CN117687028A - Carrier platform three-dimensional positioning method based on interference SAR fringe pattern matching - Google Patents
Carrier platform three-dimensional positioning method based on interference SAR fringe pattern matching Download PDFInfo
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- G—PHYSICS
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- 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
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- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
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Abstract
The invention discloses a carrier platform three-dimensional positioning method based on interference SAR fringe pattern matching, and belongs to the field of aircraft positioning. The method specifically comprises the following steps: and a digital elevation model DEM of the flight area is stored in the platform in advance, a reference interference fringe pattern obtained by the simulation of the DEM is matched with an interference fringe pattern obtained by real-time interference processing of the carrier, three-dimensional position information of the same-name point is obtained, and then the three-dimensional position information of the platform is calculated through an interference SAR three-dimensional positioning model, so that the positioning of the carrier is realized. The method establishes a stricter positioning model, does not depend on the number of matching points, reduces the requirement on matching performance, and improves the positioning precision and robustness.
Description
Technical Field
The invention belongs to the field of aircraft positioning, and particularly relates to a carrier platform three-dimensional positioning method based on interference SAR fringe pattern matching.
Background
Along with the increasing demand of modern society for accurate navigation of aircrafts, research on a navigation system with high precision and high autonomy has important theoretical value and practical significance. The inertial navigation system (Inertial Navigation System, INS) is an autonomous navigation system based on the principle of inertia, can provide information such as position, speed and attitude of an aircraft under the condition of not depending on external information, has the advantages of high short-time stability, strong anti-interference capability and the like, and is an indispensable core component in the navigation system. However, since the inertial navigation system has systematic errors and random errors, the output information thereof is accumulated and diverged with time, so that the inertial navigation system needs to be combined with other navigation modes to construct a combined navigation system so as to realize real-time compensation and correction of the errors of the inertial navigation system, thereby improving the navigation precision.
In the existing integrated navigation system, a global navigation satellite system (Global Navigation Satellite System, GNSS) and INS integrated navigation method is widely used, which can provide high-precision position and attitude information under the condition that GNSS signals are normal. However, when GNSS signals are lost or disturbed, the performance of the integrated navigation system may decrease over time due to inertial drift of INS, resulting in failure to meet long-term navigation requirements. The scene matching positioning is used as a carrier platform positioning system independent of external information, the position information of the platform is calculated through matching the reference image stored in the carrier platform with the real image acquired in real time, the offset error of the INS is corrected, and long-term autonomous navigation is realized. The device has the advantages of simple structure, autonomy and high precision, can be applied to the environment of GNSS satellite signal rejection, and is widely applied to the military and civil fields in recent years.
Synthetic aperture radar (Synthetic Aperture Radar, SAR) has all-day, all-weather observation characteristics and two-dimensional high resolution capability, and can provide high resolution images similar to an optical camera in an environment with poor visibility, so SAR image matching navigation systems have wide application. The SAR image matching navigation system performs image matching on image information acquired in real time by SAR and map data of corresponding mapping bands in a digital map database stored in an onboard computer to obtain absolute positions of homonymous points, obtains geographic position information of a current time loader platform through SAR imaging geometric model calculation, performs combined filtering with the position and posture information of INS, corrects offset errors of the INS, and realizes long-term autonomous navigation.
SAR image matching positioning is a carrier platform autonomous positioning system, and has all-weather operation capability all over the day, but has some problems. Firstly, the SAR image matching system is influenced by seasonal change of the ground object, so that the difference between the reference SAR image and the real-time SAR image is caused, and the reliability and accuracy of matching are reduced. Therefore, the reference SAR image in the digital map database needs to be updated periodically to ensure timeliness thereof. Secondly, the SAR image matching positioning utilizes the position information of a plurality of matching points to establish a least square equation between the SAR image matching positioning and the slant distance to carry out optimization solution, and as many matching points as possible are needed to ensure the precision and the robustness of the least square, so that higher requirements are provided for the matching performance, and the position solution cannot be carried out under the condition of insufficient number of the matching points. This limits the navigation and control capabilities of the carrier platform and also increases the positioning uncertainty.
Disclosure of Invention
In order to solve the technical problems, the invention provides a carrier platform three-dimensional positioning method based on interference SAR fringe pattern matching, which specifically comprises the following steps:
and a digital elevation model (Digital Elevation Model, DEM) of the flight area is stored in the platform in advance, a reference interference fringe pattern obtained by the DEM simulation is matched with an interference fringe pattern obtained by real-time interference processing of the carrier, three-dimensional position information of the same-name point is obtained, and then the three-dimensional position information of the platform is calculated through an interference SAR three-dimensional positioning model, so that the positioning of the carrier is realized.
The beneficial effects of the invention are as follows:
(1) The method for matching and positioning by utilizing the interference SAR fringe pattern can effectively utilize the topographic information and improve the accuracy and stability of positioning. The interference SAR fringe pattern can reflect tiny terrain variation, and meanwhile, the terrain information has long-term stability and is not influenced by seasonal variation, so that matching errors of the interference SAR fringe pattern can be reduced, and the matching efficiency is improved.
(2) A matching and positioning process based on a vision vector decomposition method is provided, and comprises the steps of manufacturing a reference interference fringe pattern, matching the interference fringe pattern, establishing a carrier platform three-dimensional positioning model and solving a carrier platform positioning equation. The unit vision vector in the carrier platform positioning equation is decomposed, a carrier platform positioning method with an analytical solution is deduced, and the relationship between the platform system parameters and the positioning errors can be quantitatively analyzed. Compared with the traditional SAR matching positioning method, a stricter positioning model is established, the number of matching points is not depended, the requirement on matching performance is reduced, and the positioning precision and robustness are improved.
Drawings
FIG. 1 is a flow chart of a three-dimensional positioning method of a carrier platform based on interference SAR fringe pattern matching;
FIG. 2 is a flow chart of a method for preparing a reference interference fringe pattern provided by the invention;
FIG. 3 is a flow chart of a stripe matching algorithm provided by the present invention;
fig. 4 is a schematic diagram of a three-dimensional positioning model of a carrier platform according to the present invention.
Detailed Description
The invention will be described in further detail with reference to the accompanying drawings and examples.
As shown in fig. 1, in the three-dimensional positioning method of a carrier platform based on interference SAR fringe pattern matching, a reference digital terrain library is pre-stored in the carrier platform, the reference fringe pattern obtained by DEM simulation and a real-time interference fringe pattern obtained by processing the carrier platform through a real-time interference SAR system are subjected to interference fringe matching to obtain three-dimensional position information of a same name point, and then the three-dimensional position information of the carrier platform is calculated by resolving the three-dimensional position of the interference SAR through the three-dimensional positioning model of the interference SAR, so that the positioning of the carrier platform is realized, and the method specifically comprises the following three parts:
1, reference interference fringe preparation
As shown in fig. 2, a flow chart of a reference fringe pattern preparation method is shown. The preparation of the reference interference fringe pattern based on the DEM is a technical basis of interference SAR matching and positioning, and interference fringes are extremely sensitive to fluctuation of topography, so that a scheme for realizing matching on the interference fringe layer is adopted. The technical core of the preparation of the interference fringe pattern according to the DEM is to calculate the slant distance difference corresponding to each point in the imaging area of the DEM, and calculate the interference fringe pattern by establishing the relation between the interference phase and the slant distance difference based on the dual-antenna SAR imaging geometrical structure and the interference phase model. Specifically, the method comprises the following steps:
first, we need to implement approximate imaging region determination from the platform position indicated by INS parameters and interferometric SAR imaging geometry model in combination with a library of reference digital terrain including a reference DEM. The reference DEM is located in the ground-azimuth plane and the SAR imaging results are presented in the oblique-azimuth plane. Thus, we sample the DEM of the imaging region from the ground plane to the pitch plane by resampling the DEM, rearranging each elevation value according to the pitch size.
After obtaining the resampling DEM, according to the elevation value Z and the slope distance difference in the interferometric SAR altimetric geometry (i.e. InSAR geometry)The reference interference fringes can be obtained by the relation of the following specific calculation equation:
，
wherein,for the height of the platform->For the length of the cross-track base line, < >>Is of oblique distance and is->For baseline dip +.>Is an expression to be optimized. The above is about->Let ∈4->Iterative solving of +.>Is a value of (2).
For interferometric SAR systems, the standoff differencePhase of interference->The relation of (2) is:
，
wherein,for radar wavelength, +.>Indicating interference pattern +.>Indicating a dual antenna interference pattern, +.>Representing a repeating orbital interference pattern. After the calculation of the interference phase, the interference phase mainly comprises the land phase and the interference phase caused by the topography relief, wherein the land phase +.>Expressed as:
，
wherein,for radar viewing angle, the flat ground phase is expressed as repetitive periodic interference fringes, which affect the matching effect, so that the adoption of eliminating the flat ground phase is adopted>The interference fringes of the relief of the reaction topography are matched by symbolsRepresenting a downward rounding function, the flat phase is removed +.>Post reference fringe pattern phase +.>Expressed as:
，
2, interference SAR fringe matching
The interferometric SAR fringe matching positioning method is to match on the interference fringe pattern level, rather than on the DEM. The method is characterized in that the whole process of interference SAR data generation DEM is complicated in steps and long in time consumption, and the real-time requirement of positioning navigation cannot be met.
To eliminate the effects of translational, rotational and distortion of the interferograms caused by positional offset and attitude angle changes, we designed an interferogram matching algorithm with translational invariance, rotational invariance and illumination invariance. FIG. 3 is a flow chart showing a fringe matching algorithm between a real-time interference fringe pattern and a reference interference fringe pattern, wherein feature extraction is performed first, including denoising the interference pattern by using a multi-view processing technology, so as to reduce interference of noise points on matching; then, establishing a nonlinear scale space, and extracting characteristic points in the nonlinear scale space by using nonlinear diffusion filtering, wherein the method can inhibit noise while retaining edge information, so that the number and the accuracy of the characteristic points are improved; then searching an extreme point in the nonlinear scale space to determine the position of the characteristic point, namely positioning the characteristic point; then constructing descriptors, including, screening coherence coefficients, screening feature points by using interference coherence coefficients, and constructing descriptors to form feature descriptor subsets; and finally, performing feature matching by utilizing nearest Euclidean distance matching, and removing outer points, namely eliminating the outer points which are erroneously matched, so as to obtain the three-dimensional position information of the matched homonymous points.
3, three-dimensional positioning of carrier platform
By matching the interference fringe patterns, the three-dimensional position of the matching point and the corresponding elevation information are obtained, and based on the three-dimensional positioning capability of the interference SAR, the positioning of the platform by using a view vector decomposition method is proposed. As shown in fig. 4, the x-axis is the flight direction of the platform, the z-axis is the elevation direction, the y-axis, the x-axis and the z-axis form a right-hand coordinate system,and->The positions of the main antenna and the auxiliary antenna of the radar are respectively, P is the position of a matching point, and the positions of the matching points are +.>The vector of the tilt from the main antenna to the point P, called the view vector, ">For baseline vector, +.>For the length of the cross-track base line, < >>Is the track base length. The orthogonal unit vectors form a moving coordinate system, wherein the coordinate axes +.>Pointing in the flight direction, coordinate axis>Is oriented in the same direction as the intersection base line, coordinate axis +.>Given by the right hand rule.
Unit view vector in moving coordinate systemCan be expressed as:
，
wherein,，/>，/>，/>the inner product of the representation vector can thus be calculated to obtain the representation of the unit view vector in the moving coordinate system>：
，
Wherein,for Doppler center frequency, +.>For radar wavelength, +.>For the movement speed of the platform>In order to provide an interference phase with the phase,indicating interference pattern +.>Indicating a dual antenna interference pattern, +.>Representing a repeating orbital interference pattern. Converting the unit view vector from the moving coordinate system to the carrier coordinate system by means of the transformation matrix T, i.e.>T is expressed as:
，
wherein,is the angle between the base line and the XOY plane. Thus, the three-dimensional position vector a of the platform can be expressed as:
，
wherein,for the position of the matching point, +.>Is a slant distance.
What is not described in detail in the present specification belongs to the prior art known to those skilled in the art.
Claims (4)
1. The carrier platform three-dimensional positioning method based on interference SAR fringe pattern matching is characterized by comprising the following steps of:
a digital elevation model DEM of a flight area is stored in the carrier platform in advance;
matching a reference interference fringe pattern obtained by the digital elevation model DEM simulation with an interference fringe pattern obtained by real-time interference processing of a carrier platform to obtain three-dimensional position information of the same-name point;
and calculating the three-dimensional position information of the carrier platform by a view vector decomposition method based on the three-dimensional positioning capability of the interference SAR by utilizing the three-dimensional position information of the homonymy point.
2. The method for three-dimensional positioning of a carrier platform based on interference SAR fringe pattern matching of claim 1, wherein the obtaining of the reference interference fringe pattern comprises:
determining an approximate imaging area from a reference digital elevation model DEM according to the position of a carrier platform indicated by an inertial navigation system and an interference SAR imaging geometric model, sampling a digital elevation model DEM of the approximate imaging area from a ground clearance plane to an inclined clearance plane, rearranging each elevation value according to the size of the inclined clearance, calculating an interference phase by utilizing an interference SAR principle after obtaining a resampled digital elevation model DEM, and matching by adopting a leveling interference fringe with unique reactive topography fluctuation after removing the leveling phase after calculating the interference phase.
3. The method for three-dimensional positioning of a carrier platform based on interference SAR fringe pattern matching of claim 1, wherein the matching of the interference fringe patterns to obtain three-dimensional position information of homonymous points comprises:
denoising the interference fringe pattern by adopting a multiview technology;
extracting feature points in a nonlinear scale space by using nonlinear diffusion filtering;
searching extreme points in a nonlinear scale space to determine the positions of the characteristic points, screening the characteristic points by using interference coherence coefficients, and constructing descriptors to form a characteristic subset;
and performing feature matching by using the nearest Euclidean distance, and removing the outer points which are erroneously matched to obtain the three-dimensional position information of the same-name points.
4. The method for three-dimensional positioning of a carrier platform based on interference SAR fringe pattern matching of claim 1, wherein said calculating the three-dimensional position information of the carrier platform comprises:
unit view vector in moving coordinate systemExpressed as:
，
wherein,，/>，/>，/>,/>and->The unit view vectors are respectively->Projection on vnw axis, +.>Representing the inner product operation of the vector, coordinate axis +.>Pointing in the flight direction, coordinate axis>Is oriented in the same direction as the intersection base line, coordinate axis +.>Given by the right hand rule, the unit view vector is calculated>Representation in a mobile coordinate system +.>：
，
Wherein,for Doppler center frequency, +.>For radar wavelength, +.>For the movement speed of the platform>For interference phase +.>Indicating interference pattern +.>When representing a dual antenna interference mode, < >>When representing a repeating track interference pattern, < >>For the length of the cross-track base line, < >>Is the length of the track-following base line; converting the unit view vector from the moving coordinate system to the carrier coordinate system by means of the transformation matrix T, i.e.>The transformation matrix T is expressed as:
，
wherein,the three-dimensional position vector a of the carrier platform is therefore expressed as:
，
wherein,for the position of the matching point, +.>Is a slant distance.
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