CN117406219B - Microwave radar two-dimensional imaging method suitable for rotating scene - Google Patents
Microwave radar two-dimensional imaging method suitable for rotating scene Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
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Abstract
The invention discloses a microwave radar two-dimensional imaging method suitable for a rotating scene, which belongs to the field of microwave radar imaging, and comprises the steps of weighting amplitude and phase of each antenna element of an antenna array to form a transmitting beam angle pulse with the beam width of theta p, wherein when the antenna array rotates around a circle with the radius of R, the center of the transmitting beam always points to the direction of a rotating normal line in the rotating process; after the linear frequency modulation echo signals are acquired at equal time and equal angle intervals, the two-dimensional images are finally formed through distance migration correction, distance pulse pressure and angle pulse pressure. The method is simple in processing, distance angle two-dimensional imaging is achieved through emitting angle pulse signals and adopting distance angle dimension matched filtering, the calculation complexity of lateral 360-degree two-dimensional imaging is greatly reduced, and rapid two-dimensional imaging of the distance angle covering the lateral 360 degrees in a rotating scene can be achieved.
Description
Technical Field
The invention belongs to the field of microwave radar imaging, and particularly relates to a microwave radar two-dimensional imaging method suitable for a rotating scene.
Background
The microwave radar imaging has the working characteristics of all weather and all weather, and is an important means for detecting targets in the military and civil fields. The circular rotary array is obtained by rotating the antenna array formed by a plurality of antenna array elements, so that lateral microwave radar imaging is realized, imaging resolution is far higher than that of a single antenna array, and meanwhile, the imaging cost of the compressed radar is extremely high, however, the special motion trail which is different from the traditional synthetic aperture (comprising the circular synthetic aperture) brings new problems and challenges to the imaging data processing of the circular rotary array.
The invention patent with the application number of CN201910971214.6 and the name of a microwave radar super-resolution method with space frequency dispersion utilizes a specially designed phase space chromatic dispersion antenna to realize the angle super-resolution of the microwave radar, and utilizes a virtual array formed by rotating a phase center to realize super-resolution detection by designing the antenna with the phase center deviated from a caliber surface, so that lateral 360-degree imaging can be obtained, however, the method has the problem that the range migration correction depends on the antenna phase direction diagram and is difficult to compensate, and the complexity of the imaging method is greatly increased.
The invention relates to an imaging method for compensating the intra-pulse motion of a frequency modulation continuous wave circumference SAR, which is disclosed in the application number CN201910523793.8, and selects different imaging methods to realize the imaging of the circumference SAR according to the judging condition that whether the intra-pulse motion is negligible.
The invention relates to a circumferential SAR terahertz high-precision vertical curved surface imaging method based on the application number of CN201510347185.8 and the invention relates to a circumferential SAR rapid imaging method based on the application number of CN201610846537.9, which aims at solving the problems of traditional circumferential SAR imaging, and the problems that a wave number domain processing method and a sub-aperture synthesis method are respectively used for realizing distance Doppler two-dimensional imaging, lateral 360-degree imaging cannot be realized, the method is complex, and rapid imaging cannot be realized are also existed.
Disclosure of Invention
Aiming at the defects or improvement demands of the prior art, the invention provides a microwave radar two-dimensional imaging method suitable for a rotating scene, thereby solving the problems that the existing circular rotating array two-dimensional imaging has high computational complexity and is difficult to rapidly realize lateral 360-degree imaging.
To achieve the above object, according to a first aspect of the present invention, there is provided a microwave radar two-dimensional imaging method suitable for a rotating scene, comprising:
s1, enabling an antenna array which takes a preset point as a circle center and rotates according to a preset radius to send a linear frequency modulation signal in a pulse mode, and synchronously acquiring an initial echo signal according to a preset time sampling rate and an angle sampling rate; the antenna array comprises a plurality of antenna array elements, and angle pulses with the wave beam width of theta p are formed by weighting specific amplitude and phase of the plurality of antenna array elements;
S2, sequentially performing FFT processing on the time dimension and the angle dimension of the initial echo signal to transform the initial echo signal into a time frequency-angle frequency two-dimensional frequency domain, so as to obtain a first echo signal;
s3, performing RCMC phase compensation on the first echo signal to obtain a second echo signal;
s4, sequentially performing time pulse compression phase compensation, time dimension IFFT processing, angle compression phase compensation and angle dimension IFFT processing on the second echo signal to obtain a target echo signal;
s5, obtaining a distance-angle two-dimensional image according to the target echo signal.
According to a second aspect of the present invention, there is provided a microwave radar two-dimensional imaging apparatus adapted for use in a rotating scene, comprising:
The first processing module is used for enabling the antenna array which takes the preset point as the center of a circle and rotates according to the preset radius to send the linear frequency modulation signal in a pulse mode, and synchronously collecting an initial echo signal according to the preset time sampling rate and the angle sampling rate; the antenna array comprises a plurality of antenna array elements, and angle pulses with the wave beam width of theta p are formed by weighting specific amplitude and phase of the plurality of antenna array elements;
The second processing module is used for sequentially carrying out FFT processing on the time dimension and the angle dimension of the initial echo signal to obtain a first echo signal, and converting the time dimension and the angle dimension into a time frequency-angle frequency two-dimensional frequency domain;
the third processing module is used for performing RCMC phase compensation on the first echo signal to obtain a second echo signal;
The fourth processing module is used for sequentially performing time pulse compression phase compensation, time dimension IFFT processing, angle compression phase compensation and angle dimension IFFT processing on the second echo signal to obtain a target echo signal;
And a fifth processing module, configured to obtain a distance-angle two-dimensional image according to the target echo signal.
According to a third aspect of the present invention there is provided a microwave radar two-dimensional imaging system adapted for use in a rotating scene, comprising: a computer readable storage medium and a processor;
The computer-readable storage medium is for storing executable instructions;
the processor is configured to read executable instructions stored in the computer readable storage medium and perform the method according to the first aspect.
According to a fourth aspect of the present invention there is provided a computer readable storage medium storing computer instructions for causing a processor to perform the method of the first aspect.
In general, the above technical solutions conceived by the present invention, compared with the prior art, enable the following beneficial effects to be obtained:
According to the method provided by the invention, regulation and control of a far-field amplitude pattern and a phase pattern are realized by utilizing amplitude phase distribution optimization on a caliber surface, an angle pulse is formed, meanwhile, the time-sharing acquisition of target angle phase modulation echoes at specific positions is realized by combining rotary scanning, and the rapid focusing of a circular rotary array is realized by utilizing time angle domain two-dimensional matched filtering. The method is simple in processing, distance-angle two-dimensional imaging is achieved through emitting angle pulse signals and adopting distance-angle dimension matched filtering, the calculation complexity of lateral 360-degree two-dimensional imaging is greatly reduced, and lateral 360-degree distance-angle two-dimensional imaging can be achieved rapidly and effectively.
Drawings
FIG. 1 is a flow chart of a microwave radar two-dimensional imaging method suitable for a rotating scene;
FIG. 2 is a distance angle two-dimensional imaging principle provided by the present invention;
FIG. 3 is an angular pulse amplitude pattern formed by amplitude phase weighting provided by the present invention;
fig. 4 is a graph of distance-angle two-dimensional imaging results provided by the present invention.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention. In addition, the technical features of the embodiments of the present invention described below may be combined with each other as long as they do not collide with each other.
Aiming at the problem of lateral imaging when the antenna beam center continuously rotates, the embodiment of the invention provides a microwave radar two-dimensional imaging method suitable for a rotating scene, as shown in fig. 1, which comprises the following steps:
S1, enabling an antenna array which takes a preset point as a circle center and rotates according to a preset radius to send a linear frequency modulation signal in a pulse mode, and synchronously acquiring an initial echo signal S according to a preset time sampling rate and an angle sampling rate; the antenna array comprises a plurality of antenna array elements with specific amplitude and phase weights, and angle pulses with the wave beam width of theta p are formed through the amplitude and phase weights.
Specifically, the antenna array is made to transmit a chirp signal with a bandwidth of B and a chirp rate of K r in a pulse form, and an initial chirp echo signal is acquired at equal time and equal angular intervals while rotating and scanning.
As shown in fig. 2, a plurality of antenna elements 2 form an antenna array 1, which rotates around a center point 4 and a circle 5 with a radius R, and transmits, receives and collects echoes.
The single antenna array rotates around a circle of radius R, forming a distance-angle two-dimensional image covering 360 degrees sideways. The rotating antenna array is made up of a number of antenna elements with specific amplitude and phase weights by which an angular pulse with a beam width of θ p is formed.
Further, during rotation of the antenna array, the beam center 6 of the angular pulse always coincides with the direction 7 of the rotation normal of the antenna array.
Specifically, as shown in fig. 3, the beam center points to the direction of the rotation normal, an angular pulse 3 having a beam width θ p is formed by amplitude and phase weighting, the amplitude and phase corresponding to the amplitude pattern are approximately constant within the beam width θ p, the amplitude pattern drops rapidly outside the beam width θ p, and the amplitude corresponding to the amplitude pattern tends to 0.
Further, the predetermined time sampling rate is greater than or equal to 2B, and the predetermined angle sampling rate is greater than or equal toWherein B is the bandwidth of the linear frequency modulation signal, R is the rotation radius of the antenna array, and lambda is the wavelength of the angular pulse.
S2, FFT (Fast Fourier Transform ) processing is sequentially carried out on the time dimension and the angle dimension of the initial echo signal so as to transform the initial echo signal into a time frequency-angle frequency two-dimensional frequency domain, and a first echo signal is obtained.
Specifically, the initial echo signal S acquired in S1 is converted into a time-angle two-dimensional data matrix, and is converted into a time-frequency-angle-frequency two-dimensional frequency domain through a time-dimensional FFT and an angle-dimensional FFT.
That is, the time dimension of the time-angle two-dimensional data matrix is transformed into the time-frequency-angle domain by performing FFT, and then the angle dimension is transformed into the time-frequency-angle-frequency two-dimensional frequency domain by performing FFT.
And S3, performing RCMC (RANGE CELL Migration Correction, range migration correction) phase compensation on the first echo signal to obtain a second echo signal.
Specifically, RCMC phase compensation is carried out on the first echo signal in a time frequency-angle frequency two-dimensional frequency domain so as to finish range migration correction.
Preferably, the RCMC compensates for phase toWhere f is the time frequency and f θ is the angular frequency.
And S4, sequentially performing time pulse compression phase compensation, time dimension IFFT processing, angle compression phase compensation and angle dimension IFFT (INVERSE FAST Fourier Transform ) processing on the second echo signal to obtain a target echo signal.
Specifically, S4 includes:
S41, performing time pulse pressure phase compensation in a two-dimensional frequency domain, and transforming back to a time-angle frequency domain through time-dimensional IFFT after compensation to finish distance pulse compression.
Specifically, in a time-frequency-angle-frequency two-dimensional frequency domain, time pulse compression phase compensation is performed on the echo signal, after the compensation is completed, the signal is converted back to the time-angle-frequency domain through time-dimensional IFFT, and time pulse compression is completed.
Preferably, in S41, the compensation phase is
S42, angle compression phase compensation is carried out in a time-angle frequency domain, and after compensation, the angle compression phase compensation is converted back into the time-angle domain through angle dimension IFFT, so that angle compression is completed.
Specifically, in the time-angle frequency domain, the echo signals are subjected to angle pulse compression phase compensation, and after the compensation, the signals are converted back into the time-angle domain through angle dimension IFFT, so that the angle pulse compression is completed.
Preferably, in S42, the compensation phase is
S5, obtaining a distance-angle two-dimensional image (of which the antenna array covers 360 degrees laterally) according to the target echo signal.
Specifically, multiplying the target echo signal by C/2 to finally obtain a distance-angle two-dimensional image, as shown in FIG. 4; wherein, C is the speed of light.
The microwave radar two-dimensional imaging device suitable for the rotating scene, which is described below, and the microwave radar two-dimensional imaging method suitable for the rotating scene, which is described above, can be correspondingly referred to each other.
The embodiment of the invention provides a microwave radar two-dimensional imaging device suitable for a rotary scene, which comprises:
The first processing module is used for enabling the antenna array which takes the preset point as the center of a circle and rotates according to the preset radius to send the linear frequency modulation signal in a pulse mode, and synchronously collecting an initial echo signal according to the preset time sampling rate and the angle sampling rate; the antenna array comprises a plurality of antenna array elements, and angle pulses with the wave beam width of theta p are formed by weighting specific amplitude and phase of the plurality of antenna array elements;
The second processing module is used for sequentially carrying out FFT processing on the time dimension and the angle dimension of the initial echo signal to obtain a first echo signal, and converting the time dimension and the angle dimension into a time frequency-angle frequency two-dimensional frequency domain;
the third processing module is used for performing RCMC phase compensation on the first echo signal to obtain a second echo signal;
The fourth processing module is used for sequentially performing time pulse compression phase compensation, time dimension IFFT processing, angle compression phase compensation and angle dimension IFFT processing on the second echo signal to obtain a target echo signal;
And a fifth processing module, configured to obtain a distance-angle two-dimensional image according to the target echo signal.
The embodiment of the invention provides a microwave radar two-dimensional imaging system suitable for a rotary scene, which comprises the following components: a computer readable storage medium and a processor;
The computer-readable storage medium is for storing executable instructions;
The processor is configured to read executable instructions stored in the computer readable storage medium and perform a method as in any of the embodiments described above.
Embodiments of the present invention provide a computer readable storage medium storing computer instructions for causing a processor to perform a method as described in any of the embodiments above.
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 (8)
1. A microwave radar two-dimensional imaging method suitable for a rotating scene, comprising:
S1, enabling an antenna array which takes a preset point as a circle center and rotates according to a preset radius to send a linear frequency modulation signal in a pulse mode, and acquiring an initial echo signal according to a preset time sampling rate and an angle sampling rate; the antenna array comprises a plurality of antenna array elements, and angular pulses with the wave beam width of theta p are formed by weighting the amplitude and the phase of the plurality of antenna array elements;
S2, sequentially performing FFT processing on the time dimension and the angle dimension of the initial echo signal to transform the initial echo signal into a time frequency-angle frequency two-dimensional frequency domain, so as to obtain a first echo signal;
s3, performing RCMC phase compensation on the first echo signal to obtain a second echo signal;
s4, sequentially performing time pulse compression phase compensation, time dimension IFFT processing, angle compression phase compensation and angle dimension IFFT processing on the second echo signal to obtain a target echo signal;
s5, obtaining a distance-angle two-dimensional image according to the target echo signal.
2. The method of claim 1, wherein in step S3, the phase is compensatedWhere f is the time frequency, f θ is the angular frequency, R is the radius of rotation of the antenna array, and λ is the wavelength of the angular pulse.
3. The method according to claim 1 or 2, wherein in step S4, the time pulse compresses the compensation phase
Angular compression compensation phaseWhere f is the time frequency, f θ is the angular frequency, R is the radius of rotation of the antenna array, λ is the wavelength of the angular pulse, and K r is the chirp rate of the chirp signal.
4. The method of claim 1, wherein the predetermined time sampling rate is greater than or equal to 2B and the predetermined angle sampling rate is greater than or equal toWherein B is the bandwidth of the linear frequency modulation signal, R is the rotation radius of the antenna array, and lambda is the wavelength of the angular pulse.
5. The method of claim 1, wherein a beam center of the angular pulse is always coincident with a direction of a rotation normal of the antenna array during rotation of the antenna array.
6. A microwave radar two-dimensional imaging device suitable for a rotating scene, comprising:
The first processing module is used for enabling the antenna array which takes the preset point as the circle center and rotates according to the preset radius to send the linear frequency modulation signal in a pulse mode, and synchronously collecting the initial echo signal according to the preset time frequency and the angle frequency; the antenna array comprises a plurality of antenna array elements, and angular pulses with the wave beam width of theta p are formed by weighting the amplitude and the phase of the plurality of antenna array elements;
The second processing module is used for sequentially carrying out FFT processing on the time dimension and the angle dimension of the initial echo signal to obtain a first echo signal, and converting the time dimension and the angle dimension into a time frequency-angle frequency two-dimensional frequency domain;
the third processing module is used for performing RCMC phase compensation on the first echo signal to obtain a second echo signal;
The fourth processing module is used for sequentially performing time pulse compression phase compensation, time dimension IFFT processing, angle compression phase compensation and angle dimension IFFT processing on the second echo signal to obtain a target echo signal;
And a fifth processing module, configured to obtain a distance-angle two-dimensional image according to the target echo signal.
7. A microwave radar two-dimensional imaging system suitable for a rotating scene, comprising: a computer readable storage medium and a processor;
The computer-readable storage medium is for storing executable instructions;
The processor is configured to read executable instructions stored in the computer readable storage medium and perform the method of any one of claims 1-5.
8. A computer readable storage medium storing computer instructions for causing a processor to perform the method of any one of claims 1-5.
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