CN107976676B - Airborne synthetic aperture radar moving target imaging method - Google Patents

Airborne synthetic aperture radar moving target imaging method Download PDF

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CN107976676B
CN107976676B CN201711187189.XA CN201711187189A CN107976676B CN 107976676 B CN107976676 B CN 107976676B CN 201711187189 A CN201711187189 A CN 201711187189A CN 107976676 B CN107976676 B CN 107976676B
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杨海光
兰毅
薛媛
杨青
武俊杰
孙稚超
李中余
杨建宇
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University of Electronic Science and Technology of China
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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
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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
    • G01S13/9021—SAR image post-processing techniques
    • G01S13/9029—SAR image post-processing techniques specially adapted for moving target detection within a single SAR image or within multiple SAR images taken at the same time

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Abstract

The invention discloses an airborne synthetic aperture radar moving target imaging method which is applied to the technical field of radar.A signal after pulse compression is divided into two channels, and the signal of one channel corrects the second-order migration quantity of a moving target echo by second-order Keystone conversion; the signal of the other channel can also correct the second-order migration quantity of the moving target echo by constructing reverse second-order Keystone conversion, then the two processed signals are multiplied by a multiplier, the first-order migration quantity can be corrected, and finally a better imaging result can be obtained by azimuth matching filtering; the method can simultaneously solve the problem of correcting the first-order and second-order migration quantities of the moving target echo track, and realize good moving target imaging effect; compared with the existing moving target imaging algorithm, the method has the advantages of more direct and concise steps and simpler operation, and can correct the first-order and second-order migration quantities.

Description

Airborne synthetic aperture radar moving target imaging method
Technical Field
The invention belongs to the technical field of radars, and particularly relates to a ground moving target imaging technology by an airborne synthetic aperture radar.
Background
Synthetic Aperture Radar (SAR) ground moving target imaging technology is widely applied in various fields at present. However, due to the complex motion of the ground moving target, the moving target echo received by the SAR generally contains higher first-order migration amount and second-order migration amount, and has a large influence on the final imaging result. In order to obtain a good imaging result, the moving target echo needs to be subjected to migration correction and then to focusing imaging.
The correction of the first-order migration amount of the moving target generally adopts Keystone transformation, and is disclosed in the literature: keystone transformation is proposed in "Perry R P, Dipietro RC, Fante R. SAR imaging of moving targets [ J ]. IEEE Transactions on Aerospace & Electronic Systems,1999,35(1): 188-. The Keystone transform has the property of performing first order migration correction without knowledge of the motion information. Then when the radial velocity of the moving object has acceleration, the second-order term of the migration track cannot be ignored, but the Keystone transformation cannot directly remove the second-order migration quantity of the echo track.
In the literature: "Yang J, Zhang Y. an air bearing SAR Moving Target Imaging and motion Parameters Estimation, Algorithm With acquisition-demodulation and the second-Order Keystone Transform Applied [ J ]. IEEE Journal of Selected Topics in Applied Earth objectives & move Sensing,2015,8(8): 3967-3976", second Order Keystone Transform and Radon Transform are proposed to correct the first and second Order migration quantities of the migration trajectory, but Radon Transform requires a complicated parameter search process, so that the computation quantity is greatly increased.
Disclosure of Invention
In order to solve the technical problem, the invention provides an imaging method of a moving target of an airborne synthetic aperture radar, which corrects and images an echo track of the moving target by using a symmetric second-order Keystone method.
The technical scheme adopted by the invention is as follows: an airborne synthetic aperture radar moving target imaging method comprises the following steps:
s1, constructing an airborne single-base forward-looking side SAR space geometry structure;
s2, acquiring the ground moving target echo after down-conversion according to the geometric structure constructed in the step S1;
s3, distance direction matching filtering is carried out on the ground moving target echo;
s4, dividing the matched and filtered signal into two channels, and performing second-order Keystone transformation on the signal echo of one channel; performing inverse second-order Keystone transformation on the signal echo of the other channel;
s5, passing the signal processed by the second-order Keystone conversion and the signal processed by the reverse second-order Keystone conversion through a multiplier;
s6, estimating Doppler modulation frequency of the signal obtained in the step S5 by an M-WVD method, and constructing a frequency domain azimuth matched filter by using the estimated Doppler modulation frequency;
and S7, performing matched filtering in the azimuth frequency domain, and converting the azimuth frequency domain into an azimuth time domain through inverse Fourier transform to obtain a final imaging result.
Further, in step S2, the expression of the echo of the ground moving target is:
Figure BDA0001480292250000021
wherein rect () is a rectangular window in the distance direction and the azimuth direction, TsFor synthetic aperture time, τ is the time variable in the distance direction, Δ τ is the time delay of the chirp signal, TτIn order to be wide in the time of transmitting the signal,
Figure BDA0001480292250000022
is an imaginary unit, kτFor adjusting the frequency, f, in the direction of the distancecIs the carrier frequency.
Still further, the Δ τ ═ 2RM(t)/c; and R isM(t) is the history of the instantaneous distance from the ground moving target to the flying platform, and the calculation formula is as follows:
Figure BDA0001480292250000023
where t is the time variation of the azimuth direction, c is the speed of light, X0As X-axis coordinates of ground moving objects, H0Is Z-axis coordinate of SAR flight platform, and V is flight of flight platformSpeed, VyIs the azimuth velocity, V, of the ground moving objectxThe ground is the range-wise velocity of the surface moving object.
Further, the echo signal phase after the filtering of step S3
Figure BDA0001480292250000025
Comprises the following steps:
Figure BDA0001480292250000024
where c is the speed of light, fτIs a distance frequency variable, fcIs carrier frequency, theta is SAR antenna incidence angle, V is flying speed of flying platform, V is carrier frequencyyIs the azimuth velocity, V, of the ground moving objectxDistance-direction velocity, R, of ground-surface moving object0The shortest slant distance from the flying platform to the moving target.
Further, in step S4, performing a second-order Keystone transform on the signal echo of one of the channels, where the second-order Keystone transform formula is:
Figure BDA0001480292250000031
wherein f isτIs a distance frequency variable, fcIs the carrier frequency, tmIs a new azimuth time variable.
Furthermore, the channel echo is transformed to the azimuth time t after the second-order Keystone transformationmPerforming second-order Taylor expansion to obtain signal phase
Figure BDA0001480292250000032
Can be expressed as:
Figure BDA0001480292250000033
where c is the speed of light, fτIs a distance frequency variable, fcIs carrier frequency, theta is SAR antenna incidence angle, V is flying speed of flying platform, V is carrier frequencyyIs the azimuth velocity, V, of the ground moving objectxDistance-direction velocity, R, of ground-surface moving object0The shortest slant distance from the flying platform to the moving target.
Further, in step S4, performing an inverse second-order Keystone transform on the signal echo of the other channel, where the inverse second-order Keystone transform formula is:
Figure BDA0001480292250000034
wherein f isτIs a distance frequency variable, fcIs the carrier frequency, tmIs a new azimuth time variable.
Furthermore, the channel echo is transformed to the azimuth time t after the inverse second-order Keystone transformationmPerforming second-order Taylor expansion to obtain phase
Figure BDA0001480292250000035
Can be expressed as:
Figure BDA0001480292250000036
where c is the speed of light, fτIs a distance frequency variable, fcIs carrier frequency, theta is SAR antenna incidence angle, V is flying speed of flying platform, V is carrier frequencyyIs the azimuth velocity, V, of the ground moving objectxDistance-direction velocity, R, of ground-surface moving object0The shortest slant distance from the flying platform to the moving target.
Further, the phase of the echo signal processed in step S5
Figure BDA0001480292250000041
Comprises the following steps:
Figure BDA0001480292250000042
where c is the speed of light, fτIs a distance frequency variable, fcIs carrier frequency, theta is SAR antenna incident angleV is the flying speed of the flying platform, VyIs the azimuth velocity, V, of the ground moving objectxDistance-direction velocity, R, of ground-surface moving object0The shortest slant distance from the flying platform to the moving target.
Further, in step S6, the frequency domain orientation matching filter is expressed as:
Figure BDA0001480292250000043
wherein, KaTo estimate the doppler shift frequency by the M-WVD method,
Figure BDA0001480292250000044
indicating the azimuth frequency.
The invention has the beneficial effects that: a method for imaging a moving target of an airborne synthetic aperture radar divides a signal after pulse compression into two channels, and the signal of one channel corrects the second-order migration quantity of a moving target echo by second-order Keystone conversion; the signal of the other channel can also correct the second-order migration quantity of the moving target echo by constructing reverse second-order Keystone conversion, then the two processed signals are multiplied by a multiplier, the first-order migration quantity can be corrected, and finally a better imaging result can be obtained by azimuth matching filtering; the method can simultaneously solve the problem of correcting the first-order and second-order migration quantities of the moving target echo track, and realize good moving target imaging effect; compared with the existing moving target imaging algorithm, the method has the advantages of more direct and concise steps and simpler operation, and can correct the first-order and second-order migration quantities.
Drawings
Fig. 1 is a block flow diagram provided by an embodiment of the present invention.
Fig. 2 is a space geometry structure of an airborne SAR and a ground moving target provided by an embodiment of the invention.
FIG. 3 is a range-matched filtered echo signal provided by an embodiment of the present invention.
Fig. 4 is an echo signal after being processed by the second-order Keystone transform according to the embodiment of the present invention.
Fig. 5 is an echo signal after being processed by the inverse second-order Keystone transform according to the embodiment of the present invention.
Fig. 6 shows an echo signal after being processed by a symmetric second-order Keystone transform according to an embodiment of the present invention.
Fig. 7 is a final imaging result after azimuth matching filtering provided by an embodiment of the present invention.
Detailed Description
In order to facilitate the understanding of the technical contents of the present invention by those skilled in the art, the present invention will be further explained with reference to the accompanying drawings.
FIG. 1 shows a flow chart of the scheme of the present invention; the technical scheme of the invention is as follows: an airborne synthetic aperture radar moving target imaging method comprises the following steps:
s1, constructing an airborne single-base forward-looking side SAR space geometry structure;
s2, acquiring the ground moving target echo after down-conversion according to the geometric structure constructed in the step S1;
s3, distance direction matching filtering is carried out on the ground moving target echo;
s4, dividing the matched and filtered signal into two channels, and performing second-order Keystone transformation on the signal echo of one channel; performing inverse second-order Keystone transformation on the signal echo of the other channel;
s5, passing the signal processed by the second-order Keystone conversion and the signal processed by the reverse second-order Keystone conversion through a multiplier;
s6, estimating Doppler modulation frequency of the signal obtained in the step S5 by an M-WVD method, and constructing a frequency domain azimuth matched filter by using the estimated Doppler modulation frequency;
and S7, performing matched filtering in the azimuth frequency domain, and converting the azimuth frequency domain into an azimuth time domain through inverse Fourier transform to obtain a final imaging result.
The present invention is described in detail below with reference to specific parameters:
and S1, constructing an airborne single-base front-side view SAR space geometry, as shown in figure 2.
In a rectangular coordinate system, the position coordinates (0,0, H) of the SAR flight platform are set0) Is (0m,0m,2000 m); initial position (X) of ground moving object00,0) is (500m,0m,0 m); the flying speed V of the flying platform is 150m/s, and the azimuth speed V of the ground moving targety10m/s, the distance velocity V of the ground moving objectx17m/s, the shortest slope distance R from the flying platform to the moving target0Is 2061 m. The simulation parameters are shown in table 1;
TABLE 1 simulation parameters
Parameter(s) Symbol Numerical value
Flight platform position coordinates (0,0,H0) 0m,0m,2000m
Position coordinates of moving object (X0,0,0) 500m,0m,0m
Flight speed of flight platform V 150m/s
Azimuth velocity of moving object Vy 10m/s
Distance and speed of moving object Vx 17m/s
Pulse repetition frequency PRF 1500Hz
Transmission signal time width Tr 3μs
Bandwidth of transmitted signal Br 200MHz
Carrier frequency fc 3GHz
Transient distance history R of ground moving object to flying platformM(t), which can be expressed as:
Figure BDA0001480292250000061
s2, acquiring the ground moving target echo S (tau, t) after down-conversion, wherein the specific formula is as follows:
Figure BDA0001480292250000062
s3, distance direction matching filtering is carried out on the ground moving target echo, and the phase of the echo signal after filtering
Figure BDA0001480292250000063
Can be expressed as:
Figure BDA0001480292250000064
s4, dividing the signal after matched filtering into two channels, and performing second-order Keystone transformation on the signal echo of one channel, wherein the second-order Keystone transformation formula is as follows:
Figure BDA0001480292250000065
after the signal echo is transformed by second-order Keystone, the azimuth time t is obtainedmPerforming second-order Taylor expansion to obtain signal phase
Figure BDA0001480292250000071
Can be expressed as:
Figure BDA0001480292250000072
and performing reverse second-order Keystone transformation on the signal echo of the other channel, wherein the formula of the reverse second-order Keystone transformation is as follows:
Figure BDA0001480292250000073
after the signal echo is subjected to inverse second-order Keystone conversion, the azimuth time t is obtainedmPerforming second-order Taylor expansion to obtain phase
Figure BDA0001480292250000074
Can be expressed as:
Figure BDA0001480292250000075
s5, passing the signal processed by the second-order Keystone conversion and the signal processed by the reverse second-order Keystone conversion through a multiplier; the processed signal can be represented as:
Figure BDA0001480292250000076
s6, estimating Doppler modulation frequency K by M-WVD methodaAnd constructing a frequency domain azimuth matched filter by using the estimated Doppler frequency modulation
Figure BDA0001480292250000077
Figure BDA0001480292250000078
Wherein the content of the first and second substances,
Figure BDA0001480292250000079
indicating the azimuth frequency.
S7, performing matched filtering in the azimuth frequency domain, and converting the azimuth frequency domain into an azimuth time domain through inverse Fourier transform to obtain a final imaging result
Figure BDA0001480292250000081
After the steps are processed, the airborne SAR can be used for correcting the moving target echo migration, signals after pulse compression are shown in figure 3, and the moving target echo track is a curved and inclined curve. The signal after the second-order Keystone conversion processing is shown in figure 4, the migration track is changed into an inclined straight line, and the second-order bending migration amount is removed. Similarly, second order migration amount can be removed by the second order inversion, as shown in fig. 5. The correction for range walk can be achieved by multiplying the two signals with a multiplier as shown in fig. 6. FIG. 7 is the final imaging result, and it can be seen that the moving target imaging method based on the symmetric second-order Keystone transform can realize high-resolution imaging of the moving target; azimuth bin in FIGS. 3-6 represents Azimuth direction and Rangebin represents distance direction.
In conclusion, the method can simultaneously solve the problem of correcting the first-order and second-order migration quantities of the moving target echo track, and realize good moving target imaging effect; compared with the existing moving target imaging algorithm, the method has the advantages of more direct and concise steps and simpler operation, and can correct the first-order and second-order migration quantities.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the scope of the claims of the present invention.

Claims (10)

1. An airborne synthetic aperture radar moving target imaging method is characterized by comprising the following steps:
s1, constructing an airborne single-base forward-looking side SAR space geometry structure;
s2, acquiring the ground moving target echo after down-conversion according to the geometric structure constructed in the step S1;
s3, distance direction matching filtering is carried out on the ground moving target echo;
s4, dividing the matched and filtered signal into two channels, and performing second-order Keystone transformation on the signal echo of one channel; performing inverse second-order Keystone transformation on the signal echo of the other channel;
s5, multiplying the signal processed by the second-order Keystone transform and the signal processed by the reverse second-order Keystone transform by a multiplier;
s6, estimating Doppler modulation frequency of the signal obtained in the step S5 by an M-WVD method, and constructing a frequency domain azimuth matched filter by using the estimated Doppler modulation frequency;
and S7, performing matched filtering in the azimuth frequency domain, and converting the azimuth frequency domain into an azimuth time domain through inverse Fourier transform to obtain a final imaging result.
2. The method of claim 1, wherein the ground moving target echo of step S2 is expressed as:
Figure FDA0002282128650000011
wherein rect () is a rectangular window in the distance direction and the azimuth direction, TsFor synthetic aperture time, τ is the time variable in the distance direction, Δ τ is the time delay of the chirp signal, TτIn order to be wide in the time of transmitting the signal,
Figure FDA0002282128650000012
is an imaginary unit, kτFor adjusting the frequency, f, in the direction of the distancecIs the carrier frequency.
3. The method of claim 2, wherein Δ τ -2R is used for imaging moving targets in the synthetic aperture radar systemM(t)/c; and R isM(t) is the history of the instantaneous distance from the ground moving target to the flying platform, and the calculation formula is as follows:
Figure FDA0002282128650000013
where t is the time variation of the azimuth direction, c is the speed of light, X0As X-axis coordinates of ground moving objects, H0Is Z-axis coordinate of the SAR flight platform, V is flight speed of the flight platform, V isyIs the azimuth velocity, V, of the ground moving objectxThe ground is the range-wise velocity of the surface moving object.
4. The method of claim 1, wherein the echo signals filtered in step S3 have phases different from each other
Figure FDA0002282128650000021
Comprises the following steps:
Figure FDA0002282128650000022
where c is the speed of light, fτIs a distance frequency variable, fcTo be loadedWave frequency, theta is SAR antenna incident angle, V is flying speed of flying platform, VyIs the azimuth velocity, V, of the ground moving objectxDistance-direction velocity, R, of ground-surface moving object0The shortest slant distance from the flying platform to the moving target.
5. The method according to claim 1, wherein step S4 is to perform a second-order Keystone transform on the signal echo of one of the channels, where the second-order Keystone transform is expressed by the following formula:
Figure FDA0002282128650000023
wherein f isτIs a distance frequency variable, fcIs the carrier frequency, tmIs a new azimuth time variable.
6. The method of claim 5, wherein the channel echo is transformed by a second-order Keystone to obtain an azimuth time tmPerforming second-order Taylor expansion to obtain signal phase
Figure FDA0002282128650000024
Can be expressed as:
Figure FDA0002282128650000025
where c is the speed of light, fτIs a distance frequency variable, fcIs carrier frequency, theta is SAR antenna incidence angle, V is flying speed of flying platform, V is carrier frequencyyIs the azimuth velocity, V, of the ground moving objectxDistance-direction velocity, R, of ground-surface moving object0The shortest slant distance from the flying platform to the moving target.
7. The method according to claim 1, wherein said step S4 is to perform an inverse second-order Keystone transform on the signal echo of another channel, where the inverse second-order Keystone transform is expressed by the following formula:
Figure FDA0002282128650000026
wherein f isτIs a distance frequency variable, fcIs the carrier frequency, tmIs a new azimuth time variable.
8. The method of claim 7, wherein the channel echoes are transformed by an inverse second-order Keystone transform to an azimuth time tmPerforming second-order Taylor expansion to obtain phase
Figure FDA0002282128650000031
Can be expressed as:
Figure FDA0002282128650000032
where c is the speed of light, fτIs a distance frequency variable, fcIs carrier frequency, theta is SAR antenna incidence angle, V is flying speed of flying platform, V is carrier frequencyyIs the azimuth velocity, V, of the ground moving objectxDistance-direction velocity, R, of ground-surface moving object0The shortest slant distance from the flying platform to the moving target.
9. The method of claim 1, wherein the echo signals processed in step S5 have different phases
Figure FDA0002282128650000033
Comprises the following steps:
Figure FDA0002282128650000034
where c is the speed of light, fτIs a distance frequency variable, fcIs carrier frequency, theta is SAR antenna incidence angle, V is flying speed of flying platform, V is carrier frequencyyIs the azimuth velocity, V, of the ground moving objectxDistance-direction velocity, R, of ground-surface moving object0The shortest slant distance from the flying platform to the moving target.
10. The method of claim 1, wherein the frequency domain azimuth matched filter of step S6 is expressed as:
Figure FDA0002282128650000035
wherein, KaTo estimate the doppler shift frequency by the M-WVD method,
Figure FDA0002282128650000036
indicating the azimuth frequency.
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