CN108196240A - Ground moving target track reconstruction method suitable for CSAR imaging - Google Patents

Ground moving target track reconstruction method suitable for CSAR imaging Download PDF

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CN108196240A
CN108196240A CN201810123131.7A CN201810123131A CN108196240A CN 108196240 A CN108196240 A CN 108196240A CN 201810123131 A CN201810123131 A CN 201810123131A CN 108196240 A CN108196240 A CN 108196240A
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aperture
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CN108196240B (en
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安道祥
王武
周智敏
陈乐平
冯东
罗雨潇
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National University of Defense Technology
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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
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
    • G01S7/415—Identification of targets based on measurements of movement associated with the target

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  • Computer Networks & Wireless Communication (AREA)
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  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
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Abstract

A ground moving target track reconstruction method suitable for CSAR imaging comprises the following steps: s1, distance pulse pressure is carried out on a received CSAR moving target echo signal, a full-aperture echo of a radar is uniformly divided into a plurality of sub-aperture echoes, the sub-aperture echoes are converted into a distance Doppler domain, moving target detection is realized through Doppler filtering and constant false alarm rate detection, and the position of a moving target in an RD domain is obtained; s2, realizing moving target association under different sub-apertures by using a multi-target tracking algorithm, and acquiring a motion track of the moving target in an RD (RD) domain; and S3, projecting the dynamic target RD domain track to a road grid, and realizing dynamic target track reconstruction by using a dynamic programming algorithm. The method adopts a CSAR mode, has the capability of observing the moving target for a long time, and can improve the reconstruction precision of the target track by increasing road prior information and solving an optimized equation by utilizing dynamic programming.

Description

A kind of ground moving target trajectory reconstruction method suitable for CSAR imagings
Technical field
The invention belongs to synthetic aperture radar (Synthetic Aperture Radar, SAR) Ground moving target indications (Ground Moving Target Indication, GMTI) field is related to a kind of suitable for Curvilinear synthetic aperture radar Ground moving target trajectory reconstruction (the Ground Moving Target Trajectory of (Curve SAR, CSAR) Reconstruction, GMTTR) method.
Background technology
Synthetic aperture radar (Synthetic Aperture Radar, SAR) is that one kind can carry out high score to observation scene Distinguish the Radar Technology of microwave imaging, originally, the main function of SAR is the static radar image for obtaining observation scene.In order to improve Battle space awareness ability it is desirable to SAR while static target imaging reconnaissance is completed, can be realized and ground moving target is detectd Detection is examined, that is, there is GMTI.SAR-GMTI can complete to scout static/motive target imaging simultaneously, greatly expand The use scopes of SAR technologies.Moving-target trajectory reconstruction is capable of providing the exact information information of moving-target motion state, is GMTI One of important research content.However conventional SAR-GMTI systems are using positive side line of collimation working flight pattern, do not have pair Moving-target long-time observing capacity is difficult to realize to moving-target driving trace recombination function.
CSAR refers to that radar platform (or radar station) does big curve or wide angle circular motion around observation scene, and Wave beam is directed toward the radar system that target scene is observed imaging always.CSAR has the ability that region is scouted in observation for a long time, Correspondingly, CSAR-GMTI can be realized to the observation tracking for a long time of moving-target in scene and trajectory reconstruction.
Operating mode special CSAR also increases answering for system detection geometry while omnibearing observation advantage is brought How polygamy realizes the technical issues of moving-target trajectory reconstruction is one urgently to be resolved hurrily under CSAR detection modes.
Invention content
The purpose of the present invention is to provide a kind of ground moving target trajectory reconstruction method suitable for CSAR imagings, to improve CSAR-GMTI performances and its practical value.
In order to realize above-mentioned technical purpose, the technical scheme is that：
A kind of ground moving target trajectory reconstruction method suitable for CSAR imagings includes the following steps：
S1. the CSAR transient echos signal that receives uniformly is drawn the full aperture echo of radar into row distance pulse pressure It is divided into several sub-aperture echoes, and sub-aperture echo is transformed into range-Dopler domain, passes through doppler filtering and constant false alarm Rate detection realizes that moving-target detects and obtains moving-target in the position in RD domains；
S2. it realizes that moving-target is associated under different sub-apertures using multiple target tracking algorithm, obtains fortune of the moving-target in RD domains Dynamic rail mark；
S3. moving-target RD domains track is projected into road grid, and uses dynamic programming algorithm (i.e. Dynamic Programming, DP algorithm) realize moving-target trajectory reconstruction.
The present invention, the implementation method of S1 are as follows：
Known CSAR transmittings signal center frequency is fc, bandwidth B.Assuming that cartesian coordinate system origin is in detection scene The heart, moving-target movement velocity and position are respectivelyWithWherein taWhen representing slow Between.Radar platform is with speedCurvilinear motion, slow time t are around detection sceneaThe position coordinates of the radar platform at moment For
If radar emission signal is linear FM signal (Linear frequency modulation, LFM), then receive The CSAR transient echos signal arrived is expressed as after quadrature demodulation and apart from pulse pressure：
s(r,ta)=sinc { π B [r-R (ta)]}exp[-j4πfcR(ta)/c] (1)
Wherein, r represents oblique distance, and c is the light velocity, and sinc () represents sinc function；R(ta) it is that radar platform arrives moving-target Round trip is apart from oblique distance, i.e.,：
Wherein | | | |2Represent 2 norms.
In order to realize moving-target trajectory reconstruction, radar full aperture echo is divided evenly as K sub-aperture echo, k-th Sub-aperture echo is
Wherein TsubAnd ta,kDuration and the central instant of k-th sub-aperture are represented respectively；Rect () represents rectangle Window function.
R (t in formula (3)a) in ta=ta,kLocating Taylor expansion expression formula is
Wherein rk=R (tak) it is constant term, represent the distance of target and radar in k-th of sub-aperture central instant；
For single order term coefficient, φ1(ta,ta,k) represent higher order term, it represents remaining range cell and walks Dynamic (ResidualRange Cell Migration, RRCM).
Single order item in formula (4) can be converted by keystone to be corrected；By keystone convert correction single order item it Afterwards, k-th of sub-aperture echo is transformed to range-Dopler domain to obtain
WhereinRepresent Fourier transformation, λc=c/fc, faRepresent Doppler frequency,Represent two-dimensional convolution.Represent moving-target in ta=ta,kInstantaneous Doppler frequency；Remaining Range cell migration RRCM can lead to dynamic mesh It is marked on RD domains to defocus, defocusing degree Ψ (r, fa) represent.
Obtain sSk(r,fa) after, using average weighted method, moving-target is obtained in the position measuring value in RD domains, the amount Measured value (rk,fa,k) represent.
In general, k-th of sub-aperture echo measurement is represented with following formula in sub-aperture echo comprising multiple moving-targets
Wherein NkRepresent moving-target number in k-th of sub-aperture echo,WithFor two set, elementWithThe distance and Doppler measurement of m-th of moving-target in k-th of sub-aperture are represented respectively.
After multiple sub-aperture moving-target testing results are obtained, the same moving-target between different sub-apertures is needed to close Connection.Due to association process RD domains carry out, so referred to as RD domains moving-target track following.The implementation method of its S2 of the present invention is such as Under：
It is obtained assuming that need to currently handle k-th of sub-aperture echo and measure as a result, surveying result by preceding k-1 sub-aperture echo volume N-th of moving-target track be represented by
Wherein N represents moving-target number, inRepresent n-th of moving-target i-thnA sub-aperture is detected for the first time, LnIt represents N-th of moving-target path length.SetWithRepresent moving-target track, elementWithN-th of dynamic mesh is represented respectively The distance and Doppler measurement being marked in k-th of sub-aperture.
By nearest neighbor search, RD domain position of n-th of moving-target under k-th of sub-aperture can be obtained, arest neighbors is searched Rope expression formula is
disminRepresent minimum range, m0Expression reaches minimum range disminWhen m value.If disminLess than one Given threshold value Tdis, then willWithIt is respectively added to gatherWithIn, and update corresponding path length Ln=Ln+ 1, And update setOtherwise mean that n-th of moving-target does not appear in k-th of son In aperture, reason may be that false dismissal either moving-target occurs to be driven out to observation scene, this phenomenon is known as with losing；It is dynamic to each Target performs above-mentioned nearest neighbor search, if last setWithIn still have that element is remaining, then moved surplus element as new Target trajectory initial position, while update moving-target number N=N+Nr, NrRepresent surplus element number；If a moving-target is even Continue and occur with losing phenomenon, then no longer to update its track in two sub-apertures.If moving-target occurs in a certain sub-aperture with losing phenomenon, Then pass through its position of Interpolate estimation using adjacent sub-aperture position.
In S3 of the present invention, moving-target is obtained in the track in RD domains through S2Later, it needs to believe by road priori Breath, by RD domains trajectory map to road grid；Road prior information by satellite map can be obtained or passed through CSAR imaging results It automatically extracts.
By taking n-th of moving-target as an example, by the track in RD domainsIt is mapped to after road grid, L can be obtainednIt is a Set, wherein m-th of set can be expressed as
WhereinRepresent road grid centre coordinate, Represent radar site.
Set SmMiddle element number is inversely proportional with road grid size, set SmIn element representation moving-target in the slow time ta,kAll possible positions at moment.In order to therefrom select optimal location, following optimization problem is considered
Wherein
Represent aircraft in slow time ta,kSpeed, T represent positionSet
Obviously, optimal solutionThe trajectory reconstruction result of i.e. n-th moving-target；Optimization problem can utilize DP algorithm to solve.
Aforesaid operations are carried out to all moving-target RD domains tracks, you can obtain all moving-target trajectory reconstruction results.
Compared with prior art, the present invention has the following advantages：
1) present invention has the ability for observing moving-target for a long time using CSAR patterns；
2) it by increasing road prior information, and is solved using Dynamic Programming and optimizes equation, the present invention can improve mesh Mark trajectory reconstruction precision.
Description of the drawings
Fig. 1 is the application scenarios schematic diagram of the present invention；
Fig. 2 is the flow chart of the present invention；
Fig. 3 is emulation scape optical imagery and measured data CSAR imaging results schematic diagrames；
Fig. 4 is a certain sub-aperture moving-target testing result schematic diagram.
Fig. 5 is the single moving-target track following result schematic diagram in RD domains；
Fig. 6 is road grid extraction result schematic diagram；
Fig. 7 is DP algorithm schematic diagram.
Fig. 8 is moving-target trajectory reconstruction result schematic diagram.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, below in conjunction with attached drawing to embodiment party of the present invention Formula is described in further detail.
Circular motion is the special shape of curvilinear motion, has maximum observation angle, can observe scene for a long time.Under Face will be illustrated technical scheme of the present invention by taking circular motion as an example.
Fig. 1 is the application scenarios schematic diagram of the present invention, and radar platform circumferentially flies in figure, wave beam sensing area always Domain carries out long-time observation to moving-target in search coverage.
Fig. 2 is the flow chart of the present invention.It is a kind of suitable for CSAR imaging ground moving target trajectory reconstruction method, including with Lower step：
S1. the CSAR transient echos signal that receives uniformly is drawn the full aperture echo of radar into row distance pulse pressure It is divided into several sub-aperture echoes, and sub-aperture echo is transformed into range-Dopler domain, passes through doppler filtering and constant false alarm Rate detection realizes that moving-target detects and obtains moving-target in the position in RD domains.
Known CSAR transmittings signal center frequency is fc, bandwidth B.Assuming that cartesian coordinate system origin is in detection scene The heart, moving-target movement velocity and position are respectivelyWithWherein taRepresent the slow time. Radar platform is with speedCurvilinear motion, slow time t are around detection sceneaThe position coordinates of the radar platform at moment are
If radar emission signal is linear FM signal (Linear frequency modulation, LFM), then receive The CSAR transient echos signal arrived is expressed as after quadrature demodulation and apart from pulse pressure：
s(r,ta)=sinc { π B [r-R (ta)]}exp[-j4πfcR(ta)/c] (1)
Wherein, r represents oblique distance, and c is the light velocity, and sinc () represents sinc function；R(ta) it is that radar platform arrives moving-target Round trip is apart from oblique distance, i.e.,：
Wherein | | | |2Represent 2 norms.
In order to realize moving-target trajectory reconstruction, radar full aperture echo is divided evenly as K sub-aperture echo, k-th Sub-aperture echo is
Wherein TsubAnd ta,kDuration and the central instant of k-th sub-aperture are represented respectively；Rect () represents rectangle Window function.
R (t in formula (3)a) in ta=ta,kLocating Taylor expansion expression formula is
Wherein rk=R (ta,k) it is constant term, represent the distance of target and radar in k-th of sub-aperture central instant；
For single order term coefficient, φ1(ta,ta,k) represent higher order term, it represents remaining range cell and walks Dynamic (ResidualRange Cell Migration, RRCM).
Single order item in formula (4) can be converted by keystone to be corrected；By keystone convert correction single order item it Afterwards, k-th of sub-aperture echo is transformed to range-Dopler domain to obtain
WhereinRepresent Fourier transformation, λc=c/fc, faRepresent Doppler frequency,Represent two-dimensional convolution.Represent moving-target in ta=ta,kInstantaneous Doppler frequency；Remaining Range cell migration RRCM can lead to dynamic mesh It is marked on RD domains to defocus, defocusing degree Ψ (r, fa) represent.
Obtain sSk(r,fa) after, using average weighted method, moving-target is obtained in the position measuring value in RD domains, the amount Measured value (rk,fa,k) represent.
In general, k-th of sub-aperture echo measurement is represented with following formula in sub-aperture echo comprising multiple moving-targets
Wherein NkRepresent moving-target number in k-th of sub-aperture echo,WithFor two set, elementWithThe distance and Doppler measurement of m-th of moving-target in k-th of sub-aperture are represented respectively.
S2. it realizes that moving-target is associated under different sub-apertures using multiple target tracking algorithm, obtains fortune of the moving-target in RD domains Dynamic rail mark.
After multiple sub-aperture moving-target testing results are obtained, the same moving-target between different sub-apertures is needed to close Connection.Due to association process RD domains carry out, so referred to as RD domains moving-target track following.
It is obtained assuming that need to currently handle k-th of sub-aperture echo and measure as a result, surveying result by preceding k-1 sub-aperture echo volume N-th of moving-target track be represented by
Wherein N represents moving-target number, inRepresent n-th of moving-target i-thnA sub-aperture is detected for the first time, LnIt represents N-th of moving-target path length.SetWithRepresent moving-target track, elementWithN-th of dynamic mesh is represented respectively The distance and Doppler measurement being marked in k-th of sub-aperture.
By nearest neighbor search, RD domain position of n-th of moving-target under k-th of sub-aperture can be obtained, arest neighbors is searched Rope expression formula is
disminRepresent minimum range, m0Expression reaches minimum range disminWhen m value.If disminLess than one Given threshold value Tdis, then willWithIt is respectively added to gatherWithIn, and update corresponding path length Ln=Ln+ 1 and update setOtherwise mean that n-th of moving-target does not appear in k-th In sub-aperture, reason may be that false dismissal either moving-target occurs to be driven out to observation scene, this phenomenon is known as with losing；To each Moving-target performs above-mentioned nearest neighbor search, if last setWithIn still have that element is remaining, then using surplus element as newly Moving-target track initial position, while update moving-target number N=N+Nr, NrRepresent surplus element number；If a moving-target exists Occur in continuous two sub-apertures with losing phenomenon, then no longer update its track.If moving-target occurs existing with losing in a certain sub-aperture As then passing through its position of Interpolate estimation using adjacent sub-aperture position.
S3. moving-target RD domains track is projected into road grid, and using dynamic programming algorithm (i.e. DynamicProgramming, DP algorithm) realize moving-target trajectory reconstruction.
Moving-target is obtained in the track in RD domains through S2Later, it needs by road prior information, by RD domains track It is mapped to road grid；Road prior information can be obtained by satellite map or be automatically extracted by CSAR imaging results.
By taking n-th of moving-target as an example, by the track in RD domainsIt is mapped to after road grid, L can be obtainednIt is a Set, wherein m-th of set can be expressed as
WhereinRepresent road grid centre coordinate,Represent radar site.
Set SmMiddle element number is inversely proportional with road grid size, set SmIn element representation moving-target in the slow time ta,kAll possible positions at moment.In order to therefrom select optimal location, following optimization problem is considered
Wherein
Represent aircraft in slow time ta,kSpeed, T represent positionSet
Obviously, optimal solutionThe trajectory reconstruction result of i.e. n-th moving-target；Optimization problem can utilize DP algorithm to solve. Aforesaid operations are carried out to all moving-target RD domains tracks, you can obtain all moving-target trajectory reconstruction results.
The method of the present invention is verified by HWIL simulation, i.e., obtains static target echo by radar image simulation, Default transient echo is added in simultaneously.Moving-target movement velocity is 5m/s, and northeastward is driven towards by southwestward along road.Experiment As a result effectiveness of the invention is demonstrated.
In an experiment, the systematic parameter in the present invention is as shown in table 1 below.
Table 1
Emulation detection scene optical imagery used and CSAR imaging results as shown in figure 3, there are one rotary island crossing in scene, The crossing is located near Entry to motorway, and the moving-target based on more vehicle is included in scene.Observe scene size for 300m × 300m (distance × orientation).
Fig. 4 is a certain sub-aperture moving-target testing result schematic diagram.Wherein horizontal direction is distance to sampled point, Vertical Square To for Doppler sample point.It can be seen that after doppler filtering by Fig. 4 left figures, static target clutter is suppressed, then It is detected by CFAR, the corresponding bianry image obtained, as shown in Fig. 4 right figures.It is handled by weighted average, you can obtain current son Under aperture moving-target in the position in RD domains to get to setWith
Fig. 5 is the single moving-target track following result schematic diagram in RD domains；As can be seen that gained moving-target track is more flat It is sliding, it is consistent with characteristic of the moving-target track in RD domains.Side demonstrates the correctness of RD domains target tracking algorism and moving-target inspection Survey the correctness of result.
Fig. 6 is road grid extraction result schematic diagram；The road grid is obtained by prior information, and road grid division is got over Close, follow-up moving-target trajectory reconstruction precision is higher, and corresponding DP algorithm operand is bigger.It can be according to application demand in practical operation Compromise.
Fig. 7 is DP algorithm schematic diagram.DP algorithm includes LnA decision phase, the state in each stage is by the road after projection Road grid position determines.Routine weight valueThe i.e. corresponding moving-target trajectory reconstruction knot of corresponding minimal path Fruit.
Fig. 8 is moving-target trajectory reconstruction result schematic diagram.White crosses symbology target real trace (the default rail of emulation Mark), white filled box represents estimation track, i.e. trajectory reconstruction result.As can be seen that moving-target trajectory reconstruction result precision compared with Height is very high with emulation desired guiding trajectory registration.
The above is only the preferred embodiment of the present invention, and protection scope of the present invention is not limited to above-mentioned implementation Example, all technical solutions belonged under thinking of the present invention all belong to the scope of protection of the present invention.It should be pointed out that for the art Those of ordinary skill for, several improvements and modifications without departing from the principles of the present invention, these improvements and modifications It should be regarded as protection scope of the present invention.

Claims (4)

  1. A kind of 1. ground moving target trajectory reconstruction method suitable for CSAR imagings, which is characterized in that include the following steps：
    S1. to the CSAR transient echos signal that receives into row distance pulse pressure, by the full aperture echo of radar be evenly dividing for Several sub-aperture echoes, and sub-aperture echo is transformed into range-Dopler domain, it is examined by doppler filtering and constant false alarm rate It surveys and realizes that moving-target detects and obtains moving-target in the position in RD domains；
    S2. it realizes that moving-target is associated under different sub-apertures using multiple target tracking algorithm, obtains movement rail of the moving-target in RD domains Mark；
    S3. moving-target RD domains track is projected into road grid, and realize moving-target trajectory reconstruction using dynamic programming algorithm.
  2. 2. the ground moving target trajectory reconstruction method according to claim 1 suitable for CSAR imagings, which is characterized in that S1 Implementation method it is as follows：
    Known CSAR transmittings signal center frequency is fc, bandwidth B；Assuming that cartesian coordinate system origin is detection scene center, move Target speed and position are respectivelyWithWherein taRepresent the slow time；Radar Platform is with speedCurvilinear motion, slow time t are around detection sceneaThe position coordinates of the radar platform at moment areIf radar emission signal is linear FM signal, then the CSAR transient echos signal received passes through Quadrature demodulation and after pulse pressure, is expressed as：
    s(r,ta)=sinc { π B [r-R (ta)]}exp[-j4πfcR(ta)/c] (1)
    Wherein, r represents oblique distance, and c is the light velocity, and sinc () represents sinc function；R(ta) it is round trip of the radar platform to moving-target Apart from oblique distance, i.e.,：
    Wherein | | | |2Represent 2 norms；
    In order to realize moving-target trajectory reconstruction, radar full aperture echo is divided evenly as K sub-aperture echo, k-th of sub-aperture Diameter echo is
    Wherein TsubAnd ta,kDuration and the central instant of k-th sub-aperture are represented respectively；Rect () represents rectangular window letter Number；
    R (t in formula (3)a) in ta=ta,kLocating Taylor expansion expression formula is
    Wherein rk=R (ta,k) it is constant term, represent the distance of target and radar in k-th of sub-aperture central instant；
    For single order term coefficient, φ1(ta,ta,k) represent higher order term, represent remaining Range cell migration RRCM；
    Single order item in formula (4) can be converted by keystone to be corrected；It, will after converting correction single order item by keystone K-th of sub-aperture echo transforms to range-Dopler domain and obtains
    WhereinRepresent Fourier transformation, λc=c/fc, faRepresent Doppler frequency,Represent two-dimensional convolution,Represent moving-target in ta=ta,kInstantaneous Doppler frequency；Remaining Range cell migration RRCM can lead to dynamic mesh It is marked on RD domains to defocus, defocusing degree Ψ (r, fa) represent；
    Obtain sSk(r,fa) after, using average weighted method, moving-target is obtained in the position measuring value in RD domains, the measuring value With (rk,fa,k) represent；
    Comprising multiple moving-targets in sub-aperture echo, k-th of sub-aperture echo measurement is represented with following formula
    Wherein NkRepresent moving-target number in k-th of sub-aperture echo,WithFor two set, elementWithPoint The distance and Doppler measurement of m-th of moving-target in k-th of sub-aperture are not represented.
  3. 3. the ground moving target trajectory reconstruction method according to claim 1 suitable for CSAR imagings, which is characterized in that S2 Implementation method it is as follows：
    It is measured assuming that need to currently handle k-th sub-aperture echo as a result, surveying the of result acquisition by preceding k-1 sub-aperture echo volume N moving-target track is represented by
    Wherein N represents moving-target number, inRepresent n-th of moving-target i-thnA sub-aperture is detected for the first time, LnRepresent n-th A moving-target path length；SetWithRepresent moving-target track, elementWithRepresent that n-th of moving-target exists respectively Distance and Doppler measurement in k-th of sub-aperture；
    By nearest neighbor search, RD domain position of n-th of moving-target under k-th of sub-aperture, nearest neighbor search table can be obtained It is up to formula
    disminRepresent minimum range, m0Expression reaches minimum range disminWhen m value；If disminLess than one given threshold Value Tdis, then willWithIt is respectively added to gatherWithIn, and update corresponding path length Ln=Ln+ 1 and Update setOtherwise mean that n-th of moving-target does not appear in k-th of sub-aperture In, reason may be that false dismissal either moving-target occurs to be driven out to observation scene, this phenomenon is known as with losing；To each moving-target Above-mentioned nearest neighbor search is performed, if last setWithIn still have element remaining, then using surplus element as new moving-target Track initial position, while update moving-target number N=N+Nr, NrRepresent surplus element number；If a moving-target is continuous two Occur in a sub-aperture with losing phenomenon, then no longer update its track.If moving-target occurs in a certain sub-aperture with losing phenomenon, profit Pass through its position of Interpolate estimation with adjacent sub-aperture position.
  4. 4. the ground moving target trajectory reconstruction method according to claim 3 suitable for CSAR imagings, which is characterized in that S3 In, moving-target is obtained in the track in RD domains through S2Later, it needs by road prior information, by RD domains trajectory map To road grid；Road prior information can be obtained by satellite map or be automatically extracted by CSAR imaging results；
    By taking n-th of moving-target as an example, by the track in RD domainsIt is mapped to after road grid, L can be obtainednA set, Wherein m-th set can be expressed as
    WhereinRepresent road grid centre coordinate, Represent radar site；
    Set SmMiddle element number is inversely proportional with road grid size, set SmIn element representation moving-target in slow time ta,kWhen All possible positions carved；In order to therefrom select optimal location, following optimization problem is considered
    Wherein
    Represent aircraft in slow time ta,kSpeed, T represent positionSet
    Obviously, optimal solutionThe trajectory reconstruction result of i.e. n-th moving-target；Optimization problem can utilize DP algorithm to solve；
    Aforesaid operations are carried out to all moving-target RD domains tracks, you can obtain all moving-target trajectory reconstruction results.
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CN109917389A (en) * 2019-04-16 2019-06-21 中国人民解放军国防科技大学 Phase correction method in airborne holographic SAR imaging
CN110715671A (en) * 2019-12-12 2020-01-21 中智行科技有限公司 Three-dimensional map generation method and device, vehicle navigation equipment and unmanned vehicle
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