CN107300692B - Satellite-borne SAR target location accuracy index ground evaluating method - Google Patents
Satellite-borne SAR target location accuracy index ground evaluating method 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
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Abstract
The invention discloses a kind of satellite-borne SAR target location accuracy index ground evaluating methods comprising following steps: step 1, influences the error component combing of target location accuracy；Step 2, error component influence modeling analysis；Step 3, positioning accuracy Distribution Indexes and budget；Step 4, the positioning accuracy Monte Carlo simulation test based on track emulation data；Step 5, statistical simulation is as a result, assessment positioning accuracy index.Present invention firstly provides a kind of completely new satellite-borne SAR target location accuracy ground evaluating methods and process, have initiative；The Monte Carlo simulation method of a set of verifying target location accuracy is especially given, the accuracy to positioning accuracy assessment is improved；The method flow proposed is clear, is easily achieved, and has directive function to Spaceborne SAR System master-plan personnel.
Description
Technical field
The present invention relates to a kind of target location accuracy index ground evaluating methods, more particularly to a kind of satellite-borne SAR target
Positioning accuracy index ground evaluating method.
Background technique
Nineteen fifty-one, Wiley for the first time discovery side looking radar by can be with using the Doppler frequency shift in echo data signal
Improve azimuth resolution, this landmark discovery indicates synthetic aperture radar (Synthetic Aperture
Radar, SAR) technology birth.Satellite-borne synthetic aperture radar is a kind of active earth observation systems all-time anf all-weather,
The important application played is surveyed and drawn, prevents and reduces natural disasters etc. to land resources investigation.
SAR image needs the exact spatial positional information for knowing SAR image when applying, but due to remote-sensing imaging system
Position, clock error and the factors such as space environment, hypsography influence so that SAR imaging results have certain change
Shape.This must just carry out geometric correction processing, i.e. the target positioning of SAR image to SAR image.The analysis of target location accuracy,
Distribution, budget and Simulation Evaluation are the important process that must be carried out in satellite-borne SAR design and development process, are to guarantee SAR image
The basis of the in-orbit realization of target location accuracy index.The problem of location precision factor analysis about satellite-borne SAR,
It is high that Curlander (Ke Lande) analyzes satellite orbital position error, SAR clocking error, oblique distance measurement error and earth model
Influence of the factors such as journey error to target position；Marco Schwerdt (Marko Shi Weierde) et al. proposes the in-orbit survey of oblique distance
Examination and modification method.The above research is only limitted to the analysis to the discrete error factor for influencing positioning accuracy, and target is positioned
The complete method and process of design, the budget and Simulation Evaluation of precision index, and the Monte Carlo based on track emulation data
Emulation mode is temporarily seen not yet.
Summary of the invention
Technical problem to be solved by the invention is to provide a kind of satellite-borne SAR target location accuracy index ground assessment sides
Method, which raises the accuracys assessed positioning accuracy；Target positioning accurate in satellite-borne SAR design and development process can effectively be solved
The ground evaluation problem of degree has important theory and engineering value, is the in-orbit realization of SAR image target location accuracy index
It lays a good foundation.
The present invention is to solve above-mentioned technical problem by following technical proposals: a kind of satellite-borne SAR target location accuracy
Index ground evaluating method comprising following steps:
Step 1 influences the error component combing of target location accuracy；
Step 2, error component influence modeling analysis；
Step 3, positioning accuracy Distribution Indexes and budget；
Step 4, the positioning accuracy Monte Carlo simulation test based on track emulation data；
Step 5, statistical simulation is as a result, assessment positioning accuracy index.
Preferably, the step 1 includes that the position and speed measurement error, oblique distance measurement error, target elevation of satellite are missed
Difference and SAR echo data timer error, for combing the error component for influencing target location accuracy.
Preferably, the step 2 the following steps are included:
Step 2 11 influences to carry out modeling analysis, along course made good location error on satellite orbital position and velocity error
Influence to positioning accuracy isWherein ReFor earth radius, RtFor target position, Rt=Re+
H, h are target elevation, and H is satellite orbital altitude, Δ XsatSatellite course made good location error；
Step 2 12, orientation position error caused by satellite velocities error are represented byWherein Δ Vsat-x、ΔVsat-y、ΔVsat-z
For satellite all directions data noise, θsTo angle of squint, γ is downwards angle of visibility, V for the target bearing used for imagingg、Vst
Respectively ground speed and relative velocity, RsFor oblique distance；
Step 2 13, the position error that satellite is introduced perpendicular to the location error of track are represented byWherein Δ YsatSatellite is perpendicular to course made good location error；
Step 2 14, the position error that satellite radial position error introduces are represented byWherein Δ
ZsatFor satellite radial position error；
Step 2 15, orientation position error caused by echo data timer error are represented byWherein Δ t is echo data timer error；
Step 2 16, the position error that oblique distance measurement error introduces are represented byWherein Δ RsIt is oblique
Away from error, θiFor incidence angle；
Step 2 17, the position error that target vertical error introduces are represented byWherein, Δ h is mesh
Mark vertical error.
Preferably, the step 3 the following steps are included:
Step 3 11 determines the input value of each error component, using the formula of step 2, analyzes each error component pair
The bring of position error influences；
Step 3 12 is synthesized the influence of each error component using root mean square synthetic method；
Composite result is compared with positioning accuracy index request, is such as unsatisfactory for demand, then divides again by step 3 13
With each error value, until meeting index request position.
Preferably, the step 4 the following steps are included:
Step 4 11 utilizes STK simulation theory orbital position Psat0, then track position is substituted into using the formula of step S3
Error and echo timer error are set, the orbital position P for having error is calculatedsat1；
Step 4 12, according to oblique distance error delta R3With star oblique distance scalar R constructs range equation R+ Δ R3=| Psat0-
PTarget|, Psat0And PTargetFor satellite position and target position；
Step 4 13, according to the frequency f of Doppler centerDCConstruct Doppler equation fDC=2/ (λ R) × dot (Vst,
PTarget-Psat0), VstFor the lower satellite velocities of WGS84 system, λ is wavelength, and dot () is dot product；
Step 4 14 constructs earth model equation according to the elevation h and vertical error of ground control pointWherein ReFor terrestrial equator radius, RpFor earth polar radius Rp=(1-f) (Re+ h), xt、yt、zt
For vector PTargetThree factors；
Step 4 15 goes out P according to range equation, Doppler equation and earth model equation calculationTarget1Value；
Step 4 16, repeats the above experiment, until number reaches n times.
Preferably, the statistical simulation result in the step 5 and assessment positioning accuracy index be to the result of step 4 into
Row repeatedly measures and average statisticalAnd standard deviationIt takesFor the assessed value of target location accuracy.
The positive effect of the present invention is that: present invention firstly provides a kind of completely new satellite-borne SAR target positioning accurates
Ground evaluating method and process are spent, there is initiative；Especially give the Monte Carlo simulation of a set of verifying target location accuracy
Method improves the accuracy to positioning accuracy assessment；The method flow proposed is clear, is easily achieved, to Spaceborne SAR System
Master-plan personnel have directive function.
Detailed description of the invention
Fig. 1 is flow diagram of the invention.
Fig. 2 is the flow chart of step 4 in the present invention.
Fig. 3 is the Monte Carlo simulation result figure of positioning accuracy.
Specific embodiment
Present pre-ferred embodiments are provided with reference to the accompanying drawing, in order to explain the technical scheme of the invention in detail.
As shown in Figure 1, satellite-borne SAR target location accuracy index ground evaluating method of the present invention the following steps are included:
Step 1 influences the error component combing of target location accuracy；
Step 2, error component influence modeling analysis；
Step 3, positioning accuracy Distribution Indexes and budget；
Step 4, the positioning accuracy Monte Carlo simulation test based on track emulation data；
Step 5, statistical simulation is as a result, assessment positioning accuracy index.
Further, the step 1 includes the position and speed measurement error, oblique distance measurement error, target elevation of satellite
Error and SAR echo data timer error, for combing the error component for influencing target location accuracy.
Further, the step 2 the following steps are included:
Step 2 11 influences to carry out modeling analysis, along course made good location error on satellite orbital position and velocity error
Influence to positioning accuracy isWherein ReFor earth radius, RtFor target position, Rt=Re+
H, h are target elevation, and H is satellite orbital altitude, Δ XsatSatellite course made good location error.
Step 2 12, orientation position error caused by satellite velocities error are represented byWherein Δ Vsat-x、ΔVsat-y、ΔVsat-z
For satellite all directions data noise, θsTo angle of squint, γ is downwards angle of visibility, V for the target bearing used for imagingg、Vst
Respectively ground speed and relative velocity, RsFor oblique distance.
Step 2 13, the position error that satellite is introduced perpendicular to the location error of track are represented byWherein Δ YsatSatellite is perpendicular to course made good location error.
Step 2 14, the position error that satellite radial position error introduces are represented byWherein Δ
ZsatFor satellite radial position error.
Step 2 15, orientation position error caused by echo data timer error are represented byWherein Δ t is echo data timer error.
Step 2 16, the position error that oblique distance measurement error introduces are represented byWherein Δ RsIt is oblique
Away from error, θiFor incidence angle.
Step 2 17, the position error that target vertical error introduces are represented byWherein, Δ h is mesh
Mark vertical error.
Further, the step 3 the following steps are included:
Step 3 11 determines the input value of each error component, using the formula of step 2, analyzes each error component pair
The bring of position error influences.
Step 3 12 is synthesized the influence of each error component using root mean square synthetic method.
Composite result is compared with positioning accuracy index request, is such as unsatisfactory for demand, then divides again by step 3 13
With each error value, until meeting index request position.
As shown in Fig. 2, the step 4 the following steps are included:
Step 4 11 utilizes STK simulation theory orbital position Psat0, then track position is substituted into using the formula of step S3
Error and echo timer error are set, the orbital position P for having error is calculatedsat1。
Step 4 12, according to oblique distance error delta R3With star oblique distance scalar R constructs range equation R+ Δ R3=| Psat0-
PTarget|, Psat0And PTargetFor satellite position and target position.
Step 4 13, according to the frequency f of Doppler centerDCConstruct Doppler equation fDC=2/ (λ R) × dot (Vst,
PTarget-Psat0), VstFor the lower satellite velocities of WGS84 system, λ is wavelength, and dot () is dot product.
Step 4 14 constructs earth model equation according to the elevation h and vertical error of ground control pointWherein ReFor terrestrial equator radius, RpFor earth polar radius Rp=(1-f) (Re+ h), xt、yt、zt
For vector PTargetThree factors.
Step 4 15 goes out P according to range equation, Doppler equation and earth model equation calculationTarget1Value.
Step 4 16, repeats the above experiment, until number reaches n times.
Further, the statistical simulation result in the step 5 and assessment positioning accuracy index are the results to step 4
Take multiple measurements simultaneously average statisticalAnd standard deviationIt takesFor the assessed value of target location accuracy.
Embodiment 1
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing:
Here selection sun-synchronous orbit X-band satellite-borne SAR carries out the ground evaluating method research of target location accuracy, star
SAR orbit altitude about 627km is carried, 45 ° of incidence angle selection, target point height selects 0m.X-band refers to frequency 8-12GHz's
Radio waveband belongs to microwave in electromagnetic spectrum.
Error value is as follows: Doppler center frequency error takes 100Hz, and orbital position measurement accuracy takes 10m (1 σ), speed
Measurement error 0.06m/s, oblique distance error take 3m (1 σ), and control point vertical error is 50m (1 σ), and echo data timer error takes
10ms。
Model is influenced according to the error of step 2, and modeling analysis is carried out to error.
Error is allocated and budget, as a result as shown in table 1 below, target location accuracy estimates 87.6m (1 σ).
The distribution of 1 position error of table and algorithm table (1 σ)
| Error term | Error term value | Caused target location error |
| Satellite course made good location error | 10m | 9.10m |
| Satellite velocities error | 0.06m/s | 8.66m |
| Echo data timer error | 10ms | 69.16m |
| Location error of the satellite perpendicular to track | 10m | 9.10m |
| Satellite radial position error | 10m | 10.84m |
| Oblique distance measurement error | 3m | 4.25m |
| Target vertical error | 50m | 50.09m |
| It is total | 87.57m |
Monte Carlo simulation is carried out, is emulated using STK, 40 divide 50 when to select current time be 2016 03 month 02 day 16
Second, orbital position Psat0For (3044738.32m, -6275956.74m, -701278.29m), and the top moment is spent as theory
And position, this segment data are reused in simulations, using right side regard 40 ° of incidence angles direction of visual lines and earth model intersection point as
Control point position PTarget0.According to error value each in table 1, three sides that 1000 grouping error data substitute into step 4 are randomly generated
Cheng Zhong carries out 1000 Monte Carlo experiments.
As shown in figure 3, solving three equations obtains 1000, ground aiming spot, result is counted, is obtained
ValueStandard deviationThen target location accuracy assessment result isMeet
Budget result.
Particular embodiments described above, the technical issues of to solution of the invention, technical scheme and beneficial effects carry out
It is further described, it should be understood that the above is only a specific embodiment of the present invention, is not limited to
The present invention, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in this
Within the protection scope of invention.
Claims (4)
1. a kind of satellite-borne SAR target location accuracy index ground evaluating method, which is characterized in that itself the following steps are included:
Step 1 influences the error component combing of target location accuracy；
Step 2, error component influence modeling analysis；
Step 3, positioning accuracy Distribution Indexes and budget；
Step 4, the positioning accuracy Monte Carlo simulation test based on track emulation data；
Step 5, statistical simulation is as a result, assessment positioning accuracy index；
The step 1 includes position and speed measurement error, oblique distance measurement error, target vertical error and the SAR echo of satellite
Data timer error, for combing the error component for influencing target location accuracy；
The step 2 the following steps are included:
Step 2 11 influences to carry out modeling analysis, along course made good location error to fixed on satellite orbital position and velocity error
Position precision influence beWherein ReFor earth radius, RtFor target position, Rt=Re+ h, h are
Target elevation, H are satellite orbital altitude, Δ XsatSatellite course made good location error；
Step 2 12, orientation position error caused by satellite velocities error are represented byWherein Δ Vsat-x、ΔVsat-y、ΔVsat-z
For satellite all directions data noise, θsTo angle of squint, γ is downwards angle of visibility, V for the target bearing used for imagingg、Vst
Respectively ground speed and relative velocity, RsFor oblique distance；
Step 2 13, the position error that satellite is introduced perpendicular to the location error of track are represented byWherein Δ YsatSatellite is perpendicular to course made good location error；
Step 2 14, the position error that satellite radial position error introduces are represented byWherein Δ
ZsatFor satellite radial position error；
Step 2 15, orientation position error caused by echo data timer error are represented byWherein Δ t is echo data timer error；
Step 2 16, the position error that oblique distance measurement error introduces are represented byWherein Δ RsFor oblique distance mistake
Difference, θiFor incidence angle；
Step 2 17, the position error that target vertical error introduces are represented byWherein, Δ h is that target is high
Journey error.
2. satellite-borne SAR target location accuracy index ground evaluating method as described in claim 1, which is characterized in that the step
Rapid three the following steps are included:
Step 3 11 determines the input value of each error component, using the formula of step 2, analyzes each error component to positioning
The bring of error influences；
Step 3 12 is synthesized the influence of each error component using root mean square synthetic method；
Composite result is compared with positioning accuracy index request, is such as unsatisfactory for demand by step 3 13, then redistributes each
Error value, until meeting index request position.
3. satellite-borne SAR target location accuracy index ground evaluating method as described in claim 1, which is characterized in that the step
Rapid four the following steps are included:
Step 4 11 utilizes STK simulation theory orbital position Psat0, orbital position then, which is substituted into, using the formula of step S3 misses
Difference and echo timer error calculate the orbital position P for having errorsat1；
Step 4 12, according to oblique distance error delta R3With star oblique distance scalar R constructs range equation R+ Δ R3=| Psat0-PTarget
|, Psat0And PTargetFor satellite position and target position；
Step 4 13, according to the frequency f of Doppler centerDCConstruct Doppler equation fDC=2/ (λ R) × dot (Vst, PTarget-
Psat0), VstFor the lower satellite velocities of WGS84 system, λ is wavelength, and dot () is dot product；
Step 4 14 constructs earth model equation according to the elevation h and vertical error of ground control pointWherein ReFor terrestrial equator radius, RpFor earth polar radius Rp=(1-f) (Re+ h), xt、yt、zt
For vector PTargetThree factors；
Step 4 15 goes out P according to range equation, Doppler equation and earth model equation calculationTarget1Value；
Step 4 16, repeats the above experiment, until number reaches n times.
4. satellite-borne SAR target location accuracy index ground evaluating method as described in claim 1, which is characterized in that the step
Statistical simulation result and assessment positioning accuracy index in rapid five are that simultaneously average statistical is taken multiple measurements to the result of step 4And standard deviationIt takesFor the assessed value of target location accuracy.
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| CN113671455A (en) * | 2021-09-07 | 2021-11-19 | 辽宁工程技术大学 | Simulation analysis method for geometric positioning accuracy of medium and high orbit SAR (synthetic aperture radar) satellite |
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| 分布式 InSAR 三维定位的闭合形式解及其精度分析;谷德峰;《电子学报》;20070630;全文 |
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