CN109444881B - Subsurface detection radar sub-satellite pulse accurate positioning method - Google Patents
Subsurface detection radar sub-satellite pulse accurate positioning method Download PDFInfo
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- CN109444881B CN109444881B CN201811239302.9A CN201811239302A CN109444881B CN 109444881 B CN109444881 B CN 109444881B CN 201811239302 A CN201811239302 A CN 201811239302A CN 109444881 B CN109444881 B CN 109444881B
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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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- G01S13/887—Radar or analogous systems specially adapted for specific applications for detection of concealed objects, e.g. contraband or weapons
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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
- 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
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- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
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Abstract
The invention discloses a subsurface detection radar sub-satellite point pulse accurate positioning method, which comprises the following steps: the real-time acquisition module acquires and processes satellite information input by the satellite platform in real time; the in-orbit resolution processing module is used for processing the in-orbit resolution according to the satellite information to obtain the current in-orbit resolution; pulse scene processing is carried out through a pulse space-time unified module, a coordinate transformation module and a pulse scene processing module; the method accurately positions each pulse scene of the subsurface detection radar, can accurately control the size of the imaging scene, and provides an accurate result for controlling the windowing size of signal processing, thereby reducing the data processing amount of signal processing, accelerating the development progress, reducing the verification cost, reducing the subsequent change and improving the safety and reliability of products.
Description
Technical Field
The invention relates to the technical field of satellite-borne subsurface imaging radars, in particular to a subsurface detection radar sub-satellite point pulse accurate positioning method.
Background
Synthetic Aperture Radar (SAR) is a high-resolution microwave remote sensing imaging Radar, which uses a small antenna to form a virtual equivalent long antenna by using a Synthetic Aperture principle and a pulse compression technology to obtain a Radar image with a target high azimuth resolution. The synthetic aperture radar has high resolution, can work all weather, and can effectively identify camouflage and penetration masks.
However, when the conventional synthetic aperture radar detects a satellite-borne subsurface, different surface layers of a target star need to be imaged, and the propagation and refraction of electromagnetic waves are different due to the medium coefficients of the different surface layers, so that the position of a radar satellite point cannot be accurately controlled, the processing of radar echoes is affected, and the imaging quality is poor.
In view of the above-mentioned drawbacks, the inventors of the present invention have finally obtained the present invention through a long period of research and practice.
Disclosure of Invention
In order to solve the technical defects, the technical scheme adopted by the invention is to provide a subsurface detection radar sub-satellite point pulse accurate positioning method, which comprises the following steps:
s1, the real-time acquisition module acquires and processes the satellite information input by the satellite platform in real time;
s2, the in-orbit resolution processing module carries out in-orbit resolution processing according to the satellite information to obtain the current in-orbit resolution;
and S3, performing pulse scene processing through the pulse space-time unified module, the coordinate transformation module and the pulse scene processing module.
Preferably, the real-time acquisition module acquires satellite information input by a satellite platform according to a set format; the satellite information comprises time information, track height information, a pitching attitude angle, a yawing attitude angle, a rolling attitude angle, a pitching angle speed, a yawing angle speed, a rolling angular speed, X/Y/Z axis position information of a satellite coordinate system and X/Y/Z axis speed information of the satellite coordinate system.
Preferably, the method for accurately positioning the infrasatellite point pulse of the subsurface detection radar further includes:
the communication module is communicated with the satellite interface chip through the RT end interface chip and receives the satellite information sent by the satellite platform;
the driving module is used for realizing the driving of the RT-end interface chip signal;
the MCU processing unit is used for carrying out logic processing on the subsurface layer detection radar sub-satellite point pulse accurate positioning method;
the MCU processing unit comprises the real-time acquisition module, the in-orbit resolution processing module, the pulse space-time unified module, the coordinate transformation module and the pulse scene processing module.
Preferably, the step S1 includes:
s11, waiting for the RT-end interface chip to be interrupted, judging whether the RT-end interface chip is the sub-address specified by the satellite information, and collecting data in a receiving buffer area of the RT-end interface chip;
s12, carrying out fault tolerance verification on the satellite information, and storing the correct satellite information in an internal variable table according to a FIF0 mode;
and S13, fitting the satellite information by adopting a least square method to the historical information of the previous 20 pieces of received satellite information to obtain the satellite information at the current time.
Preferably, the fitting formula is:
xi＝a2(ti-t)2+a1(ti-t)2+a0
wherein, a0、a1、a2Is a constant number, xiFitting coordinate value, t, of X/Y/Z axis of star coordinate systemiThe current coordinate value of the X/Y/Z axis of the star coordinate system is shown, and t is the mean value of the X/Y/Z axis coordinates of the star coordinate system.
Preferably, the step S2 includes:
s21, acquiring the fitted satellite information at the current moment;
s22, acquiring the repetition frequency and the number information of the processing pulses of the detection radar;
s23, calculating the wavelength gamma;
s24, calculating the synthetic aperture length Ls；
S25, the in-track resolution ρ is calculated.
Preferably, the calculation formula of the wavelength γ is as follows:
γ＝c/FreqCode
where c is the speed of light and Freqcode is the radar center frequency.
Preferably, the synthetic aperture length LsThe calculation formula of (2) is as follows:
Ls＝VGNC*pulse_num/prf
wherein, VGNCA velocity scalar for the satellite platform; pulse _ num is the number of processing pulses; prf is the radar repetition frequency.
Preferably, the calculation formula of the in-track resolution ρ is as follows:
ρ＝(γ＊h)/(2*Ls)
wherein gamma is the wavelength, h is the height of the platform height track, LsIs the synthetic aperture length.
Preferably, the step S3 includes:
s31, converting the orbit height information, the X/Y/Z axis position information and the X/Y/Z axis speed information of the satellite coordinate system in the satellite information into orbit height information, X/Y/Z axis position and X/Y/Z axis speed in a satellite imaging coordinate system by using the coordinate transformation module;
s32, calculating the coordinates of the central pulse on the surface layer of the star body in the star body imaging coordinate system according to the time difference between the central pulse and the first pulse, the track height information, the X/Y/Z axis position and the X/Y/Z axis speed information in the star body imaging coordinate system;
s33, according to the coordinates of the satellite lower point of the central pulse, respectively expanding n units to the left and right sides, wherein the unit step length is the along-the-track resolution, and calculating the satellite lower point n-dimensional imaging scene of the central pulse on the surface layer of the star body;
s34, according to the distance units detected by the radar, expanding m-layer units to the star subsurface, wherein the unit step length is the number of the distance units, and calculating the imaging scene of the star subsurface;
s35, converting the coordinates of each pulse in the star imaging coordinate system according to the time difference between all other pulses in the CPI and the central pulse;
and S36, calculating the coordinate position of the central pulse corresponding to each pulse in the m x n dimensional imaging scene of the star body, acquiring a complete imaging scene, and writing the imaging scene into the signal processing of the rear end.
Compared with the prior art, the invention has the beneficial effects that: according to the subsurface detection radar satellite point pulse positioning method, the size of the imaging scene can be accurately controlled through accurate positioning of each pulse scene of the subsurface detection radar, and an accurate result is provided for controlling the windowing size of signal processing, so that the data processing amount of signal processing is reduced, the development progress is accelerated, the verification cost is reduced, the subsequent change is reduced, and the safety and the reliability of products are improved.
Drawings
FIG. 1 is a flow chart of a subsurface detection radar sub-satellite pulse positioning method according to the present invention;
FIG. 2 is a flow chart of the apparatus of the method for locating the sub-surface detection radar sub-satellite pulse according to the present invention;
FIG. 3 is a flow chart of the real-time acquisition process;
FIG. 4 is a flow chart of the in-track resolution process;
fig. 5 is a flow chart of the pulse scene processing.
Detailed Description
The above and further features and advantages of the present invention are described in more detail below with reference to the accompanying drawings.
Example one
As shown in fig. 1, fig. 1 is a flowchart of a subsurface detection radar sub-satellite pulse positioning method according to the present invention; the subsurface detection radar sub-satellite point pulse accurate positioning method is used for realizing accurate positioning of a satellite-borne imaging radar on a satellite surface layer and a subsurface imaging area. The subsurface detection radar sub-satellite point pulse accurate positioning method mainly comprises the following steps:
s1, the real-time acquisition module acquires and processes the satellite information input by the satellite platform in real time;
s2, the in-orbit resolution processing module carries out in-orbit resolution processing according to the satellite information to obtain the current in-orbit resolution;
and S3, performing pulse scene processing through the pulse space-time unified module, the coordinate transformation module and the pulse scene processing module.
Specifically, the real-time acquisition module in step S1 acquires satellite information input by a satellite platform according to an agreed format; the satellite information comprises time information, track height information, a pitching attitude angle, a yawing attitude angle, a rolling attitude angle, a pitching angle speed, a yawing angle speed, a rolling angular speed, X/Y/Z axis position information of a satellite coordinate system and X/Y/Z axis speed information of the satellite coordinate system.
In step S2, the in-orbit resolution processing module calculates the current in-orbit resolution according to the acquired information such as the orbit height of the satellite platform, the speed of the satellite platform, the repetition frequency, the number of processing pulses, and the like.
In step S3, the pulse space-time unification module uses the center pulse as a reference, and unifies and transforms all pulse information in a sounding CPI (Coherent Processing Interval) of the radar to a center pulse coordinate system through coordinate transformation; the coordinate transformation module converts the formulated coordinate systems such as a satellite inertial coordinate system, a satellite fixed connection coordinate system, a satellite imaging coordinate system and the like; and the pulse scene processing module calculates m-n dimensional imaging scenes of the central pulse on the surface layer and the subsurface layer of the star body and calculates the position relation of all the pulses in the CPI in the imaging scenes.
The subsurface detection radar sub-satellite point pulse positioning method accurately positions each pulse scene of the subsurface detection radar, can accurately control the size of an imaging scene, provides an accurate result for controlling the windowing size of signal processing, and accordingly reduces the data processing amount of signal processing, accelerates the development progress, reduces the verification cost, reduces subsequent changes, and improves the safety and reliability of products.
Example two
In this embodiment, the subsurface detection radar sub-satellite pulse accurate positioning method is to realize specific functions of the real-time acquisition module, the in-orbit resolution processing module, the coordinate transformation module, the pulse space-time unification module, and the pulse scene processing module by using an MCU (micro control Unit).
As shown in fig. 2, fig. 2 is a flowchart of the apparatus for locating the pulse of the subsurface detection radar sub-satellite according to the present invention; the subsurface detection radar sub-satellite point pulse positioning method mainly comprises a communication module, a driving module and an MCU processing unit.
The communication module adopts a 1553B communication module, is mainly communicated with a satellite interface chip through an RT end interface chip and receives the satellite information sent by a satellite platform; the driving module adopts a 245 driving module to realize the driving of the RT-end interface chip signal; the MCU processing unit adopts an AT697F processing chip to realize logic processing of the subsurface detection radar sub-satellite pulse accurate positioning method. The RT end interface chip adopts a 65170 chip, and the star body interface chip adopts a 65180 chip; the star interface chip is a BC end.
EXAMPLE III
As shown in fig. 3, fig. 3 is a flowchart of step S1, and step S1 mainly includes:
s11, waiting for the RT-end interface chip to be interrupted, judging whether the RT-end interface chip is the sub-address specified by the satellite information, and collecting data in a receiving buffer area of the RT-end interface chip;
s12, carrying out fault tolerance verification on the satellite information, and storing the correct satellite information in an internal variable table according to a FIF0 mode;
s13, fitting the satellite information by a least square method for the historical information of the previous 20 received satellite information, namely fitting the track height information, the pitch attitude angle, the yaw attitude angle, the roll attitude angle, the pitch angle speed, the yaw angle speed, the roll angle speed, the X/Y/Z axis position information of the satellite coordinate system and the X/Y/Z axis speed information of the satellite coordinate system to obtain the satellite information at the current moment and fitting coordinate values X/Y/Z axis of the satellite coordinate systemiThe fitting formula of (a) is:
xi＝a2(ti-t)2+a1(ti-t)2+a0
wherein, a0、a1、a2Is a constant value of tiThe current coordinate value of the X/Y/Z axis of the star coordinate system is shown, and t is the mean value of the X/Y/Z axis coordinates of the star coordinate system.
The fitting formula can fit the X/Y/Z axis three-dimensional coordinates of the star coordinate system, and t isiIs the current coordinate value on the X axis, the Y axis or the Z axis, and t is the coordinate mean value on the corresponding X axis, the Y axis or the Z axis, i.e. tiIs the current coordinate value of the X axis, t is the coordinate mean value of the corresponding X axis, XiAnd similarly, the fitting coordinate value of the Y axis or the Z axis can be obtained by fitting the current coordinate value of the Y axis or the Z axis and the coordinate mean value of the Y axis or the Z axis.
Example four
As shown in fig. 4, fig. 4 is a flowchart of step S2, where the step S2 includes:
s21, acquiring the fitted satellite information at the current moment;
s22, acquiring the repetition frequency and the number information of the processing pulses of the detection radar;
s23, calculating the wavelength gamma;
s24, calculating the synthetic aperture length Ls；
S25, the in-track resolution ρ is calculated.
Specifically, the calculation formula of the wavelength γ is as follows:
γ＝c/FreqCode
where c is the speed of light and Freqcode is the radar center frequency.
The synthetic aperture length LsThe calculation formula of (2) is as follows:
Ls＝VGNC*pulse_num/prf
wherein, VGNCA velocity scalar for the satellite platform; pulse _ num is the number of processing pulses; prf is the radar repetition frequency.
The calculation formula of the down-track resolution rho is as follows:
ρ＝(γ＊h)/(2*Ls)
wherein gamma is the wavelength, h is the height of the platform height track, LsIs the synthetic aperture length.
EXAMPLE five
As shown in fig. 5, fig. 5 is a flowchart of step S3, where the step S3 includes:
s31, converting the orbit height information, the X/Y/Z axis position information and the X/Y/Z axis speed information of the satellite coordinate system in the satellite information into orbit height information, X/Y/Z axis position and X/Y/Z axis speed in a satellite imaging coordinate system by using the coordinate transformation module;
s32, calculating the coordinates of the central pulse on the surface layer of the star body in the star body imaging coordinate system according to the time difference between the central pulse and the first pulse, the track height information, the X/Y/Z axis position and the X/Y/Z axis speed information in the star body imaging coordinate system;
s33, according to the coordinates of the satellite lower point of the central pulse, respectively expanding n units to the left and right sides, wherein the unit step length is the along-the-track resolution, and calculating the satellite lower point n-dimensional imaging scene of the central pulse on the surface layer of the star body;
s34, according to the distance units detected by the radar, expanding m-layer units to the star subsurface, wherein the unit step length is the number of the distance units, and calculating the imaging scene of the star subsurface;
s35, converting the coordinates of each pulse in the star imaging coordinate system according to the time difference between all other pulses in the CPI and the central pulse;
and S36, calculating the coordinate position of the central pulse corresponding to each pulse in the m x n dimensional imaging scene of the star body, acquiring a complete imaging scene, and writing the imaging scene into the signal processing of the rear end.
The foregoing is merely a preferred embodiment of the invention, which is intended to be illustrative and not limiting. It will be understood by those skilled in the art that various changes, modifications and equivalents may be made therein without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A subsurface detection radar sub-satellite point pulse accurate positioning method is characterized by comprising the following steps:
s1, the real-time acquisition module acquires and processes the satellite information input by the satellite platform in real time;
s2, the in-orbit resolution processing module carries out in-orbit resolution processing according to the satellite information to obtain the current in-orbit resolution;
s3, pulse scene processing is carried out through the pulse space-time unified module, the coordinate transformation module and the pulse scene processing module;
the step S3 includes:
s31, converting the orbit height information, the X/Y/Z axis position information and the X/Y/Z axis speed information of the satellite coordinate system in the satellite information into orbit height information, X/Y/Z axis position and X/Y/Z axis speed in a satellite imaging coordinate system by using the coordinate transformation module;
s32, calculating the coordinates of the central pulse on the surface layer of the star body in the star body imaging coordinate system according to the time difference between the central pulse and the first pulse, the track height information, the X/Y/Z axis position and the X/Y/Z axis speed information in the star body imaging coordinate system;
s33, according to the coordinates of the satellite lower point of the central pulse, respectively expanding n units to the left and right sides, wherein the unit step length is the along-the-track resolution, and calculating the satellite lower point n-dimensional imaging scene of the central pulse on the surface layer of the star body;
s34, according to the distance units detected by the radar, expanding m-layer units to the star subsurface, wherein the unit step length is the number of the distance units, and calculating the imaging scene of the star subsurface;
s35, converting the coordinates of each pulse in the star imaging coordinate system according to the time difference between all other pulses in the CPI and the central pulse;
and S36, calculating the coordinate position of the central pulse corresponding to each pulse in the m x n dimensional imaging scene of the star body, acquiring a complete imaging scene, and writing the imaging scene into the signal processing of the rear end.
2. The method for accurately positioning the substellar point pulse of the subsurface detection radar according to claim 1, wherein the real-time acquisition module acquires satellite information input by a satellite platform according to a set format; the satellite information comprises time information, track height information, a pitching attitude angle, a yawing attitude angle, a rolling attitude angle, a pitching angle speed, a yawing angle speed, a rolling angular speed, X/Y/Z axis position information of a satellite coordinate system and X/Y/Z axis speed information of the satellite coordinate system.
3. The method for accurately positioning the infrasatellite point pulse of the subsurface detection radar according to claim 1, further comprising:
the communication module is communicated with the satellite interface chip through the RT end interface chip and receives the satellite information sent by the satellite platform;
the driving module is used for realizing the driving of the RT-end interface chip signal;
the MCU processing unit is used for carrying out logic processing on the subsurface layer detection radar sub-satellite point pulse accurate positioning method;
the MCU processing unit comprises the real-time acquisition module, the in-orbit resolution processing module, the pulse space-time unified module, the coordinate transformation module and the pulse scene processing module.
4. The method for accurately positioning the subsurface detection radar sub-satellite pulse according to claim 3, wherein the step S1 includes:
s11, waiting for the RT-end interface chip to be interrupted, judging whether the RT-end interface chip is the sub-address specified by the satellite information, and collecting data in a receiving buffer area of the RT-end interface chip;
s12, carrying out fault tolerance verification on the satellite information, and storing the correct satellite information in an internal variable table according to a FIF0 mode;
and S13, fitting the satellite information by adopting a least square method to the historical information of the previous 20 pieces of received satellite information to obtain the satellite information at the current time.
5. The method for accurately positioning the infrasatellite point pulse of the subsurface detection radar according to claim 4, wherein the fitting formula is as follows:
xi＝a2(ti-t)2+a1(ti-t)2+a0
wherein, a0、a1、a2Is a constant number, xiFitting coordinate values of an X/Y/Z axis of the star coordinate system, ti is a current coordinate value of the X/Y/Z axis of the star coordinate system, and t is a mean value of X/Y/Z axis coordinates of the star coordinate system.
6. The method for accurately positioning the subsurface detection radar sub-satellite point pulse according to claim 4, wherein the step S2 includes:
s21, acquiring the fitted satellite information at the current moment;
s22, acquiring the repetition frequency and the number information of the processing pulses of the detection radar;
s23, calculating the wavelength gamma;
s24, calculating the synthetic aperture length Ls；
S25, the in-track resolution ρ is calculated.
7. The method for accurately positioning the infrasatellite point pulse of the subsurface detection radar according to claim 6, wherein the calculation formula of the wavelength γ is as follows:
γ＝c/FreqCode
where c is the speed of light and Freqcode is the radar center frequency.
8. The method for accurately locating the infrasatellite point pulse of the subsurface detection radar according to claim 6, wherein the synthetic aperture length LsThe calculation formula of (2) is as follows:
Ls＝VGNC*pulse_num/prf
wherein, VGNCA velocity scalar for the satellite platform; pulse _ num is the number of processing pulses; prf is the radar repetition frequency.
9. The method for accurately positioning the infrasatellite point pulse of the subsurface detection radar according to claim 6, wherein the calculation formula of the down-track resolution p is as follows:
ρ＝(γ＊h)/(2*Ls)
wherein gamma is the wavelength, h is the height of the platform height track, LsIs the synthetic aperture length.
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| CN101846740A (en) * | 2010-05-17 | 2010-09-29 | 北京航空航天大学 | Satellite-loaded SAR specified latitude area echo simulation method |
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