JP4688626B2 - Radar image processing apparatus, structure height calculation method, radar image identification method, structure height calculation program, and radar image identification program - Google Patents

Description

  In the radar image processing technology, the height is calculated for a structure included in a feature indicated by the radar image, such as a navigating ship shown in a synthetic aperture radar image, and the feature indicated by the radar image is identified. The present invention relates to a radar image processing device, a structure height calculation method, a radar image identification method, a structure height calculation program, and a radar image identification program.

SAR (Synthetic Aperture Radar: Synthetic Aperture Radar) has a characteristic that a four-shortening effect occurs because side-look shooting is performed. Since this for shortening effect causes a shipboard structure with a height to fall in the SAR direction and is displayed on the radar image, it is difficult to identify the ship on the SAR image without obtaining the height of the structure from the SAR image. I was doing.
JP 2001-221857 A JP 2005-105666 A

  The present invention has been made to solve the above-described problems, and an object of the present invention is to calculate the height of an onboard structure using, for example, the fact that a ship structure has objectivity. Another object is to facilitate the identification of a ship on a SAR image by, for example, calculating the height of an onboard structure.

  A radar image processing apparatus according to the present invention is a radar image processing apparatus that acquires the height of a structure reflected in a radar image, acquires radar image data representing a radar image in which the structure is reflected from a storage device, and acquires the acquired radar. A structure collapse amount calculation unit which calculates the length in the range direction of the structure in the radar image represented by the image data as the collapse amount d of the structure by the central processing unit and stores it in the storage device, the radar altitude H and the radar The radar observation data including the distance Rg from the to the structure and the off-nadir angle θ of the radar observation radio wave is acquired from the storage device, and the structure collapse amount d calculated by the structure collapse amount calculation unit is acquired. Central processing of the height Z of the structure based on the radar altitude H included in the radar observation data, the distance Rg from the radar to the structure, and the off-nadir angle θ of the radar observation radio wave It is characterized by comprising a structure height calculation unit which is calculated by an apparatus and stored in a storage device.

  The structure collapse amount calculation unit calculates the number of pixels in the range direction of the structure in the radar image and the length per pixel of the radar image based on the radar image data, and stores the calculated number in the storage device. The number of pixels in the range direction of the structure in the image is multiplied by the length per pixel of the radar image, and the multiplied value is stored in a storage device as the amount of collapse of the structure d.

Further, the structure height calculation unit uses the following formula using the amount of collapse d, the radar height H, the distance Rg from the radar to the structure, and the off-nadir angle θ of the radar observation radio wave. The height Z is calculated.

  Further, the radar image processing apparatus acquires the height of a structure possessed by a known feature from a storage device, and obtains the height Z of the structure calculated by the structure height calculation unit. The central processing unit determines that a known feature having a matching structure height is a feature having a structure in a radar image, and stores the determined identification result in a storage device. A feature identifying unit for storing is provided.

  The structure height calculation method of the present invention is a structure height calculation method of a radar image processing apparatus that acquires the height of a structure shown in a radar image, and the structure collapse amount calculation unit includes a structure image. The radar image data representing the radar image obtained is acquired from the storage device, and the length in the range direction of the structure in the radar image represented by the acquired radar image data is calculated by the central processing unit as the collapse amount d of the structure. The structure collapse amount calculation processing is stored, and the structure height calculation unit receives radar observation data including the radar altitude H, the distance Rg from the radar to the structure, and the off-nadir angle θ of the radar observation radio wave. The collapse amount d of the structure obtained from the storage device and calculated by the structure collapse amount calculation unit, the radar altitude H included in the acquired radar observation data, and the distance from the radar to the structure And performing structural height calculation process the height Z of the structure to store the calculated storage device by the central processing unit on the basis of g and the off-nadir angle θ of the radar observation waves.

  A radar image identification method according to the present invention is a radar image identification method of a radar image processing apparatus for identifying a feature appearing in a radar image, and the structure collapse amount calculation unit is a radar image in which a feature having a structure is reflected. Is obtained from the storage device, and the length in the range direction of the structure of the feature in the radar image represented by the acquired radar image data is calculated and stored by the central processing unit as the collapse amount d of the structure. Radar observation data including the amount of fall of the structure stored in the device and the structure height calculation unit including the radar altitude H, the distance Rg from the radar to the structure, and the off-nadir angle θ of the radar observation radio wave From the storage device, the structure collapse amount d calculated by the structure collapse amount calculation unit and the radar altitude H included in the acquired radar observation data and the radar Based on the distance Rg to the structure and the off-nadir angle θ of the radar observation radio wave, the height of the structure Z is calculated by the central processing unit and stored in the storage device. The height of the structure possessed by the known feature is acquired from the storage device, and the height Z of the structure calculated by the structure height calculation unit is compared with the height of the structure possessed by the known feature. And the central processing unit determines that a known feature having a suitable structure height is a feature in a radar image, and performs a feature identification process of storing the determined identification result in a storage device. To do.

  A structure height calculation program according to the present invention causes a computer to execute the structure height calculation method.

  A radar image identification program according to the present invention causes a computer to execute the radar image identification method.

  According to the present invention, for example, height information of an onboard structure can be obtained, and a highly reliable ship type can be easily identified.

Embodiment 1 FIG.
A method for calculating the height of each structure from the collapse of each structure on the SAR image and identifying the ship will be described below.
However, in the identification method described below, the ship is an example of a feature to be identified, and other features such as an aircraft, a vehicle, and a building may be identified instead of the boat. In addition, the SAR image is an example of a radar image, and may be another radar image as long as it is a radar image that performs side-looking imaging. There are ISAR (Inverse Synthetic Aperture Radar), real aperture radar, and the like as radars that perform side-look imaging.

FIG. 1 is a diagram showing the SAR for shortening effect.
In the SAR, the time from when a microwave (an example of a radio wave) is emitted in a direction orthogonal to the traveling direction of the SAR itself until the reflected wave reflected by the structure is received and the Doppler frequency of the received wave are observed. And the distance of the range direction to a structure is calculated based on the observed time, and the position of the range direction of a structure is specified. Further, the position of the structure in the azimuth direction is specified based on the observed Doppler frequency. Further, the brightness of the image is set in accordance with the amplitude when the received wave is represented by a complex number at the calculated position of the structure, and the structure is imaged. This imaging by radar observation is called side-looking photography.
For this reason, as shown in FIG. 1, the upper end of the structure whose distance from the aircraft (SAR) is shorter than the lower end of the structure is equal to the height from the sea or the deck, An image is displayed at a position closer to the aircraft direction than the lower end of the structure.
That is, the image acquired by the SAR has a unique effect called “four shortening” in which an object having a height is displayed so as to fall down in the direction of the own machine (SAR).

  In the first embodiment, by using the position on the image, the distance from the own machine (SAR) to the lower end of the structure, and the observation information of the SAR, the height of the structure can be calculated from the SAR image having a for shortening effect. calculate. The calculation of the height of the structure on the SAR image is particularly effective for a ship having a structure with objectivity.

FIG. 2 is a diagram illustrating an appearance of the radar image processing apparatus 100 according to the first embodiment.
In FIG. 2, the radar image processing apparatus 100 includes a system unit 910, a display device 901, a keyboard (K / B) 902, a mouse 903, a compact disk device (CDD) 905, a printer device 906, and a scanner device 907. Connected with a cable.
Further, the radar image processing apparatus 100 is connected to a FAX machine 932 and a telephone 931 via a cable, and is connected to the Internet 940 via a local area network (LAN) 942 and a web server 941.

FIG. 3 is a hardware configuration diagram of the radar image processing apparatus 100 according to the first embodiment.
In FIG. 3, the radar image processing apparatus 100 includes a CPU (Central Processing Unit) 911 that executes a program. The CPU 911 includes a ROM 913, a RAM 914, a communication board 915, a display device 901, a K / B 902, a mouse 903, an FDD (Flexible Disk Drive) 904, a magnetic disk device 920, a CDD 905, a printer device 906, and a scanner device 907 via a bus 912. It is connected.
The display device 901 includes a liquid crystal display, a CRT (Cathode Ray Tube) display, and the like.
The RAM 914 is an example of a volatile memory. The ROM 913, the FDD 904, the CDD 905, the magnetic disk device 920, and the optical disk device are examples of nonvolatile memories. These are examples of a storage device, a storage device, or a storage unit.
The communication board 915 is connected to a FAX machine 932, a telephone 931, a LAN 942, and the like.
For example, the communication board 915, the K / B 902, the scanner device 907, the FDD 904, and the like are examples of an input device, an input device, or an input unit.
Further, for example, the communication board 915, the display device 901, and the like are examples of an output device, an output device, or an output unit.
The radar image processing apparatus 100 inputs radar image data, radar observation data, and known feature data from an input device, and stores them in a storage device. Also, the radar image processing apparatus 100 receives user designation information from an input device and stores it in a storage device. Further, the radar image processing apparatus 100 stores the calculated structure height and the identified feature identification result in the storage device and outputs the result to the output device.

Here, the communication board 915 is not limited to the LAN 942 but may be directly connected to the Internet 940 or a WAN (Wide Area Network) such as ISDN. When the radar image processing apparatus 100 is directly connected to the Internet 940 or a WAN such as ISDN, the radar image processing apparatus 100 is connected to the Internet 940 or a WAN such as ISDN, and the web server 941 is unnecessary.
The magnetic disk device 920 stores an operating system (OS) 921, a window system 922, a program group 923, and a file group 924. The program group 923 is executed by the CPU 911, the OS 921, and the window system 922.

The program group 923 stores a program for executing a function described as “˜unit” in the description of the embodiment. The program is read and executed by the CPU 911.
In the file group 924, in the description of the embodiment, data described as “˜information”, a function described as “˜part”, data indicating a determination result or calculation result at the time of execution, and “˜part” are described. Data to be passed between programs that execute functions is stored as “˜file”. The file group 924 stores radar image data, radar observation data, known feature data, and the like as “˜files”.
Also, in the description of the embodiments, the arrows in the flowcharts and configuration diagrams mainly indicate input / output of data, and the data for the input / output of the data includes a magnetic disk device 920, an FD (Flexible Disk cartridge), and an optical disk. , CD (compact disc), MD (mini disc), DVD (Digital Versatile Disk), and other storage media. Alternatively, it is transmitted through a signal line or other transmission medium.

  Also, what is described as “˜unit” in the description of the embodiment may be realized by firmware stored in the ROM 913. Alternatively, it may be implemented by software alone, hardware alone, a combination of software and hardware, or a combination of firmware.

  The program for implementing the embodiment may be stored using a storage device such as a magnetic disk device 920, FD, optical disk, CD, MD, DVD, or other storage medium.

FIG. 4 is a configuration diagram of the radar image processing apparatus 100 according to the first embodiment.
As shown in FIG. 4, the radar image processing apparatus 100 according to the first embodiment includes the following.

  The input / output terminal 191 includes input devices such as a keyboard 902 and a mouse 903 and output devices such as a display device 901.

  The observation information database 192 stores and manages radar image data and radar observation data in a storage device. Radar image data is image data based on data observed by SAR. Radar observation data is measured during radar observation, such as SAR altitude, distance from SAR to structure, and microwave off-nadir angle during radar observation. Data.

  The known feature information database 193 stores and manages identification information such as a name for identifying a known ship and known feature data including the height of each structure of the known ship in a storage device. Here, the height of the structure means an absolute value of the height of the structure and a relative value of the height between the structures.

  The radar image display unit 110 acquires radar image data from the observation information database 192, and displays a SAR image converted from complex amplitude to power (luminance) based on the radar image data on the display device 901 of the input / output terminal 191. .

  The lower end line designation processing unit 120 causes the user to draw a line indicating the lower end of the structure on the image by using the keyboard 902 or the mouse 903 of the input / output terminal 191, and uses the lower end line as a lower end line in association with the position of the SAR image. Store in the information database 192.

  The upper end point specification processing unit 130 causes the user to hit a point indicating the upper end of the structure on the image by using the keyboard 902 or the mouse 903 of the input / output terminal 191, and uses the upper end point as an upper end point in association with the position of the SAR image. Store in the information database 192.

  The height registration processing unit 140 (an example of the structure collapse amount calculation unit and the structure height calculation unit) calculates the distance from the lower end line to the upper end point, and the structure based on the distance from the lower end line to the upper end point. Calculate the height of the object. The calculated distance from the lower end line to the upper end point and the height of the structure are stored in the observation information database 192 in association with the radar image data.

  The result output processing unit 150 displays the height of the structure on the SAR image on the display device 901 of the input / output terminal 191.

  The feature identification unit 160 obtains known feature data from the known feature information database 193, compares the height of the structure of the ship in the SAR image with the height of the structure of the known ship, and compares the SAR. The ship in the image is identified and determined. The identification result is stored in the observation information database 192 in association with the radar image data.

FIG. 5 is a flowchart showing radar image identification processing of the radar image processing apparatus 100 according to the first embodiment.
A structure height calculation method for calculating the height of a structure of a ship on a SAR image, which is executed by the radar image processing apparatus 100 according to the first embodiment, and a ship based on the calculated height of the structure. Regarding the radar image identification method for identification, the flow of the structure height calculation process and the radar image identification process will be described below with reference to FIG.

<Radar image data acquisition processing>
First, the radar image display unit 110 acquires radar image data from the observation information database 192. The radar image display unit 110 generates display data of the SAR image converted from complex amplitude to power (luminance) based on the radar image data, and outputs the display data to the input / output terminal 191. The display device 901 of the input / output terminal 191 displays the SAR image based on the display data (S101).

FIG. 6 is a diagram illustrating the display device 901 that displays the SAR image in the first embodiment.
For example, the radar image display unit 110 displays a SAR image as shown in FIG. As described above, the displayed SAR image represents the structure in the direction of its own machine (SAR) depending on its height. The direction in which the structure falls down in the direction in which the aircraft emits microwaves is the range direction, and the direction in which the aircraft travels perpendicular to the range direction is the azimuth direction.
Hereinafter, the feature identifying process will be described using the SAR image shown in FIG. 6 as an example.

<Structure bottom line designation processing>
Next, the lower end line designation processing unit 120 allows the user to draw the lower end line indicating the lower end of the structure on the image by using the keyboard 902 or the mouse 903 of the input / output terminal 191. Then, the lower end line designation processing unit 120 inputs position data on the image indicating the lower end line of the structure drawn by the user from the input / output terminal 191 (hereinafter referred to as lower end line designation data), and the lower end line designation data. Are associated with the radar image data and stored in the observation information database 192 (S102).

FIG. 7 is a diagram showing designation of the lower end line in the first embodiment.
The user determines the bow and stern according to the shape and vertical and horizontal widths of the ship shown in the SAR image, and designates the line connecting the bow and stern as the lower end line.
As shown in FIG. 7, the user designates the lower end line in the longitudinal direction in the ship on the SAR image. In addition, in order to keep the center of gravity at the center of the ship, considering that the ship has the object of having a structure in a symmetric positional relationship with respect to the straight line in the longitudinal direction, the user passes the center through the longitudinal line in the ship. Is specified as the bottom line.

<Structure upper end point designation processing>
Next, the upper end point designation processing unit 130 causes the user to hit the upper end point indicating the upper end of the structure on the image using the keyboard 902 or the mouse 903 of the input / output terminal 191. Then, the upper end point designation processing unit 130 inputs position data on the image indicating the upper end point of the structure hit by the user from the input / output terminal 191 (hereinafter referred to as upper end point designation data), and the upper end point designation data. Are associated with the radar image data and stored in the observation information database 192 (S103).

FIG. 8 is a diagram showing designation of the upper end point in the first embodiment.
In order to maintain a stable posture on the unstable sea where waves exist, the user pays attention to the fact that almost all ships are arranged with objectivity, and the shape of the ship in the SAR image. Specify the top point of the structure according to.
Therefore, the user determines that the protruding portion having no pair in the opposite direction is a structure that has collapsed in the direction of the aircraft, and designates the upper end point of the structure as shown in FIG.

<Structure collapse amount calculation processing>
Next, the height registration processing unit 140 acquires lower end line designation data and upper end point designation data from the observation information database 192. Then, the height registration processing unit 140 calculates the distance from the lower end line to the upper end point, that is, the offset amount from the center of the ship on the SAR image by the CPU 911 as the collapse amount of the structure. The height registration processing unit 140 stores the calculated collapse amount of the structure in the observation information database 192 in association with the radar image data (S104).

FIG. 9 is a diagram showing the amount of collapse in the first embodiment.
For example, the height registration processing unit 140 calculates the number of pixels from the lower end line to the upper end point and the actual length indicated by one pixel of the SAR image, and multiplies the number of pixels by the length per pixel. The amount of collapse of the structure shown in FIG.

<Structure height calculation processing>
Next, the height registration processing unit 140 acquires radar observation data from the observation information database 192, and determines the height of each structure (the height of the structure based on the collapse amount of the structure and the radar observation data). The CPU 911 calculates the absolute value and the relative value of the height between structures. The height registration processing unit 140 stores the calculated height of each structure (hereinafter referred to as structure height data) in the observation information database 192 in association with the radar image data (S105).

FIG. 10 is a diagram showing the height measurement geometry for the structure in the first embodiment.
The appearance and height measurement of the structure in the SAR image will be described below with reference to FIG.
Distance Rg from own machine to lower end of structure, distance Rg ′ from own machine to upper end of structure, altitude H of own machine, off-nadir angle θ, amount of collapse of structure d and height of structure ( The height Z from the deck is in a geometrical relationship as shown in FIG. The off-nadir angle is the angle from the vertical direction to the emission direction of radio waves in radar observation.
Therefore, the height registration processing unit 140 uses the calculated collapse amount d and the distance Rg from the own device to the lower end of the structure indicated by the radar observation data, the altitude H of the own device, and the off-nadir angle θ, as follows: Equation 1 is calculated to measure the height Z of the structure.

The height Z of the structure calculated by the height registration processing unit 140 is less accurate if the ship is tilted greatly by shaking due to the influence of waves, but the relative height among the structures of the ship is reduced. As for the height, each structure is similarly tilted, so even if the ship is tilted greatly, its accuracy is high. That is, the height Z of the structure calculated by the height registration processing unit 140 can be used for reading the relative height between the structures even when the ship shakes greatly.
In addition, in the SAR image, a change in the size and distance of the observation appears in the azimuth direction in response to a change in the range of the observation such as a shake of the ship. Since only the information in the range direction is used, the accuracy of the calculated height Z of the structure is not affected by the size / distance of the structure that changes in the azimuth direction.

<Structure height output processing>
Next, the result output processing unit 150 acquires structure height data from the observation information database 192, generates display data representing the height of the structure, and outputs the display data to the input / output terminal 191. The display device 901 of the input / output terminal 191 displays the height of the structure on the SAR image based on the display data (S106).

  The processes from S101 to S106 described above are the structure height calculation process executed by the radar image processing apparatus 100 as the structure height calculation method.

<Feature identification processing>
Next, the feature identifying unit 160 obtains structure height data from the observation information database 192 and obtains known feature data from the known feature information database 193. The feature identifying unit 160 then includes the heights of the structures of the known ship indicated by the known feature data indicating the height or relative height of the structures of the ship in the SAR image indicated by the structure height data. Alternatively, the CPU 911 determines that a known ship having a structure having a suitable height or relative height is a ship in the SAR image as compared with the relative height. For example, the feature identifying unit 160 determines that the structure is suitable if the difference in the height of the structure is within a specific threshold, and the number of conforming structures matches or matches the number of structures of the ship. When the number of objects is equal to or greater than a specific threshold value or the ratio of the number of matching structures to the number of structures included in the ship is equal to or greater than a specific threshold value, it is determined that the known feature is a feature on the SAR image. The feature identification unit 160 associates the name of the known known ship (an example of the identification result) with the radar image data and stores it in the observation information database 192 (S107).

<Identification result output process>
Next, the result output processing unit 150 acquires the result data identified from the observation information database 192, generates display data representing the name of the identified ship, and outputs the display data to the input / output terminal 191. The display device 901 of the input / output terminal 191 displays the name of the ship identified on the SAR image based on the display data (S108).

  The above processing from S101 to S108 is radar image identification processing executed by the radar image processing apparatus 100 as a radar image identification method.

The following has been described in the first embodiment.
The center of gravity of the ship is visually found from the SAR image, and a line is drawn in the direction of the ship. Furthermore, the ship needs to keep the balance of the on-board structure in order to stabilize the posture during navigation, and pays attention to the arrangement of the structure that maintains the target property. Thereby, the point with strong brightness | luminance which shifted | deviated to the own machine (SAR) direction from the drawn line can be considered as a structure with height. This point can be input by the user by visual judgment, and the reliability is obtained by measuring the height of the structure in consideration of the SAR (Synthetic Aperture Radar) observation geometry and obtaining the height of the on-board structure. It is possible to carry out class identification of ships with high heights.
In addition, when the wave at sea is high, the error of the calculated value of the absolute height is large because of the large shaking of the ship, but the accuracy of the relative height between structures is maintained, so it is very difficult to identify the ship. It is valid.

  In the first embodiment, the structure on the radar image is specified by the user using the lower end line and the upper end point. However, the structure may not be specified by a line or a point, or may be a computer regardless of the user. You may specify. For example, the structure on the radar image may be designated by the user using the frame line, or the structure on the radar image may be designated by the user using the coordinate value on the image. Further, for example, the radar image processing apparatus 100 calculates the straight line data in the longitudinal direction passing through the center of the feature on the radar image as the lower end line, and the feature on the radar image protrudes without a pair in the opposite direction. Image processing for calculating the point data of the portion as the upper end point may be performed.

In addition, the radar is not limited to a SAR (synthetic aperture radar) but is an ISAR (inverse synthetic aperture) as long as it is a radar that emits radio waves in the range direction and receives a radar observation that receives a reflected wave from a structure of a feature. Radar) or other radars.
Further, the feature to be identified is not limited to a ship, and may be another feature such as an aircraft, a vehicle, or a building.
The radar observation may be performed from an artificial satellite or from a flying object such as an aircraft.

The figure which shows the FT for shortening effect. 1 is a diagram illustrating an appearance of a radar image processing apparatus 100 according to Embodiment 1. FIG. 1 is a hardware configuration diagram of a radar image processing apparatus 100 according to Embodiment 1. FIG. 1 is a configuration diagram of a radar image processing apparatus 100 according to Embodiment 1. FIG. 3 is a flowchart showing radar image identification processing of the radar image processing apparatus 100 according to the first embodiment. FIG. 6 shows a display device 901 that displays SAR images in Embodiment 1; FIG. 4 is a diagram showing designation of a lower end line in the first embodiment. FIG. 5 is a diagram showing designation of an upper end point in the first embodiment. FIG. 5 shows a collapse amount in the first embodiment. FIG. 6 is a diagram showing a height measurement geometry for a structure in the first embodiment.

Explanation of symbols

  100 radar image processing apparatus, 110 radar image display unit, 120 lower end line designation processing unit, 130 upper end point designation processing unit, 140 height registration processing unit, 150 result output processing unit, 160 feature identification unit, 191 input / output terminal, 192 observation information database, 193 known feature information database, 901 display device, 902 K / B, 903 mouse, 904 FDD, 905 CDD, 906 printer device, 907 scanner device, 910 system unit, 911 CPU, 912 bus, 913 ROM , 914 RAM, 915 communication board, 920 magnetic disk unit, 921 OS, 922 window system, 923 program group, 924 file group, 931 telephone, 932 FAX machine, 940 Internet, 941 web server, 942 LAN.

Claims (8)

A radar image processing apparatus that acquires the height of a structure of a moving body that appears in a radar image,
One radar image data representing one radar image showing a moving object having a structure is acquired from a storage device, and a straight line passing through the center in the longitudinal direction of the moving object is used as a lower end by using the acquired radar image data. Specify the tip of the protruding part that is specified as a line and protrudes in the range direction from the specified lower end line and does not have a pair on the opposite side across the lower end line as the upper end point, from the lower end line A structure collapse amount calculation unit that calculates a distance to the upper end point as a collapse amount d of the structure by a central processing unit;
Radar observation data including radar altitude H, radar-to-structure distance Rg, and radar observation radio wave off-nadir angle θ is acquired from a storage device, and the structure collapse amount calculated by the structure collapse amount calculation unit is obtained. Central processing of the structure height Z based on the amount of dust d, the radar height H included in the radar observation data acquired from the storage device, the distance Rg from the radar to the structure, and the off-nadir angle θ of the radar observation radio wave A radar image processing apparatus, comprising: a structure height calculation unit that is calculated by the apparatus. The structure collapse amount calculation unit
Based on the radar image data, the number of pixels from the lower end line to the upper end point and the length per pixel of the radar image are calculated, and the number of pixels from the lower end line to the upper end point is calculated for each pixel of the radar image. 2. The radar image processing apparatus according to claim 1, wherein a value obtained by multiplying the length is calculated as a collapse amount d of the structure. The structure height calculator is
The height Z of the structure is calculated by the following equation using the amount of collapse d, the radar height H, the distance Rg from the radar to the structure, and the off-nadir angle θ of the radar observation radio wave. The radar image processing apparatus according to claim 1.

The structure height calculation unit calculates a height Z of each of the plurality of structures reflected in the radar image when the moving body has a plurality of structures, and calculates the calculated height of each of the plurality of structures. Calculate the relative value of the height of multiple structures based on Z,
The radar image processing apparatus further includes:
A relative value of the heights of a plurality of structures possessed by a known moving body is acquired from a storage device, and the height Z of the structure calculated by the structure height calculating unit and the known moving body acquired from the storage device are And comparing the relative values of the heights of the plurality of structures that are matched with the relative values of the heights of the plurality of structures calculated by the structure height calculation unit. The radar image processing apparatus according to any one of claims 1 to 3, further comprising: a feature identifying unit that determines, by a central processing unit, a known moving body as a moving body that appears in a radar image. It is a structure height calculation method of a radar image processing apparatus that acquires the height of a structure that a moving body shown in a radar image has,
The structure collapse amount calculation unit acquires one radar image data representing one radar image in which the moving object having the structure is captured from the storage device, and uses the acquired one radar image data , A straight line passing through the center in the longitudinal direction is specified as the lower end line, and the end of the protruding portion that protrudes in the range direction from the specified lower end line and does not have a pair on the opposite side across the lower end line is Specify the end point , and perform a structure collapse amount calculation process in which the distance from the lower end line to the upper end point is calculated by the central processing unit as the collapse amount d of the structure,
The structure height calculation unit obtains radar observation data from the storage device including the radar height H, the distance Rg from the radar to the structure, and the off-nadir angle θ of the radar observation radio wave, and calculates the amount of collapse of the structure. Based on the amount of collapse d calculated by the unit, the radar altitude H included in the radar observation data acquired from the storage device, the distance Rg from the radar to the structure, and the off-nadir angle θ of the radar observation radio wave A structure height calculation method, comprising: performing a structure height calculation process for calculating an object height Z by a central processing unit. A radar image identification method of a radar image processing apparatus for identifying a moving object appearing in a radar image,
The structure collapse amount calculation unit obtains one radar image data representing one radar image showing a moving body having a plurality of structures from a storage device, and uses the obtained one radar image data to perform the movement A straight line that passes through the center in the longitudinal direction of the body is specified as the lower end line, and a plurality of protruding portions that protrude in the range direction from the specified lower end line and do not have a pair on the opposite side across the lower end line Each tip is identified as an upper end point, and a structure collapse amount calculation process is performed in which a distance from the lower end line to each upper end point is calculated by the central processing unit as a collapse amount d of each of the plurality of structures.
The structure height calculation unit acquires radar observation data including a radar height H, a distance Rg from the radar to each of the plurality of structures, and an off-nadir angle θ of the radar observation radio wave from a storage device, and the structure collapses. The amount of collapse d of each of the plurality of structures calculated by the dust amount calculation unit, the radar height H included in the radar observation data acquired from the storage device, the distance Rg from the radar to each of the plurality of structures, and the radar observation radio wave The central processing unit calculates the height Z of each of the plurality of structures based on the off-nadir angle θ, and calculates the relative value of the height of the plurality of structures based on the calculated height Z of each of the plurality of structures. Perform the structure height calculation process to calculate,
The feature identifying unit acquires a relative value of the heights of the plurality of structures included in the known moving body from the storage device, and the relative value of the heights of the plurality of structures calculated by the structure height calculation unit and A plurality of structures that are compared with the relative height values of the plurality of structures that the known moving body has obtained from the storage device, and that match the relative values of the heights of the plurality of structures calculated by the structure height calculator. A radar image identification method comprising: performing a feature identification process for determining, by a central processing unit, a known moving object having a relative value of the height of a structure as a moving object reflected in a radar image.   A structure height calculation program for causing a computer to execute the structure height calculation method according to claim 5.   A radar image identification program for causing a computer to execute the radar image identification method according to claim 6.

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