CN116577782A - Millimeter wave one-dimensional linear array rapid image reconstruction method and system - Google Patents
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Abstract
The application provides a millimeter wave one-dimensional linear array rapid image reconstruction method and a system, wherein transmitting array elements in a one-dimensional sparse linear array configuration are sparsely distributed, the transmitting array elements are opened and closed in a time-sharing mode, and when the corresponding transmitting array elements are opened, the corresponding receiving array elements simultaneously receive signals to complete data acquisition, so that the high efficiency of acquiring echo data in the array dimension is ensured, and the time for acquiring echo is shortened. In addition, the embodiment respectively processes the array dimension echo and the motion dimension echo, and acquires the echo data of the array dimension in real time in the process to reconstruct the array distance dimension image; the array distance dimension image can be reconstructed when the motion scanning is completed, and then the image reconstruction of the motion distance dimension is performed to complete the three-dimensional reconstruction of the detected target image. The application can effectively improve the imaging instantaneity of the millimeter wave imaging system, and effectively improve the passing efficiency of inspected personnel and inspected objects in the application of detecting hidden objects of human bodies and detecting defects of industrial objects.
Description
Technical Field
The application relates to the technical field of millimeter wave imaging, in particular to a millimeter wave one-dimensional linear array rapid image reconstruction method and system.
Background
The millimeter wave imaging technology can be applied to detection of hidden articles of human bodies and detection of defects of industrial products, a reconstructed image of the detected articles can be obtained through mechanical scanning, the resolution of the reconstructed image determines the fineness of describing the detected articles, and the detection rate and the level of false alarm rate which can be achieved by the target detection module are also determined. The resolution of the azimuth dimension in the millimeter wave system reconstructed image can reach millimeter level, the distance resolution of the broadband system can only reach centimeter level generally, and the distance resolution of the ultra-broadband system can reach millimeter level, so that the system has the tomography capability, and the acquired image is more accurate in the process of describing the distance profile information.
In the application fields of human body hidden article detection and industrial article defect detection, the real-time performance of the imaging process is required to be high in order to improve the system application experience and the passing efficiency. However, the related art needs to perform image reconstruction after mechanical scanning, and cannot meet the requirement of real-time imaging.
Disclosure of Invention
The present application aims to solve at least one of the technical problems existing in the prior art. Therefore, the application provides a millimeter wave one-dimensional linear array rapid image reconstruction method and system, which can reconstruct an array dimension image in a mechanical scanning process and improve the instantaneity of a millimeter wave imaging system.
In a first aspect, an embodiment of the present application provides a method for reconstructing a one-dimensional linear array of millimeter waves, which is applied to a millimeter wave system, where an antenna array of the millimeter wave system is a one-dimensional linear array arranged sparsely, and the antenna array includes a plurality of antenna modules, each of the antenna modules includes a plurality of transmitting array elements and a plurality of receiving array elements, the plurality of transmitting array elements are arranged at equal intervals in space, and the plurality of receiving array elements are arranged at equal intervals in space, and when the transmitting array elements of the antenna modules are turned on, all the receiving array elements of the same antenna module receive signals at the same time, and the method for reconstructing a one-dimensional linear array of millimeter waves includes:
s1: acquiring a scattered target echo signal through the antenna array scanning, wherein the expression of the target echo signal is s (x t ，x r Y, f), wherein x t For the array dimension coordinates of the transmitting array elements, x r For the array dimension coordinates of the receiving array elements, y is the coordinate of the motion dimension, f is the frequency of the transmitted signal, f e [ f min ，f max ]，f min For the initial frequency of the transmitting signal of the millimeter wave system, f max Transmitting a signal termination frequency for the millimeter wave system;
s2: performing equivalent phase center transformation on the target echo signal to obtain a combined echo signal, and performing phase compensation correction on the combined echo signal to obtain a compensated echo signal, wherein the expression of the combined echo signal is s (x, y, f), and the expression of the compensated echo signal is s p (x, y, f), x being the transmit-receive element coordinates of the array dimension;
s3: performing Fourier transformation of scanning dimension on the compensation echo signal to obtain a wave number domain echo signal, wherein the expression of the wave number domain echo signal is s (k) x Y, f), whereindx represents the x-dimension equivalent coordinate interval;
s4: filtering the wave number domain echo signals according to a preset array frequency dimension wave number domain matched filter to obtain filtering signals, wherein the expression of the filtering signals is S f (k x ，y，f，z i )，z i Sitting for distance position requiring focusingThe target discrete value, i is the frequency index value, i= [0,1, 2N f -1]，N f The number of discrete points is the frequency dimension of the echo signal, and z is the coordinate of the distance dimension;
s5: accumulating the filtering signals in the frequency dimension, multiplying the accumulated result with an integral factor to obtain a frequency dimension accumulated signal, changing the index value, and repeating the steps S4 and S5 until the index value reaches the discrete point number of the echo signal frequency dimension to obtain a distance dimension focusing signal, wherein the integral factor has the expression ofThe expression of the frequency dimension accumulation signal is S f (k x ,y,z i ) The distance dimension focusing signal has the expression S f (k x ,y,z)；
S6: performing inverse Fourier transform on the distance dimension focusing signal in the array dimension to obtain an inverse transformation signal, wherein the expression of the inverse transformation signal is S f (x′,y,z)；
S7: dividing a motion distance dimension imaging grid coordinate;
s8: determining an oblique distance from a sampling coordinate of a motion scanning dimension to an imaging grid point of the motion distance dimension imaging grid coordinate, determining a distance dimension index value, and determining an interpolation signal based on the oblique distance and sin c interpolation algorithm and the inverse transformation signal;
s9: traversing the motion dimension echo signals, and carrying out matched filtering on the interpolation signals according to the motion dimension matched filter to obtain compensation interpolation signals;
s10: the compensation interpolation signals are accumulated and determined in the motion dimension and multiplied by the coordinate interval of the motion dimension to obtain motion dimension integral signals, wherein the expression of the motion dimension integral signals is sigma complex (x′,y′ m ,z′ n ) M is a motion dimension imaging grid sequence index value, and n is a distance dimension imaging grid sequence index value;
s11: repeating steps S8-S10 until all the motion distance dimensions are traversedThe three-dimensional complex image is obtained according to all the motion dimension integral signals, and the expression of the three-dimensional complex image is sigma complex (x′,y′,z′)；
S12: determining a maximum value projection image and a maximum value distance index value according to the three-dimensional complex image, wherein the maximum value projection image is used for representing the maximum value of the modulus value of the three-dimensional complex image in the distance dimension, the maximum value distance index value is used for representing the position index of the maximum value projection image, and the maximum value projection image meets the following expression: σ (x ', y')=max [ |σ complex (x,y,z)| z→max_value ]The maximum distance index value satisfies the following expression:
s13: and determining a distance dimension compensation signal according to the maximum projection image and the maximum distance index value, performing color mapping on the distance dimension compensation signal according to a preset visual color mapping table, and determining the obtained RGB three-channel image as a target reconstruction image.
In some embodiments, in step S2, the compensated echo signal and the combined echo signal satisfy the following relationship: s is(s) p (x,y,f)＝s(x,y,f)×s phase (x, y, f), wherein s phase (x, y, f) is an equivalent phase center transformed compensation signal expressed asAnd->Respectively representing the transmitting array element and the receiving array element in each group of transceiver modules to a phase correction center (x 0 ,z 0 ) Is used for the distance of (a),representing the coordinate after equivalent transformation to the phase correction center (x 0 ,z 0 ) Is a distance of (3).
In some embodiments, in step S4, the array frequencyThe expression of the rate dimension wave number domain matched filter isWhere k=2×pi×f/c, z i ∈[0,R max ]，R max Represents the maximum unobscured distance of the millimeter wave system and satisfies +.>c is the propagation speed of electromagnetic waves in free space, and B is the radio frequency bandwidth of the millimeter wave system.
In some embodiments, in step S7, the motion distance dimension imaging grid coordinate is y' m ∈[y grid_min ,y grid_max ]Wherein m=0, 1,2 … M,Δy is the spacing of the grid of the partitioned y dimension, and the coordinate of the partitioned distance dimension is z n ′∈[z grid_min ,z grid_max ]，n＝0,1,2,…N-1，/>Δz is the grid spacing of the partitioned z dimension.
In some embodiments, in step S8, the expression of the skew isy p For the sampling coordinates of the motion scan dimension, p=0, 1,2 … P, +.>dy is the y dimension coordinate interval, (y' m ,z′ n ) Imaging grid points of grid coordinates for the motion distance dimension;
the distance dimension index value is expressed as a value Representing a rounding down operation;
the interpolation signal has the expression ofThe sin c interpolation sequence is denoted +.>S f (x′,y p ,z q ) Calculating y by the skew p Corresponding said inverse transformed signal S f (x′,y p Z) is obtained after the distance dimension index value q.
In some embodiments, in step S9, the motion dimension matching filter is expressed asThe expression of the compensation interpolation signal is S F (x′,y,y′ m ,z′ n )＝S interp (x′,y,z′ q )×F(y,y′ m ,z′ n )。
In some embodiments, in step S13, the distance dimension compensation signal has the expression σ compensate (x′,y′)＝σ(x′,y′)×{z′[Z max (x′,y′)]} 2 The expression of the visual color mapping table is T RGB (j) j＝1，2，3…N The color expression for mapping is:
in a second aspect, an embodiment of the present application provides a millimeter wave one-dimensional linear array fast image reconstruction device, including at least one control processor and a memory communicatively connected to the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the millimeter wave one-dimensional linear array fast image reconstruction method as described in the first aspect above.
In a third aspect, an embodiment of the present application provides a millimeter wave one-dimensional linear array fast image reconstruction system, which includes the millimeter wave one-dimensional linear array fast image reconstruction device according to the second aspect.
In a fourth aspect, an embodiment of the present application provides a determining machine-readable storage medium, which stores determining machine-executable instructions for performing the millimeter wave one-dimensional linear array fast image reconstruction method according to the first aspect.
The millimeter wave one-dimensional linear array rapid image reconstruction method provided by the embodiment of the application has at least the following beneficial effects: according to the embodiment of the application, the transmitting array elements of the one-dimensional sparse linear array configuration are sparsely distributed, the transmitting array elements are opened and closed in a time-sharing mode, and when the corresponding transmitting array elements are opened, the corresponding receiving array elements simultaneously receive signals to complete data acquisition, so that the high efficiency of acquiring echo data in the array dimension is ensured, and the time for acquiring echo is shortened. In addition, the embodiment respectively processes the array dimension echo and the motion dimension echo, and acquires the echo data of the array dimension in real time in the process to reconstruct the array distance dimension image; the array distance dimension image can be reconstructed when the motion scanning is completed, and then the image reconstruction of the motion distance dimension is performed to complete the three-dimensional reconstruction of the detected target image. The application can effectively improve the imaging instantaneity of the millimeter wave imaging system, and effectively improve the passing efficiency of inspected personnel and inspected objects in the application of detecting hidden objects of human bodies and detecting defects of industrial objects.
Drawings
Fig. 1 is a schematic diagram of one-dimensional linear array transceiver array element arrangement according to an embodiment of the present application;
fig. 2 is a schematic diagram of a switching combination of a transmitting array element and a receiving array element and an equivalent phase center array element according to an embodiment of the present application;
FIG. 3 is a schematic view of a mechanical scanning imaging scene of a millimeter wave one-dimensional linear array with a detected target in a stationary state according to another embodiment of the present application;
FIG. 4 is a schematic diagram of a scanning imaging scene of a detected object under the driving of a mechanical structure in a uniform motion while a one-dimensional linear array provided by another embodiment of the present application is stationary;
FIG. 5 is a flow chart of a method for fast image reconstruction of millimeter wave one-dimensional linear arrays provided by one embodiment of the application;
fig. 6 is a block diagram of a millimeter wave one-dimensional linear array fast image reconstruction device according to another embodiment of the present application.
Detailed Description
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the application.
In the description of the present application, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present application and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present application.
In the description of the present application, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present application, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present application can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
The embodiment of the application provides a millimeter wave one-dimensional linear array rapid image reconstruction method and system, wherein transmitting array elements in a one-dimensional sparse linear array configuration are arranged in a sparse mode, the transmitting array elements are opened and closed in a time-sharing mode, and when the corresponding transmitting array elements are opened, the corresponding receiving array elements receive signals simultaneously to complete data acquisition, so that the high efficiency of acquiring echo data in the array dimension is ensured, and the time for acquiring echo is shortened. In addition, the embodiment respectively processes the array dimension echo and the motion dimension echo, and acquires the echo data of the array dimension in real time in the process to reconstruct the array distance dimension image; the array distance dimension image can be reconstructed when the motion scanning is completed, and then the image reconstruction of the motion distance dimension is performed to complete the three-dimensional reconstruction of the detected target image. The application can effectively improve the imaging instantaneity of the millimeter wave imaging system, and effectively improve the passing efficiency of inspected personnel and inspected objects in the application of detecting hidden objects of human bodies and detecting defects of industrial objects.
Referring to fig. 1 and fig. 2, fig. 1 is a schematic diagram of one-dimensional linear array transceiver array arrangement, fig. 2 is a schematic diagram of a switching combination of transmitting array elements and receiving array elements and an equivalent phase center array element position, a millimeter wave system of this embodiment includes a plurality of antenna arrays, each antenna array includes a plurality of transmitting array elements and a plurality of receiving array elements, the plurality of transmitting array elements are arranged at equal intervals in space, the plurality of receiving array elements are arranged at equal intervals in space, and when the transmitting array elements of the antenna modules are turned on, all receiving array elements of the same antenna module receive signals simultaneously.
Illustratively, as shown in fig. 1, the circle marks in fig. 1 represent transmitting array elements, and T1 to T15 represent the sequence numbers of the transmitting array elements; the star marks represent receiving array elements, which are arranged according to the distance d r =9mm in spatially equidistant arrangement, N in common in a single receive antenna module r 8 receiving array elements, and the whole array has num=14 receiving antenna modules; the transmitting array elements are arranged according to the distance d t Arranged at equal intervals in space, where d t ＝N r ×d r Number of total transmit array elements N =72 mm t ＝15。
In addition, the transmitting array elements of the present embodiment are switched in time-sharing order, and when a single transmitting array element is turned on each time, adjacent receiving is performedThe antenna module is started and receives echo signals at the same time, down-converts to intermediate frequency signals through a receiver, and acquires the intermediate frequency signals through a multichannel data acquisition card and carries out digital I/Q demodulation to obtain video signals s (x) t ，x r F). Referring to fig. 2, when a transmit array element T1 switch is turned on, the corresponding 8 receive array elements are turned on and acquire echo data at the same time, and when a transmit array element T2 switch is turned on, the corresponding 8 receive array elements are turned on and acquire echo data at the same time again; the switching mode of the transmitting array element and the receiving array element of the subsequent group is similar.
Referring to fig. 3 and 4, 1 in the drawing represents a millimeter wave one-dimensional linear array, 2 in the drawing represents a target to be inspected, and 3 in the drawing represents a mechanical movement direction. When the whole array is driven by the mechanical scanning structure to move linearly as shown in fig. 3, or the antenna array is stationary as shown in fig. 4, the inspected object is driven by the mechanical structure to move linearly. Simultaneously acquiring echo signals of y dimensions at different positions, and finally obtaining a backscattering echo signal expressed as s (x t ，x r Y, f), wherein x t For transmitting the horizontal dimension coordinates of the array elements, x r For receiving the horizontal dimension coordinates of the array elements, y E < -1 >, 1]m is a mechanical scanning vertical dimension coordinate, and the sampling interval dy=0.004 m; f is the frequency of the transmitted signal, where f ε f min ，f max ]，f min For the initial frequency of the millimeter wave system transmitting signal, f max A termination frequency of a signal transmitted for the millimeter wave system; the frequency bandwidth of the transmission signal reaches 32GHz, and the ultra-wideband transmission signal ensures the higher distance resolution of the reconstructed image.
The control method according to the embodiment of the present application will be further described with reference to the structures and scenarios shown in fig. 1 to 4.
Referring to fig. 5, fig. 5 is a flowchart of a millimeter wave one-dimensional linear array fast image reconstruction method according to an embodiment of the present application, including but not limited to the following steps:
s1: acquiring a scattered target echo signal through antenna array scanning, wherein the expression of the target echo signal is s (x t ，x r Y, f), wherein x t For transmitting array dimensional coordinates of array elements, x r For receiving array dimension coordinates of array elements, y is the coordinate of motion dimension, f is the frequency of the transmitted signal, f e [ f min ，f max ]，f min For the initial frequency of the transmitting signal of the millimeter wave system, f max Transmitting a signal termination frequency for the millimeter wave system;
s2: performing equivalent phase center transformation on the target echo signal to obtain a combined echo signal, and performing phase compensation correction on the combined echo signal to obtain a compensated echo signal, wherein the expression of the combined echo signal is s (x, y, f), and the expression of the compensated echo signal is s p (x, y, f), x being the transmit-receive element coordinates of the array dimension;
s3: performing Fourier transformation of scanning dimension on the compensation echo signal to obtain a wave number domain echo signal, wherein the expression of the wave number domain echo signal is s (k) x Y, f), whereindx represents the x-dimension equivalent coordinate interval;
s4: filtering the wave number domain echo signals according to a preset array frequency dimension wave number domain matched filter to obtain filtering signals, wherein the expression of the filtering signals is S f (k x ，y，f，z i )，z i To obtain a discrete value of distance position coordinates that require focusing, i is the value of the frequency index, i= [0,1, 2N f -1]，N f The number of discrete points is the frequency dimension of the echo signal, and z is the coordinate of the distance dimension;
s5: accumulating the filter signals in the frequency dimension, multiplying the accumulated result by an integral factor to obtain a frequency dimension accumulated signal, changing an index value, and repeating the steps S4 and S5 until the index value reaches the discrete point number of the echo signal frequency dimension to obtain a distance dimension focusing signal, wherein the integral factor has the expression ofThe expression of the frequency dimension accumulation signal is S f (k x ,y,z i ) The distance dimension focusing signal has the expression S f (k x ,y,z)；
S6: performing inverse Fourier transform on the distance dimension focusing signal in the array dimension to obtain an inverse transformation signal, wherein the expression of the inverse transformation signal is S f (x′,y,z)；
S7: dividing a motion distance dimension imaging grid coordinate;
s8: determining an inclined distance from a sampling coordinate of a motion scanning dimension to an imaging grid point of a motion distance dimension imaging grid coordinate, determining a distance dimension index value, and determining an interpolation signal based on the inclined distance and a sin c interpolation algorithm and an inverse transformation signal;
s9: traversing the motion dimension echo signals, and carrying out matched filtering on the interpolation signals according to the motion dimension matched filter to obtain compensation interpolation signals;
s10: accumulating and determining the compensation interpolation signals in the motion dimension, and multiplying the compensation interpolation signals by the coordinate interval of the motion dimension to obtain motion dimension integral signals, wherein the expression of the motion dimension integral signals is sigma complex (x′,y′ m ,z′ n ) M is a motion dimension imaging grid sequence index value, and n is a distance dimension imaging grid sequence index value;
s11: repeating steps S8-S10 until all the motion distance dimension imaging grid coordinates are traversed, and obtaining a three-dimensional complex image according to all the motion dimension integral signals, wherein the expression of the three-dimensional complex image is sigma complex (x′,y′,z′)；
S12: determining a maximum value projection image and a maximum value distance index value according to the three-dimensional complex image, wherein the maximum value projection image is used for representing the maximum value of the modulus value of the three-dimensional complex image in the distance dimension, the maximum value distance index value is used for representing the position index of the maximum value projection image, and the maximum value projection image meets the following expression: σ (x ', y')=max [ |σ complex (x,y,z)| z→max_value ]The maximum distance index value satisfies the following expression:
s13: and determining a distance dimension compensation signal according to the maximum projection image and the maximum distance index value, performing color mapping on the distance dimension compensation signal according to a preset visual color mapping table, and determining the obtained RGB three-channel image as a target reconstruction image.
In order to better illustrate the technical solution of the present embodiment, a specific example is provided below in conjunction with the above procedure. The echo signal s (x t ,x r Y, f) performing equivalent phase center correction operation in an array dimension, arranging transmitting array elements in a horizontal dimension in a sparse mode, transforming echo signals of receiving array elements into a dense array form combined with receiving array elements through an equivalent phase center, and expressing signals after the equivalent phase center transformation as s (x, y, f), wherein the transformation mode is expressed as that
Phase compensation is carried out on the converted signal s (x, y, f) to compensate phase errors in the conversion process, and the compensation signal of equivalent phase center conversion is thatAndrespectively representing the transmitting array element and the receiving array element in each group of transceiver modules to a phase correction center (x 0 ,z 0 ) Distance of->Representing the coordinate after equivalent transformation to the phase correction center (x 0 ,z 0 ) Is a distance of (2); phase correction center-> And->Representing the coordinates of the transmitting antenna array elements in each group of transceiver modules, l epsilon [1,15 ]]Index number z representing transmitting array element 0 Taking the thickness of 0.5m; the compensated signal is denoted s p (x,y,f)＝s(x,y,f)×s phase (x,y,f)。
For compensation signal s p Fourier transforming the (x, y, f) array scan dimension into the wavenumber domain to obtain a signal s (k) x Y, f), whereinx-dimension equivalent coordinate interval dx=0.0045 m.
Pair s (k) x Y, f) array-frequency dimension (k x F) performing matched filtering operation by using an array-frequency dimension wave number domain matched filter F (k) x ,f,z i ) Performing matched filtering operation to obtain S f (k x ,y,f,z i )＝s(k x ,y,f)×F(k x Y, f); the matched filter is denoted asWhere k=2×pi×f/c denotes the frequency-dimensional space wave number, k min Representing a frequency dimension space minimum wave number; z represents the distance position coordinate where focusing is required, z i ∈[0,R max ],i＝0,1,2…N f -1 max A discrete value representing a z coordinate; n (N) f =251 represents the number of discrete points of the echo signal frequency dimension f; maximum disambiguation distance of the system->c≈3×10 8 B=f, the speed of propagation of electromagnetic waves in free space max -f min =32 GHz is the radio frequency bandwidth of the millimeter wave system.
For the compensated signal S f (k x ,y,f,z i ) Is accumulated and multiplied by delta f to obtain a signalWherein->Traversing index i of z dimension to N f Obtaining a signal S f (k x ,y,z)。
For the signal S f (k x Y, z) x Performing inverse Fourier transform operation on the dimension to obtain a signal S f (x′,y,z)＝IFFT kx [S f (k x ,y,z)]Thus, the image in the x-z dimension is focused.
When the motion y dimension data acquisition is completed, a complete signal S is obtained f (x', y, z) and then focus the image in the motion-distance dimension. Dividing motion dimension coordinate minimum y grid_min Maximum value of coordinates y grid_max The coordinate interval is Δy=0.004 m; the divided coordinates are y' m ∈[y grid_min ,y grid_mas ]，m＝0,1,2…M，Minimum value of dividing distance dimension coordinate is z grid_min Maximum value is z grid_max The method comprises the steps of carrying out a first treatment on the surface of the Setting the distance dimension coordinate interval to be deltaz=0.004 m; the divided distance dimension coordinate is z' n ∈[z grid_min ,z grid_max ]，n＝0,1,2,…N-1，/>
Calculating the y-dimensional coordinate y p ∈[-1,1]m，p＝0,1,2…P，To divided imaging grid points (x' m ,z′ n ) Is>According to the skew value->Calculate the signal S f (x′,y p Z) index value of distance dimension z +.> Representing a rounding down operation, obtaining an index signal S f (x′,y p ,z q ) Obtaining an interpolation signal S by adopting a sin c interpolation algorithm int erp (x′,y p ,z′ q )，/>A specific interpolation method is->The sin c interpolation sequence is denoted +.>
Obtaining an interpolation signal S interp (x′,y p ,z′ q ) Then, motion dimension matched filtering calculation is carried out to compensate the skewInduced range migration with motion dimension matched filter signal +.>The compensated signal is S F (x′,y p ,y′ m ,z n ′)＝S interp (x′,y p ,z q ′)×F(y p ,y′ m ,z n ′)。
The y-z dimension imaging grid points (y' m ,z′ n ) Obtaining said compensated signal S F (x′,y p ,y′ m ,z′ n ) Traversing all index values of the motion dimension y to obtain a signal S F (x′,y,y′ m ,z′ n ) The method comprises the steps of carrying out a first treatment on the surface of the Accumulating the signals of the motion dimension y, multiplying the signals with the y-dimension coordinate interval dy to obtain accumulated signals which are
Changing the imaging grid coordinates (y' m ,z′ n ) Until all grid points are traversed to obtain a three-dimensional complex image sigma complex (x′,y′,z′)。
From said three dimensionsComplex image sigma complex (x ', y ', Z ') calculating a maximum projection image sigma (x ', y ') and a maximum distance index value Z max
The maximum projection image σ (x ', y') represents σ comolex The maximum value of the modulus value of (x, y, Z) in the Z dimension is obtained, and the position index of the maximum value is expressed as a maximum value distance index value Z max 。
From the maximum projection image sigma (x ', y') and the maximum distance index value Z max Calculating a distance dimension compensation signal sigma compensate (x′,y′)＝σ(x′,y′)×{z′[Z max (x′,y′)]} 2 Visual color mapping Turbo is selected as a color mapping table T RGB (j) j＝0,1,2…N The obtained mapping color ColorMap turbo (x ', y') is
Color ColorMap will be mapped turbo (x ', y') and distance dimension compensation signal sigma compensate (x ', y') to obtain the final RGB three-channel image sigma ColorMap (x′,y′)。
The image sigma to be obtained ColorMap And (x ', y') is output to a target detection module for object detection, and then is output to a display module for image rendering and display.
As shown in fig. 3, fig. 3 is a block diagram of a millimeter wave one-dimensional linear array fast image reconstruction device according to an embodiment of the present application. The application also provides a millimeter wave one-dimensional linear array rapid image reconstruction device, which comprises:
the processor 301 may be implemented by a general-purpose central processing unit (Central Processing Unit, CPU), a microprocessor, an application specific integrated circuit (Appl ication Specific Integrated Circuit, ASIC), or one or more integrated circuits, etc. for executing related programs to implement the technical solution provided by the embodiments of the present application;
the Memory 302 may be implemented in the form of a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a random access Memory (Random Access Memory, RAM). The memory 302 may store an operating system and other application programs, and when the technical scheme provided in the embodiments of the present disclosure is implemented by software or firmware, relevant program codes are stored in the memory 302, and the processor 301 invokes the millimeter wave one-dimensional linear array fast image reconstruction method for executing the embodiments of the present disclosure;
an input/output interface 303 for implementing information input and output;
the communication interface 304 is configured to implement communication interaction between the device and other devices, and may implement communication in a wired manner (e.g. USB, network cable, etc.), or may implement communication in a wireless manner (e.g. mobile network, WIFI, bluetooth, etc.);
a bus 305 for transferring information between various components of the device (e.g., processor 301, memory 302, input/output interface 303, and communication interface 304);
wherein the processor 301, the memory 302, the input/output interface 303 and the communication interface 304 are communicatively coupled to each other within the device via a bus 305.
The embodiment of the application also provides a millimeter wave one-dimensional linear array rapid image reconstruction system, which comprises the millimeter wave one-dimensional linear array rapid image reconstruction device.
The embodiment of the application also provides a storage medium, which is a determination machine-readable storage medium, wherein the storage medium stores a determination machine program, and the determination machine program realizes the millimeter wave one-dimensional linear array rapid image reconstruction method when being executed by a processor.
The memory, as a non-transitory determining machine-readable storage medium, may be used to store non-transitory software programs as well as non-transitory determining machine-executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof. The apparatus embodiments described above are merely illustrative, in which the elements illustrated as separate components may or may not be physically separate, implemented to reside in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on a determining machine-readable medium, which may include a determining machine storage medium (or non-transitory medium) and a communication medium (or transitory medium). The term determiner storage medium includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information, such as determining machine readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. The determiner storage medium includes, but is not limited to RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by the determiner. Furthermore, as is well known to those of ordinary skill in the art, communication media typically include data that is embodied in machine-readable instructions, data structures, program modules, or other data in a modulated data signal, such as a carrier wave or other transport mechanism, and may include any information delivery media.
While the preferred embodiment of the present application has been described in detail, the present application is not limited to the above embodiments, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit and scope of the present application, and these equivalent modifications or substitutions are included in the scope of the present application as defined in the appended claims.
Claims (10)
1. The millimeter wave one-dimensional linear array rapid image reconstruction method is characterized by being applied to a millimeter wave system, wherein an antenna array of the millimeter wave system is a one-dimensional linear array which is arranged in a sparse mode, the antenna array comprises a plurality of antenna modules, each antenna module comprises a plurality of transmitting array elements and a plurality of receiving array elements, the transmitting array elements are arranged at equal intervals in space, the receiving array elements are arranged at equal intervals in space, when the transmitting array elements of the antenna modules are started, all the receiving array elements of the same antenna module receive signals at the same time, and the millimeter wave one-dimensional linear array rapid image reconstruction method comprises the following steps:
s1: acquiring a scattered target echo signal through the antenna array scanning, wherein the expression of the target echo signal is s (x t ，x r Y, f), wherein x t For the array dimension coordinates of the transmitting array elements, x r For the array dimension coordinates of the receiving array elements, y is the coordinate of the motion dimension, f is the frequency of the transmitted signal, f e [ f min ，f max ]，f min For the initial frequency of the transmitting signal of the millimeter wave system, f max Transmitting a signal termination frequency for the millimeter wave system;
s2: performing equivalent phase center transformation on the target echo signal to obtain a combined echo signal, and performing phase compensation correction on the combined echo signal to obtain a compensated echo signal, wherein the expression of the combined echo signal is s (x, y, f), and the expression of the compensated echo signal is s p (x, y, f), x being the transmit-receive element coordinates of the array dimension;
S3：performing Fourier transformation of scanning dimension on the compensation echo signal to obtain a wave number domain echo signal, wherein the expression of the wave number domain echo signal is s (k) x Y, f), whereindx represents the x-dimension equivalent coordinate interval;
s4: filtering the wave number domain echo signals according to a preset array frequency dimension wave number domain matched filter to obtain filtering signals, wherein the expression of the filtering signals is S f (k x ，y，f，z i )，z i For the discrete value of the distance position coordinates to be focused, i is the frequency index value, i= [0,1,2 … N f -1]，N f The number of discrete points is the frequency dimension of the echo signal, and z is the coordinate of the distance dimension;
s5: accumulating the filtering signals in the frequency dimension, multiplying the accumulated result with an integral factor to obtain a frequency dimension accumulated signal, changing the index value, and repeating the steps S4 and S5 until the index value reaches the discrete point number of the echo signal frequency dimension to obtain a distance dimension focusing signal, wherein the integral factor has the expression ofThe expression of the frequency dimension accumulation signal is S f (k x ，y，z i ) The distance dimension focusing signal has the expression S f (k x ，y，z)；
S6: performing inverse Fourier transform on the distance dimension focusing signal in the array dimension to obtain an inverse transformation signal, wherein the expression of the inverse transformation signal is S f (x′，y，z)；
S7: dividing a motion distance dimension imaging grid coordinate;
s8: determining an oblique distance from a sampling coordinate of a motion scanning dimension to an imaging grid point of the motion distance dimension imaging grid coordinate, determining a distance dimension index value, and determining an interpolation signal based on the oblique distance and sin c interpolation algorithm and the inverse transformation signal;
s9: traversing the motion dimension echo signals, and carrying out matched filtering on the interpolation signals according to the motion dimension matched filter to obtain compensation interpolation signals;
s10: the compensation interpolation signals are accumulated and determined in the motion dimension and multiplied by the coordinate interval of the motion dimension to obtain motion dimension integral signals, wherein the expression of the motion dimension integral signals is sigma complex (x′，y′ m ，z′ n ) M is a motion dimension imaging grid sequence index value, and n is a distance dimension imaging grid sequence index value;
s11: repeating steps S8 to S10 until all the motion distance dimension imaging grid coordinates are traversed, and obtaining a three-dimensional complex image according to all the motion dimension integral signals, wherein the expression of the three-dimensional complex image is sigma complex (x′，y′，z′)；
S12: determining a maximum value projection image and a maximum value distance index value according to the three-dimensional complex image, wherein the maximum value projection image is used for representing the maximum value of the modulus value of the three-dimensional complex image in the distance dimension, the maximum value distance index value is used for representing the position index of the maximum value projection image, and the maximum value projection image meets the following expression: σ (x ', y')=max [ |σ complex (x，y，z)| z→max_value ]The maximum distance index value satisfies the following expression:
s13: and determining a distance dimension compensation signal according to the maximum projection image and the maximum distance index value, performing color mapping on the distance dimension compensation signal according to a preset visual color mapping table, and determining the obtained RGB three-channel image as a target reconstruction image.
2. The method for reconstructing a one-dimensional linear array of millimeter waves according to claim 1, wherein in step S2, the compensated echo signal and the combined echo signal satisfy the following relationshipThe formula: s is(s) p (x，y，f)＝s(x，y，f)×s phase (x, y, f), wherein s phase (x, y, f) is an equivalent phase center transformed compensation signal expressed as And->Respectively representing the transmitting array element and the receiving array element in each group of transceiver modules to a phase correction center (x 0 ，z 0 ) Is used for the distance of (a),representing the coordinate after equivalent transformation to the phase correction center (x 0 ，z 0 ) Is a distance of (3).
3. The method for reconstructing a one-dimensional linear array of millimeter waves according to claim 1, wherein in step S4, the expression of the array frequency-dimensional wave number domain matched filter isWhere k=2×pi×f/c, z i ∈[0，R max ]，R max Represents the maximum unambiguous distance of the millimeter wave system and satisfiesc is the propagation speed of electromagnetic waves in free space, and B is the radio frequency bandwidth of the millimeter wave system.
4. The method for reconstructing a one-dimensional linear array of millimeter waves according to claim 1, wherein in step S7, the motion distance dimension imaging grid coordinate is y' m ∈[y grid_min ，y grid_max ]Wherein, the method comprises the steps of, wherein, m=0, 1,2 once again, the combination of M,Δy is the spacing of the grid of the partitioned y dimension, and the coordinate of the partitioned distance dimension is z' n ∈[z grid_min ，z grid_max ]，n＝0，1,2，...N-1，/>Δz is the grid spacing of the partitioned z dimension.
5. The method for reconstructing a one-dimensional linear array of millimeter waves according to claim 1, wherein in step S8, the expression of the slant distance isy p For the sampling coordinates of the motion scan dimension, p=0, 1, 2..p,/-or>dy is the y dimension coordinate interval, (y' m ，z′ n ) Imaging grid points of grid coordinates for the motion distance dimension;
the distance dimension index value is expressed as a value Representing a rounding down operation;
the interpolation signal has the expression ofThe sin c interpolation sequence is denoted +.>S f (x′，y p ，z q ) Calculating y by the skew p Corresponding said inverse transformed signal S f (x′，y p Z) of the formula (I)And obtaining the distance dimension index value q.
6. The method for reconstructing a one-dimensional linear array of millimeter waves according to claim 5, wherein in step S9, the motion dimension matching filter is expressed asThe expression of the compensation interpolation signal is S F (x′，y，y′ m ，z′ n )＝S interp (x′，y，z′ q )×F(y，y′ m ，z′ n )。
7. The method for rapid image reconstruction of millimeter wave one-dimensional linear array according to claim 1, wherein in step S13, the distance dimension compensation signal has the expression σ compensate (x′，y′)＝σ(x′，y′)×{z′[Z max (x′，y′)]} 2 The expression of the visual color mapping table is T RGB (j) j＝1，2，3...N The color expression for mapping is:
8. the millimeter wave one-dimensional linear array rapid image reconstruction device is characterized by comprising at least one control processor and a memory, wherein the memory is used for being in communication connection with the at least one control processor; the memory stores instructions executable by the at least one control processor to enable the at least one control processor to perform the millimeter wave one-dimensional linear array fast image reconstruction method of any one of claims 1 to 7.
9. A millimeter wave one-dimensional linear array rapid image reconstruction system, which is characterized by comprising the millimeter wave one-dimensional linear array rapid image reconstruction device according to claim 8.
10. A determiner-readable storage medium, characterized in that the determiner-readable storage medium stores determiner-executable instructions for causing a determiner to perform the millimeter wave one-dimensional linear array fast image reconstruction method of any one of claims 1 to 7.
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