, and the re-interpolation is avoided.
The distance interpolation is a process of extracting and rearranging the inclined plane distance frequency domain echoes after motion compensation according to grids to be interpolated, and the numerical values on the grids are not changed. Therefore, if the imaging center needs to be changed, the key point is to compensate the echo after the distance motion compensation, namely, to utilize the new instantaneous slope distance
Figure BDA0003898615190000112
And (6) correcting. The specific process is as follows:
preserving instantaneous pitch angle during range-wise processing
Figure BDA0003898615190000113
Instantaneous oblique angle theta of ground plane g (m), ground plane distance to wave number K y (n) instantaneous slope distance R p (m) and the like;
computer-loaded to new imaging center
Figure BDA0003898615190000114
Instantaneous slope distance of
Figure BDA0003898615190000115
Multiplying the range-wise processed echo s (m, n) by a residual motion-compensated phase function H moco_res (m.n) as echo input for the subsequent azimuth processing.
s(m,n)=s(m,n)·H moco_res (m,n)
Figure BDA0003898615190000116
Calculating the instantaneous oblique angle of the ground plane under the new imaging center
Figure BDA0003898615190000121
As subsequent azimuth interpolationAnd completing subsequent imaging processing work.
Fig. 3 shows the result of processing and imaging the same airborne beamforming SAR measured data by using different methods, where fig. (a) is the result of imaging using a virtual imaging center, and at this time, the squint angle is 112 °, under the influence of antenna installation error and inertial navigation error, it is seen that the image center has exceeded the beam coverage, the amplitude is weak, and there is significant defocus, and because the error of the virtual imaging center P is large, imaging in (a) is completely impossible. And (b) is the result of real-time imaging and compensation by using the imaging center estimated by the invention, and the estimated squint angle error is 3 degrees, and the image is well focused and is positioned in the beam center.
The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present application should be covered within the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (6)

1. A Doppler center fine compensation method based on PFA algorithm real-time imaging is characterized by comprising the following steps:
determining a virtual imaging center by setting an ideal track, and performing range-wise processing on an original echo to obtain an echo subjected to range-wise processing;
secondly, performing Doppler center estimation on the echo subjected to range direction processing, and calculating a horizontal plane squint angle error;
step three, repositioning the imaging center according to the actual flight path;
and step four, compensating echo data to a new imaging center in real time according to the errors of the inclined angle of the ground plane, and updating the azimuth interpolation parameters so as to complete the subsequent PFA imaging processing flow.
2. The method for fine compensation of Doppler center based on PFA algorithm real-time imaging of claim 1, wherein the distance direction processing method for the original echo in step one is as follows:
obtaining s (m, n) = s for raw echo motion compensation 0 (m,n)×H moco (m, n); wherein H moco (m, n) is a motion compensated reference function, H moco (m,n)=exp{j·[K c +K r (n)]·[R p (m)-R ref ]},
Figure FDA0003898615180000011
Is the center wave number, f c Is the center frequency of the frequency band,
Figure FDA0003898615180000012
n is the distance wavenumber, N r For the number of distance-direction sampling points, the instantaneous slope distance R of the carrier p (m),m=1,2,L,N a ,N a Sampling points in the azimuth direction; f. of s For the distance-wise sampling frequency, j is the complex imaginary component; s 0 (m, n) is the original echo, s (m, n) is the echo after range direction processing; r ref Is a reference pitch.
3. The PFA algorithm real-time imaging-based Doppler center fine compensation method according to claim 2, wherein the squint angle error calculation method in the second step comprises the following steps:
1) In the course of distance-oriented processing, open up N r Row and 2 column complex number array temp Nr×2 For temporarily storing the echo;
2) From the first echo, putting the echo after the distance direction processing into a first temp column until all the echoes are aligned;
3) From the second echo, conjugate multiplication is carried out on the current echo after the distance direction processing and the previous echo, the current echo is added to the second temp column, and the current echo is placed into the second temp column until all the echoes are aligned;
temp(n,2)=temp(n,2)+s(m,n)s * (m-1,n)
m=2,3,L,N a ;n=1,2,L,N r
4) The phase angle of the temp second row is calculated, the average value is taken, and the Doppler central frequency offset delta f is calculated dc
Figure FDA0003898615180000021
Wherein PRF is the pulse repetition frequency;
5) Calculating the oblique angle error of the ground plane
Figure FDA0003898615180000022
Figure FDA0003898615180000023
Is the average speed of the carrier over the entire aperture, and λ is the radar wavelength.
4. The method for accurately compensating the Doppler center based on PFA algorithm real-time imaging of claim 3, wherein the step three comprises calculating the actual beam center position through the imaging geometric relationship, and using the calculated actual beam center position as a new imaging center, specifically comprising the steps of:
calculating the distance from the ground projection of the center of the actual synthetic aperture to the virtual imaging center;
taking the projection point of the center of the actual synthetic aperture on the ground as the center of a circle, taking the distance from the projection of the center of the actual synthetic aperture on the ground to the virtual imaging center as the radius, and rotating the virtual imaging center by an angle delta theta along the track direction g
The rotated end point serves as a new imaging center.
5. The method for Doppler center fine compensation based on PFA algorithm real-time imaging of claim 4, wherein in step four, the position interpolation parameter is corrected by using the instantaneous slant distance from the carrier to the new imaging center, specifically comprising the following steps:
calculating the instantaneous slant distance from the carrier to the new imaging center according to the instantaneous pitch angle, the instantaneous slant angle of the ground plane, the horizontal plane distance vertical wave number and the instantaneous slant distance in the distance direction processing process;
multiplying the echo after the distance direction processing by a residual motion compensation phase function to be used as the echo input of the subsequent azimuth processing;
and calculating the instantaneous oblique angle of the ground plane under the new imaging center to serve as an input parameter of subsequent azimuth interpolation, and finishing subsequent imaging processing work.
6. The PFA algorithm real-time imaging based Doppler center fine compensation method of claim 5, wherein the residual motion compensation phase function is:
Figure FDA0003898615180000031
wherein,
Figure FDA0003898615180000032
is the instantaneous pitch angle, theta, of the raw echo in the course of the range-wise processing g (m) is the instantaneous squint angle of the original echo ground plane, K y (n) is the wave number in the plane distance direction, R, of the original echo p (m) is the instantaneous slope distance of the original echo,
Figure FDA0003898615180000033
as a new imaging center
Figure FDA0003898615180000034
Instantaneous slope of (e), theta gc The ground plane squint angle at the moment of the aperture center.
CN202211282099.XA 2022-10-19 2022-10-19 Doppler center fine compensation method based on PFA algorithm real-time imaging Pending CN115825903A (en)

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