CN105403886B - A kind of carried SAR scaler picture position extraction method - Google Patents
A kind of carried SAR scaler picture position extraction method Download PDFInfo
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- CN105403886B CN105403886B CN201510876082.0A CN201510876082A CN105403886B CN 105403886 B CN105403886 B CN 105403886B CN 201510876082 A CN201510876082 A CN 201510876082A CN 105403886 B CN105403886 B CN 105403886B
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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
- 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
- G01S13/9004—SAR image acquisition techniques
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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
- 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
- G01S13/9004—SAR image acquisition techniques
- G01S13/9005—SAR image acquisition techniques with optical processing of the SAR signals
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- Radar, Positioning & Navigation (AREA)
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- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a kind of carried SAR scaler picture position extraction method.Scaler can be quickly and accurately found automatically in SAR image using the present invention, and setting accuracy is high.The present invention extracts scaler and the positional information of SAR primary antennas first, and SAR image processing doppler centroid, then the latitude and longitude information of scaler and SAR primary antennas is projected into same plane, elevation information keeps constant, then scaler position is calculated to the minimum distance of primary antenna movement locus, obtain nearest oblique distance and zero Doppler's moment, then determine that scaler passes through in beam center the oblique distance at moment by squinting geometry, and beam center passes through the position of orientation of moment primary antenna；And then initial distance position and initial orientation position using the oblique square and position of orientation as scaler in SAR image, a search window is finally taken centered on the initial position, the position of the pixel of maximum intensity is position of the scaler in SAR image in the search window.
Description
Technical field
The present invention relates to the radar exploration technique field, and in particular to a kind of carried SAR scaler picture position automatically extracts
Method.
Background technology
Airborne synthetic aperture radar (SAR) is a kind of active microwave imaging sensor, and it is utilized between radar and target
Relative motion the less real antenna aperture of size is synthesized into larger equivalent aerial aperture by the method for data processing, from
And realize high-resolution imaging.SAR can round-the-clock, it is round-the-clock target is detected and positioned, influenceed by weather it is small, therefore
It is widely used in fields such as military surveillance, mappings.
Scaler is a kind of instrument used in SAR calibrations, is divided into passive scaler and source scaler.Passive scaler
It is that there is strong retroreflection coefficient and the metal device of certain geometrical shape, source scaler then being capable of active transmission signal
Device is calibrated, scaler plays important role in SAR application.In calibration, it would be desirable to obtain scaler in SAR
Accurate location in image.At present, all it is mostly method by manually searching, by eye-observation scaler in SAR image
In bright spot show position to determine scaler in SAR image.Some following deficiency be present in the method for artificial Search and Orientation：
(1) artificial lookup method workload is big, and speed is slow, expends time length.Particularly with scene is larger, scaling point is more
Situation, artificial scaling point of searching will expend more time and efforts, has larger difficulty, shortage practicality, it is difficult to apply
Into Larger Engineering Projects.
(2) method is manually searched it is possible that Wrong localization.SAR image (do not carry out geocoding before) is relative to true
There is certain distortion in scene, bring certain difficulty to artificial scaler of searching, other strong points especially around scaler be present
During target jamming, non-scaler point is easily mistakenly considered scaler, so as to cause the lookup result of mistake.
(3) easily there is lookup error in artificial lookup method.The brightness of scaler center and surrounding is brighter in image, directly
With the naked eye it is difficult to tell most bright pixel center, it is thus possible to cause to search error (Pixel-level error).
The content of the invention
In view of this, the invention provides a kind of carried SAR scaler picture position extraction method, can quickly,
Find scaler automatically in SAR image exactly, and setting accuracy is high.
The carried SAR scaler picture position extraction method of the present invention, comprises the following steps：
Step 1, longitude and latitude, the elevation information of scaler are extracted, SAR primary antennas are at each orientation moment in SAR image
Longitude and latitude, elevation information, and the processing doppler centroid of SAR image；
Step 2, the latitude and longitude information of scaler and SAR primary antennas is projected into the same coordinate system Oxyz Oxy planes,
Reference axis z is scaler and the height coordinate of primary antenna；
Step 3, in coordinate system Oxyz, scaler position is calculated to the minimum distance of primary antenna movement locus, this is nearest
The as nearest oblique distance of distance, the orientation moment of primary antenna position corresponding to the minimum distance was zero Doppler's moment；
Step 4, if SAR image is imaged on zero Doppler, the primary antenna side at zero Doppler's moment is obtained according to step 3
Position position and nearest oblique distance, corresponding row, column number is found in SAR image, as initial bit of the scaler in SAR image
Put, perform step 5；If SAR image is imaged on Doppler center, first with the processing Doppler center frequency of SAR image
Rate calculates the angle of squint of radar beam, and the nearest oblique distance obtained further according to angle of squint and step 3 calculates scaler in wave beam
The oblique distance at moment is passed through at center, and beam center passes through the position of orientation of moment primary antenna；Moment is passed through according to beam center
The position of orientation of primary antenna and the oblique square at the moment, corresponding row, column number is found out in SAR image, schemed as scaler in SAR
Initial position as in, perform step 5；
Step 5, centered on initial position of the scaler obtained by step 4 in SAR image, a search window is taken,
The pixel of maximum intensity in search window, then the position is position of the scaler in SAR image.
Further, in the step 3, computational methods of the scaler position to the minimum distance of primary antenna movement locus
For：The distance between each orientation moment primary antenna position and scaler position are calculated first, are then taken apart from minimum value conduct
Minimum distance of the scaler position to the movement locus at primary antenna each orientation moment.
Further, in addition to step 6, i.e. position coordinates of the scaler for obtaining step 5 in SAR image as
Center, a window is taken, a liter sampling is carried out to image in window, rise the pixel of maximum intensity in sampling rear hatch in SAR image
In position be final position of the scaler in SAR image.
Further, in the step 2, using gauss projection method by scaler and the latitude and longitude information of SAR primary antennas
Projection is into coordinate system Oxyz Oxy planes.
Further, in the case where scaler has time delay, the initial distance position of the scaler obtained to step 4 is carried out
Correction, i.e., the initial distance position obtained step 4 add scaler time delay distance, and the distance and position of acquisition is after correcting
Initial distance position.
Beneficial effect：
This method can automatically extract position of the scaler in SAR image in the case where need not manually check image
Put, there is advantages below with existing artificial lookup method：
(1) automation of lookup is realized, it is no longer necessary to SAR image is manually checked, saves substantial amounts of manpower and energy,
Lookup speed is accelerated, is had a good application prospect in Practical Project.
(2) extraction result in scaler position accurately and reliably, avoids the interpretation mistake and mistake being likely to occur during artificial lookup
Difference.
(3) this method can be applied to a variety of calibration modes, in radiation calibration and interference calibration can using the method come
Search the accurate location of scaling point.
Brief description of the drawings
Fig. 1 is the carried SAR scaler picture position extraction method flow chart of the present invention.
Fig. 2 is the initial coordinate and actual coordinate schematic diagram of scaler scene graph and calculating.
Fig. 3 be scaler want a little to rise sample after schematic diagram.
Fig. 4 is that scaler picture point rises distance and bearing tangential section schematic diagram after sampling.
Embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The invention provides a kind of carried SAR scaler picture position extraction method, its flow chart as shown in figure 1,
It is as follows to implement step：
Step 1: reading the positional information (latitude, longitude and altitude information) of scaler, read SAR primary antennas and scheme in SAR
The positional information (latitude, longitude and altitude information) at each orientation moment as corresponding to, and in the processing Doppler of SAR image
The parameters such as the heart.
In actual applications, the positional information of scaler is all provided with latitude, longitude and altitude information, meanwhile, SAR
Image can also provide POS data corresponding to scene image (SAR image), and POS data have recorded scene image each orientation moment
The latitude of the positional information of primary antenna, i.e. primary antenna, longitude and altitude information, and the SAR image are used in imaging process
Processing Doppler center.These data are read first.
Step 2: the latitude and longitude coordinates of the latitude and longitude coordinates of scaler and SAR primary antennas are projected into the same coordinate system
In Oxyz plane Oxy, reference axis z is the height coordinate axle of scaler and primary antenna, the height value of scaler and primary antenna with
The height value that step 1 obtains is identical.
Wherein, specific coordinate system Oxyz is chosen according to projecting method, need to only ensures the latitude and longitude coordinates and SAR of scaler
The latitude and longitude coordinates of primary antenna project to same plane.The present invention uses gauss projection method, by scaler position and master
Aerial position is projected under Gauss plane coordinate system.Wherein, gauss projection calculation formula is as follows：
In above formula, B, l are respectively latitude and the longitude relative to central meridian.Can be by the warp of scaler by above formula
The Coordinate Transformation Based on Longitude-Latitude of the primary antenna of latitude coordinate and POS records is into approximately the same plane coordinate system.After projection, z-axis is height
Coordinate is spent, and makes scaler and the height coordinate of primary antenna be kept constant for former height.
Step 3: in coordinate system Oxyz, scaler is calculated to the minimum distance of primary antenna movement locus, the minimum distance
As nearest oblique distance, the orientation moment of primary antenna position corresponding to the minimum distance was zero Doppler's moment.
The primary antenna position data of POS records is straight line (after motion-compensated), calculates scaler to the straight line
The as nearest oblique distance of distance.In practice, when image orientation is higher to resolution ratio, each orientation moment primary antenna can be calculated
The distance between position and scaling point, and minimum value is taken as minimum distance, and the primary antenna orientation moment corresponding to minimum distance,
As zero Doppler's moment.
Step 4: using the angle of squint for handling doppler centroid calculating radar beam, further according to angle of squint and step
The three nearest oblique distances obtained calculate the oblique distance that scaler passes through the moment in beam center, and beam center passes through main day constantly
The position of orientation of line.
According to processing Doppler center and the relation of angle of squint, the calculation formula that can draw angle of squint β is：
Wherein, λ is radar signal wavelength, fdcTo handle doppler centroid, v is radar platform speed.
Then scaler passes through moment oblique distance R at radar beam center and is：
R=R0/cosβ
Wherein, R0The nearest oblique distance obtained for step 3；
Find radar beam center and pass through moment oblique distance R in SAR image distance to corresponding range gate ni(i.e. SAR image
Place row number)：
Wherein, r0For the distance and position that the 1st row represent in SAR image, drange is image distance to spacing, round ()
For bracket function.
Then primary antenna passes through the position of orientation m at moment in beam centeriFor：
Wherein, m0It is primary antenna in nearest tiltedly position of orientation corresponding to square, dAzimuth is SAR image orientation spacing.
Step 5: the beam center that step 4 acquisition is found in SAR image passes through the primary antenna position of orientation m at momenti
Range gate n where the oblique distance at moment is passed through with beam centeri, by (mi,ni) initial position as scaler in SAR image,
And with (mi,ni) centered on take the search windows (search box size can be adjusted according to actual conditions) of 16*16 sizes, search
The pixel of the intraoral maximum intensity of rope window.The position of the pixel of maximum intensity is scaler position.
Step 6: in order to obtain scaler more accurately position, using the scaler position obtained in step 5 as center,
Take the window of 5*5 sizes to carry out 10 times in SAR image and rise sampling, find out the pixel of maximum intensity after liter sampling, and calculate
Its position in SAR image, the position are the position of scaler, thus can obtain the sub-pixel positioning accurate of scaler
Degree.
Since then, carried SAR scaler picture position is just completed to automatically extract.
Above-mentioned scaler localization method assumes that SAR image geometry and data acquisition are geometrically consistent, i.e., image is into how general
Le center, now target bearing passed through the moment to beam center is positioned at, distance passes through moment oblique distance to beam center is positioned at.
When image is imaged on zero Doppler, directly by the nearest oblique distance being calculated in step 3 and zero Doppler moment primary antenna side
The column and row number of the SAR image of position position correspondence is as the scaler initial position in step 5.This method is directed to simultaneously
It is passive scaler framing, for source scaler, if it is known that the accurate time delay of source scaler, this method is also
Source scaler positioning is may extend to, at this time, it may be necessary to be corrected to initial distance position of the scaler in SAR image, i.e.,
Need plus the time delay distance of source scaler on the basis of initial distance position, after the initial distance execution after correction
The step of.
An instantiation is given below.
The course line of carried SAR is from eastern west-bound operation, and course angle is -92.537 °, flying height 3410.7m.Really
It is 11296 pixels to determine SAR scene graph orientation used by scaler position, and the spacing between each pixel is 0.1787m；
For distance to for 9915 pixels, the spacing between each pixel is 0.1874m；The distance range of SAR image be 3.5169km~
5.3744km。
By taking scaler 1 as an example, its geographical coordinate is 1 (34.83759 °, 109.53435 °, 342.897m), in bracket respectively
Represent latitude, longitude and altitude.Processing doppler centroid is 348.957Hz.
Using gauss projection calculation formula, coordinate position that scaler 1 is projected to after Oxyz planes for (3.8576e6,
3.6593e5,342.897) the primary antenna position during, while POS is recorded also is projected under the coordinate system.Then step is used
Three minimum distances that scaler 1 to primary antenna track is calculated are R0=7429.0275m, side corresponding to zero Doppler's moment
Position position is m0=8477 (SAR image line numbers).The beam center for the scaler 1 being then calculated according to step 4 passes through the moment
Oblique distance distance and position ni=6517, position of orientation mi=6861.Centered on (6861,6517), the search window of 16*16 sizes is taken
Mouthful, the position for obtaining the pixel of maximum intensity in search window is (6864,6517), and the coordinate in step 4 with being calculated
Initial coordinate compare, the two differs only by several pixel distances, this explanation this method calculate initial coordinate be accurate.
After taking 10 times of the window progress of 5*5 sizes to rise sampling to (6864,6517) using step 6, the final coordinate of scaler 1 is accurate
To (6863.7,6516.9), exact position of the scaler in SAR image is thus obtained, has realized scaler image
The method that position automatically extracts.
In summary, presently preferred embodiments of the present invention is these are only, is not intended to limit the scope of the present invention.
Within the spirit and principles of the invention, any modification, equivalent substitution and improvements made etc., it should be included in the present invention's
Within protection domain.
Claims (5)
1. a kind of carried SAR scaler picture position extraction method, it is characterised in that comprise the following steps：
Step 1, longitude and latitude, the elevation information of scaler are extracted, longitude and latitude of the SAR primary antennas at each orientation moment in SAR image
Degree, elevation information, and the processing doppler centroid of SAR image；
Step 2, the latitude and longitude information of scaler and SAR primary antennas is projected into the same coordinate system Oxyz Oxy planes, coordinate
Axle z is scaler and the height coordinate of primary antenna；
Step 3, in coordinate system Oxyz, scaler position is calculated to the minimum distance of primary antenna movement locus, the minimum distance
As nearest oblique distance, the orientation moment of primary antenna position corresponding to the minimum distance was zero Doppler's moment；
Step 4, if SAR image is imaged on zero Doppler, the primary antenna orientation position at zero Doppler's moment is obtained according to step 3
Put with nearest oblique distance, found in SAR image corresponding to row, column number, as initial position of the scaler in SAR image, hold
Row step 5；If SAR image is imaged on Doppler center, calculated first with the processing doppler centroid of SAR image
Go out the angle of squint of radar beam, the nearest oblique distance obtained further according to angle of squint and step 3 calculates scaler and worn in beam center
The more oblique distance at moment, and beam center pass through the position of orientation of moment primary antenna；Moment primary antenna is passed through according to beam center
Position of orientation and the oblique square at the moment, found out in SAR image corresponding to row, column number, as scaler in SAR image
Initial position, perform step 5；
Step 5, centered on initial position of the scaler obtained by step 4 in SAR image, one is taken to search in SAR image
Rope window, the pixel position of maximum intensity is position of the scaler in SAR image in the search window.
2. carried SAR scaler picture position extraction method as claimed in claim 1, it is characterised in that the step 3
In, scaler position is to the computational methods of the minimum distance of primary antenna movement locus：Each orientation moment main day is calculated first
The distance between line position and scaler position, then take apart from minimum value as scaler position to primary antenna each orientation moment
Movement locus minimum distance.
3. carried SAR scaler picture position extraction method as claimed in claim 1, it is characterised in that also include step
Rapid 6, i.e. position coordinates of the scaler for obtaining step 5 in SAR image takes a window, to image in window as center
Sampling is carried out liter, it is scaler in SAR image to rise position of the pixel of maximum intensity in sampling rear hatch in SAR image
In final position.
4. carried SAR scaler picture position extraction method as claimed in claim 1, it is characterised in that the step 2
In, the latitude and longitude information of scaler and SAR primary antennas is projected to coordinate system Oxyz Oxy planes using gauss projection method
In.
5. the carried SAR scaler picture position extraction method as described in Claims 1 to 4 any one, its feature exist
In in the case where scaler has time delay, the initial distance position of the scaler obtained to step 4 is corrected, i.e., by step 4
The initial distance position of acquisition adds scaler time delay distance, and the distance and position of acquisition is the initial distance position after correcting.
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| CN105834735A (en) * | 2016-04-19 | 2016-08-10 | 北京航空航天大学 | Automatic part assembling method based on laser tracker |
| CN107367716B (en) * | 2017-07-04 | 2019-09-10 | 武汉大学 | A kind of high-precision satellite-borne SAR geometric calibration method |
| CN109471073B (en) * | 2018-10-31 | 2020-08-28 | 中国科学院电子学研究所 | NLFM signal generation method and device based on augmented Lagrange particle swarm optimization |
| CN113093190B (en) * | 2021-04-08 | 2023-06-16 | 中国电子科技集团公司第三十八研究所 | Airborne stripe SAR image positioning method based on high-precision combined inertial navigation system |
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