CN115856807B - Precise positioning method for radar wave phase center of high-resolution SAR satellite scaler - Google Patents
Precise positioning method for radar wave phase center of high-resolution SAR satellite scaler Download PDFInfo
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Abstract
The invention provides a method for precisely positioning a radar wave phase center of a high-resolution SAR satellite scaler, which comprises the following steps: designing a corner reflector system with a triaxial rotating servo cradle head, and adjusting attitude parameters of the corner reflector in real time according to the local incidence angle of the SAR satellite; constructing a three-dimensional independent coordinate system according to the structural characteristics of the corner reflector, and calculating initial coordinates of the corner reflector vertex and the radar wave phase center point in the three-dimensional independent coordinate system; constructing a corresponding triaxial rotation matrix according to a three-dimensional independent coordinate system of the corner reflector, and constructing a solution equation of three-dimensional independent coordinates and triaxial rotation angles of the corner reflector vertex and the radar wave phase center point; and constructing a coordinate conversion relation between the three-dimensional independent coordinate system of the corner reflector and the geodetic coordinate system, and obtaining geodetic coordinates of the vertex of the corner reflector and the phase center point of the radar wave. The invention realizes real-time positioning of the geodetic coordinates of the radar wave phase center during high-precision calibration operation of the SAR satellite.
Description
Technical Field
The invention belongs to the technical field of high-resolution SAR satellite calibration, and particularly relates to a method for accurately positioning a radar wave phase center of a high-resolution SAR satellite calibrator.
Background
When the satellite-borne SAR radar system receives and transmits signals, signal distortion of radar signals can occur, including channel crosstalk, inconsistent amplitude and phase and the like. Meanwhile, different SAR systems have obvious differences, such as working modes, working frequency bands, transmitting and receiving channels, unbalanced amplitude and phase, antenna crosstalk, antenna patterns, imaging algorithms, system noise and the like, and the SAR systems have great differences on information acquired by the same target due to the influence of complex backgrounds such as electromagnetic wave propagation characteristics and topography. In order to acquire standard consistent and stable synthetic aperture radar images, a SAR system scaling process is essential.
As the space-borne SAR system is more and more tested and widely applied, the obtained synthetic aperture radar data is more and more abundant, and the ground object backscattering mechanism is well understood. With the continuous iterative progress of the scaling device and the scaling technology, the scaling precision of the spaceborne SAR system is higher and higher. In particular to high-precision calibration under multiple modes of a high-resolution SAR satellite, a ground calibration device needs to automatically track according to the motion gesture of the SAR satellite, and the gesture angle of the calibration device is adjusted in real time to aim at the irradiation direction of SAR radar waves. At this time, the ground scaler can cause the change of the radar wave phase center in the process of the real-time change of the gesture. Therefore, in order to realize high-precision geometric calibration of SAR satellites, high-precision phase center coordinate measurement needs to be carried out so as to solve the problem that the reference precision of micro deformation measurement of the interference SAR is insufficient in the process of homeland security mapping, geological disaster monitoring and the like.
The existing SAR satellite scaler mainly comprises a fixed artificial corner reflector and a split artificial corner reflector, wherein the position of the corner reflector is kept unchanged in the scaling process until the SAR satellite passes the border, and the radar wave phase center measuring method mainly comprises the steps of positioning coordinates of intersecting vertexes of three triangular faces of the corner reflector by using GNSS measuring or total station measuring and other methods, namely the radar wave phase center coordinate position. The phase center coordinate measuring method is also a common method for the phase center of the radar wave of the triaxial rotating servo cradle head corner reflector, and has the following main defects when the high-resolution SAR satellite calibration is carried out:
when the fixed or split artificial corner reflector is adopted for SAR satellite calibration, a fixed attitude angle is usually set to be aligned with the midpoint position of the SAR satellite radar wave irradiation period before the SAR satellite passes the border, namely, the zero Doppler point relative to the calibration device. At this time, the radar wave phase center point of the artificial corner reflector is the intersecting vertex of three triangular surfaces, and then the vertex is projected to the ground by using a plumb line, and then the ground measurement coordinate of the ground projection point of the vertex is measured by adopting a conventional ground measurement method. However, this calibration method is only suitable for the calibration of the SAR satellites in the stripe scan mode, and when the calibration is performed on the SAR satellites in the beam focusing or sliding beam focusing mode, the artificial corner reflector needs to continuously adjust the alignment angle value of the artificial corner reflector according to the attitude parameters of the satellites. In addition, when the attitude angle parameters of SAR satellites are changed or scaling is carried out for other types of SAR satellites, the fixed or split artificial corner reflectors need to change the attitude angles, and the phase center at the moment also needs to be re-measured according to the method. Therefore, when the radar wave phase center of the SAR satellite scaler is measured in the field, the measuring workload is greatly increased, the measuring cost is increased, and the accurate measuring precision of the real-time position of the phase center point cannot be ensured.
The invention is oriented to high-precision calibration work under various working modes of the high-resolution SAR satellite, adopts a triaxial rotating servo cradle head corner reflector system which is designed and developed independently, and can dynamically adjust the angle according to the attitude parameters of the SAR satellite. At this time, the real-time accurate measurement of the coordinates of the radar wave phase center becomes a difficult problem for this type of scaler. If the measurement is performed according to the traditional geodetic method, the timely and accurate measurement is required to be performed according to the posture adjustment of the corner reflector, so that a large amount of manpower and material resources are consumed, and the real-time position of the radar wave phase center cannot be acquired.
Disclosure of Invention
Aiming at the technical problems, the invention provides a method for accurately positioning the radar wave phase center of a high-resolution SAR satellite scaler, which adopts an autonomously designed and developed triaxial rotating servo cradle head angle reflector system, and dynamically adjusts the angle according to SAR satellite attitude parameters so as to realize high-precision scaling of SAR satellite radar wave signals. On the basis, the invention provides a high-precision measurement method for the radar wave phase center of the three-axis rotation servo cradle head corner reflector, an independent coordinate system of the corner reflector is constructed, and conversion between the corner reflector and a geodetic coordinate system is realized.
The invention is oriented to the requirements of the scaler under different working modes (such as strip, scanning, beam focusing and the like) of the high-resolution SAR satellite, and adopts the triaxial rotating servo cradle head corner reflector system which is independently designed and developed, thereby realizing the dynamic adaptive adjustment of the scaler to the irradiation angle of the SAR satellite radar beam. On the basis, a three-dimensional independent coordinate system of the scaler is constructed, and a high-precision rapid positioning method for a radar wave phase center is provided. According to the method, the geodetic coordinates of the center point of the cradle head are measured at one time, multiple times of measurement on the vertexes of the corner reflectors are not needed, the accurate coordinates of the radar wave phase center can be obtained in real time, the measurement workload is greatly reduced, the operation efficiency is improved, and the real-time positioning of the radar wave phase center during the SAR satellite high-precision calibration work is realized.
The current commonly used SAR satellite scaler mainly comprises a fixed artificial corner reflector and a split artificial corner reflector, wherein the posture parameters of the artificial corner reflector are required to be correspondingly adjusted according to the incident angle of a satellite before the satellite passes the border, and other adjustments cannot be carried out on the artificial corner reflector in the scaling observation process. Thus, both types of scalers have not been used when high resolution SAR satellite scaling in either beamformed or slip beamformed modes of operation. According to the three-axis rotation servo holder-based corner reflector system, the corner reflector can be adjusted in real time according to the attitude parameters of the satellite, so that incident radar waves of the satellite can be tracked better, calibration of the SAR satellite in different working modes is further guaranteed, the method is used for high-precision quick positioning of the radar wave phase center, and real-time acquisition of accurate coordinates of the radar wave phase center is achieved.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a method for precisely positioning the radar wave phase center of a high-resolution SAR satellite scaler comprises the following steps:
s1, designing a corner reflector system of a servo holder capable of realizing triaxial rotation, and adjusting attitude parameters of the corner reflector in real time according to local incidence angles of SAR satellites;
s2, constructing a three-dimensional independent coordinate system according to structural features of the corner reflector, and calculating initial coordinates of the corner reflector vertex and the radar wave phase center point in the three-dimensional independent coordinate system;
s3, constructing a triaxial rotation matrix according to a three-dimensional independent coordinate system of the corner reflector, and constructing a solution equation of three-dimensional independent coordinates of the corner reflector vertex and the radar wave phase center point and triaxial rotation angles;
and S4, constructing a coordinate conversion relation between a three-dimensional independent coordinate system of the corner reflector and a geodetic coordinate system, and obtaining geodetic coordinates of the corner reflector vertex and the radar wave phase center point.
Further, the step S1 includes:
s11, a servo cradle head capable of realizing triaxial rotation is adopted as a base of the corner reflector, stability of the corner reflector at the top is maintained through a connecting rod and a fixed connection gasket, and timely and accurate posture adjustment is carried out according to a rotation angle, wherein a connection point of the vertex of the connecting rod and the corner reflector is arranged on an angle bisector of a triangle vertex of the bottom surface of the corner reflector, and the triangle vertex of the bottom surface of the corner reflector is three triangle intersection points of the corner reflector;
s12, three isosceles right triangle triangular net blocks made of aluminum are utilized to splice three isosceles right triangle right-angle sides, a main body of the corner reflector is constructed, the length of the right-angle side is 1.5 meters, the main body is bound with a connecting rod through a fixed connection gasket, and the other end of the connecting rod is connected with a servo cradle head system capable of realizing triaxial rotation.
Further, the step S2 includes:
s21, constructing an eastern zeroing independent coordinate system by taking the rotation center of a servo cradle head capable of realizing triaxial rotation as an origin O, eastern direction E as an X axis, height direction H as a Z axis and south direction S as a Y axis;
s22, acquiring the side length of an isosceles right triangle, the distance between the intersecting vertexes of three triangular faces and the connecting rod vertex and the distance between the connecting rod vertex and the rotation center of the servo holder capable of realizing three-axis rotation according to the design parameters of the corner reflector based on the servo holder capable of realizing three-axis rotation;
s23, calculating coordinate values of four vertexes of the corner reflector in an eastern zeroing independent coordinate system according to corner reflector design parameters of the servo holder capable of realizing triaxial rotation.
Further, the step S3 includes:
s31, constructing a triaxial rotation matrix by taking clockwise rotation as a positive direction according to the east zeroing independent coordinate system constructed in the S2;
s32, respectively constructing a rotation matrix corresponding to the rotation around the X, Y, Z axis of the east zeroing independent coordinate system, and establishing a coordinate solution equation of any point in the east zeroing independent coordinate system after three-axis rotation;
s33, optionally setting an angle value rotating around the X, Y, Z axis of the eastern zeroing independent coordinate system, and resolving coordinate values in the eastern zeroing independent coordinate system after an arbitrary rotation angle according to initial coordinate values of four vertexes of the corner reflector.
Further, the step S4 includes:
s41, determining a conversion relation between two coordinate systems according to the relation between the direction of the east return-to-zero independent coordinate system X, Y, Z axis of the servo holder based on triaxial rotation and the direction of the same coordinate axis of the geodetic coordinate system and the origin position of the coordinate;
s42, measuring geodetic coordinate values of an origin of an east zeroing independent coordinate system serving as a rotation center point of the triaxial rotating servo cradle head by using geodetic measurement means;
s43, adding coordinate values of the coordinate origin of the east zeroing independent coordinate system in the geodetic coordinate system according to coordinate values of the four vertexes of the corner reflector in the east zeroing independent coordinate system, namely coordinate increment of the coordinate origin of the east zeroing independent coordinate system, so as to obtain geodetic coordinates of the four vertexes of the corner reflector, wherein three triangular intersecting vertexes are radar wave phase center points.
The beneficial effects of the invention are as follows:
according to the invention, the angle reflector system based on the triaxial rotation servo holder is adopted, and the angle reflector can be adjusted in real time according to the attitude parameters of the satellite, so that the incident radar wave of the satellite can be tracked better, and the calibration of the SAR satellite in different working modes can be further ensured. The rapid positioning method for the radar wave phase center of the corner reflector of the triaxial rotating servo cradle head is provided, and high-precision real-time acquisition of the geodetic coordinates of the radar wave phase center is realized.
The invention adopts an autonomously designed and developed triaxial rotating servo cradle head corner reflector system, realizes the dynamic adaptive adjustment of a scaler to the irradiation angle of a radar wave beam of a SAR satellite, provides a high-precision rapid positioning method for the radar wave phase center, and realizes the real-time positioning of the geodetic coordinate of the radar wave phase center during the high-precision scaling work of the SAR satellite.
Drawings
FIG. 1 is a flowchart for accurately positioning the phase center geodetic coordinates of a radar wave of a three-axis rotating servo cradle head corner reflector.
Fig. 2 is a schematic diagram of a three-axis rotation servo-head corner reflector geometry.
Fig. 3 is a three-dimensional independent coordinate system construction diagram of the three-axis rotation servo-head corner reflector.
Fig. 4 is a view angle geometrical parameter diagram of a triaxial rotation servo cradle head corner reflector under view.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and all the inventions which make use of the inventive concept are protected by the spirit and scope of the present invention as defined and defined in the appended claims to those skilled in the art.
As shown in FIG. 1, the method for precisely positioning the radar wave phase center of the high-resolution SAR satellite scaler comprises the following steps:
in step S1, a connection between a servo holder capable of three-axis rotation and a corner reflector is designed, a connecting rod can drive a corner reflector main body to realize rapid and accurate posture adjustment, real-time tracking of a SAR satellite is realized through posture angle adjustment, and an isosceles right triangle aluminum metal block is adopted to manufacture a high-resolution SAR satellite scaler.
In step S2, in order to facilitate the rapid calculation of coordinate values of the corner reflector vertex and the radar wave phase center in the geodetic coordinate system, a three-dimensional independent coordinate system is constructed, in which the rotation center of the three-axis rotation servo holder is used as the origin O, the eastern direction (E) is used as the X-axis, the height direction (H) is used as the Z-axis, and the south direction (S) is used as the eastern zeroing independent coordinate system of the Y-axis. Under the three-dimensional independent coordinate system, the directions of the three coordinate axes are consistent with the geodetic coordinate system, and only the directions of the Y axes are opposite, so that the real-time independent coordinates of the corner reflector vertex along with the change of the three-axis rotation angle can be conveniently and rapidly calculated, and the quick conversion between the independent coordinate system and the geodetic coordinate system can be realized.
In step S3, a corresponding three-axis rotation matrix is constructed according to the three-dimensional independent coordinate system of the corner reflector, when the three-axis rotation matrix is constructed, the I-th quadrant of the three-dimensional independent coordinate system is used as a viewing angle quadrant, clockwise rotation around each coordinate axis is defined as a positive direction, so that signs of internal parameters of the rotation matrix are determined, and a coordinate solution equation of any point in the independent coordinate system is constructed according to the three-axis rotation matrix.
In step S4, the coordinates of the calculated corner reflector vertex and radar wave phase center point in the independent coordinate system are converted into the geodetic coordinate system, and the geodetic coordinate value of the origin of the three-dimensional independent coordinate system is measured, so that the quick conversion between all vertex coordinates in the corner reflector independent coordinate system and the geodetic coordinate values corresponding to the vertex coordinates in the corner reflector independent coordinate system can be realized only by translating the origin of the independent coordinate system to the geodetic coordinate origin and reversing the Y-axis direction coordinate values in the independent coordinate system.
As shown in FIG. 2, the three-axis rotation servo-holder-based corner reflector system mainly comprises a main body of the corner reflector at the upper part, a connecting rod at the middle part and a servo holder at the bottom, wherein the connecting rod is connected with a three-axis rotation ball in the middle of the servo holder at the bottom, the top is connected with the bottom surface of the corner reflector through a fixed connection gasket, and the connection point is positioned at the bottom surface of the corner reflector
On the angular bisector of the SAR satellite radar wave, the radar wave phase center point is the P1 point in the process of tracking the SAR satellite radar wave by the corner reflector in real time. The other three vertexes are P2, P3, and P4, respectively, and the intersection point of the bisector and the straight line formed by the vertexes P2 and P3 is P5.
According to local incidence angle change of SAR satellites, the triaxial rotating sphere of the servo cradle head adjusts a corresponding rotating angle, and the connecting rod drives the top corner reflector to move in real time. During the rotation motion, the entire corner reflector can be regarded as posture adjustment around a center point, which is the center of the tri-axial rotary sphere.
As shown in fig. 3 and 4, an eastern return-to-zero coordinate system is constructed with the center point of a three-axis rotation sphere of the three-axis rotation servo-tripod head corner reflector system as the origin of coordinates O, the eastern direction (E) as the X axis, the height direction (H) as the Z axis, and the south direction (S) as the Y axis. The four vertexes of the corner reflector are P1-P4 respectively, the connection point of the connecting rod and the ground of the corner reflector is P0, the positions of the points are shown in the right diagram of FIG. 3, and in the initial position, the connection point is in the triangular surface of the bottom
The angular bisector of (1) is a straight line P1P5 formed by the vertexes P1 and P5, and is parallel to the X axis of the east direction.
In the present invention, the sign of the three-axis rotation angle is defined positively by the clockwise rotation, whereby the rotation matrix when the corner reflectors are rotated around X, Y, Z axes respectively can be obtained as follows:
rotating around the X axis:
rotating around the Y axis:
rotating around the Z axis:
in the above formula
、/>
、/>
According to the geometrical relationship between the corner reflector and the three-axis rotation servo-holder corner reflector system in the present invention, as shown in fig. 3 and 4, the right-angle side length p1p2=1.5 meters of the isosceles right triangle is calculated to obtain the straight line p2p5=1.061 meters formed by the vertexes P2 and P5, in the present invention, the distance p0p1=0.4 meters between the connection point and the radar wave phase center point P1, and the distance op0=0.1 meters from the independent coordinate system origin O to the bottom surface of the corner reflector. By using these geometrical parameters, the initial coordinates of four vertices +.>
The method comprises the following steps of:
P1=(-0.4,0,0.1); P2=( 0.661,1.061,0.1)
P3=( 0.661,-1.061,0.1); P4=(-0.4,0,1.6)
the four vertexes of the corner reflector are rotated about X, Y, Z axes, respectively
、/>
、/>
The coordinates after the angle are:
therefore, after the geodetic coordinates of the origin O of the independent coordinate system are measured, the geodetic coordinates of the other four vertices can be added with the three-axis coordinate increment based on the origin O, and it should be noted that the coordinate system is positive in the south direction and is opposite to the north direction of the geodetic coordinate system, and the sign of the Y-axis coordinate needs to be reversed finally.
In conclusion, the method for precisely positioning the radar wave phase center of the high-resolution SAR satellite scaler provided by the invention has better applicability, can realize high-precision geometric scaling of SAR satellites, and solves the problem that the reference precision of micro deformation measurement of the interference SAR is insufficient in the processes of homeland security mapping, geological disaster monitoring and the like.
It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.
Claims (1)
1. The method for precisely positioning the radar wave phase center of the high-resolution SAR satellite scaler is characterized by comprising the following steps of:
s1, designing a corner reflector system of a servo holder capable of realizing triaxial rotation, and adjusting attitude parameters of the corner reflector in real time according to a local incidence angle of an SAR satellite, wherein the method comprises the following steps:
s11, a servo cradle head capable of realizing triaxial rotation is adopted as a base of the corner reflector, stability of the corner reflector at the top is maintained through a connecting rod and a fixed connection gasket, and timely and accurate posture adjustment is carried out according to a rotation angle, wherein a connection point of the vertex of the connecting rod and the corner reflector is arranged on an angle bisector of a triangle vertex of the bottom surface of the corner reflector, and the triangle vertex of the bottom surface of the corner reflector is three triangle intersection points of the corner reflector;
s12, splicing three isosceles right triangle triangular sides by using three aluminum metal isosceles right triangle net blocks to construct a main body of the corner reflector, binding the main body with a connecting rod through a fixed connection gasket, and connecting the other end of the connecting rod with a servo cradle head system capable of realizing triaxial rotation;
s2, constructing a three-dimensional independent coordinate system according to structural features of the corner reflector, and calculating initial coordinates of the corner reflector vertex and the radar wave phase center point in the three-dimensional independent coordinate system, wherein the method comprises the following steps:
s21, constructing an eastern zeroing independent coordinate system by taking the rotation center of a servo cradle head capable of realizing triaxial rotation as an origin O, eastern direction E as an X axis, height direction H as a Z axis and south direction S as a Y axis;
s22, acquiring the side length of an isosceles right triangle, the distance between the intersecting vertexes of three triangular faces and the connecting rod vertex and the distance between the connecting rod vertex and the rotation center of the servo holder capable of realizing three-axis rotation according to the design parameters of the corner reflector based on the servo holder capable of realizing three-axis rotation;
s23, calculating coordinate values of four vertexes of the corner reflector in an eastern zeroing independent coordinate system according to corner reflector design parameters of the servo holder capable of realizing triaxial rotation;
s3, constructing a triaxial rotation matrix according to a three-dimensional independent coordinate system of the corner reflector, and constructing a solution equation of three-dimensional independent coordinates and triaxial rotation angles of the corner reflector vertex and the radar wave phase center point, wherein the solution equation comprises the following steps:
s31, constructing a triaxial rotation matrix by taking clockwise rotation as a positive direction according to the east zeroing independent coordinate system constructed in the S2;
s32, respectively constructing a rotation matrix corresponding to the rotation around the X, Y, Z axis of the east zeroing independent coordinate system, and establishing a coordinate solution equation of any point in the east zeroing independent coordinate system after three-axis rotation;
s33, arbitrarily setting an angle value rotating around the X, Y, Z axis of the eastern zeroing independent coordinate system, and resolving coordinate values in the eastern zeroing independent coordinate system after an arbitrary rotation angle according to initial coordinate values of four vertexes of the corner reflector;
s4, constructing a coordinate conversion relation between a three-dimensional independent coordinate system of the corner reflector and a geodetic coordinate system, and obtaining geodetic coordinates of a vertex of the corner reflector and a radar wave phase center point, wherein the method comprises the following steps:
s41, determining a conversion relation between two coordinate systems according to the relation between the direction of the east return-to-zero independent coordinate system X, Y, Z axis of the servo holder based on triaxial rotation and the direction of the same coordinate axis of the geodetic coordinate system and the origin position of the coordinate;
s42, measuring geodetic coordinate values of an origin of an east zeroing independent coordinate system serving as a rotation center point of the triaxial rotating servo cradle head by using geodetic measurement means;
s43, adding coordinate values of the coordinate origin of the east zeroing independent coordinate system in the geodetic coordinate system according to coordinate values of the four vertexes of the corner reflector in the east zeroing independent coordinate system, namely coordinate increment of the coordinate origin of the east zeroing independent coordinate system, so as to obtain geodetic coordinates of the four vertexes of the corner reflector, wherein three triangular intersecting vertexes are radar wave phase center points.
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