CN112465879A - Synthetic aperture radar emergency registration algorithm - Google Patents
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- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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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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- G01S13/89—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
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- G06—COMPUTING; CALCULATING OR COUNTING
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Abstract
The invention discloses an emergency registration algorithm for a synthetic aperture radar, relating to the technical field of data registration of the synthetic aperture radar, according to the coordinates of the parameters G1 and G2 of the synthetic aperture radar orbit, calculating the central coordinate point G of the synthetic aperture radar orbit, then calculating the coordinate offset coefficient, acquiring one coordinate point according to the emergency three-dimensional plane terrain, performing registration and proofreading, calculating angle (N) and distance (M) of the current point, the data scanned by the synthetic aperture radar is matched to an emergency three-dimensional plane terrain through a synthetic aperture radar emergency registration algorithm, xyz and angle (N) and distance (M) of the current point are registered, after the registration is finished, whether the area can generate landslide or not is predicted according to other algorithms, if the landslide and the time of the landslide are adopted, emergency rescue can be carried out after the time is predicted, the rescue time is effectively advanced, and rescue can be better carried out.
Description
Technical Field
The invention relates to the technical field of synthetic aperture radar data registration, in particular to an emergency registration algorithm for a synthetic aperture radar.
Background
The synthetic aperture radar is mainly used for detecting the state of a slope, after the synthetic aperture radar scans data, the data is manually integrated and is registered to a three-dimensional model, a certain position of the three-dimensional model consists of xyz coordinates, but the radar has no way to scan the coordinates, the data can be scanned only according to angle and distance of a current point, when landslide or land collapse occurs and the shape of the slope changes, the data scanned by the synthetic aperture radar is registered to the three-dimensional model and is not registered correspondingly, so an emergency registration algorithm is provided, and xyz is matched with the angle and distance of the current point.
Disclosure of Invention
In view of the defects and shortcomings in the prior art, the invention provides an emergency registration algorithm for synthetic aperture radar, which converts xyz into angle and distance values of a current point which can be scanned by radar through a mathematical algorithm.
In order to solve the technical problems, the invention adopts the following technical scheme: a synthetic aperture radar emergency registration algorithm is characterized in that data scanned by a synthetic aperture radar is matched to an emergency three-dimensional plane terrain through the synthetic aperture radar emergency registration algorithm, and the synthetic aperture radar emergency registration algorithm comprises the following steps:
step 1, calculating a central coordinate point G of the synthetic aperture radar orbit according to the coordinates of parameters G1 and G2 of the synthetic aperture radar orbit: g (x, y, z) ═ G1(x, y, z) + G2(x, y, z))/2;
step 2, calculating a coordinate offset coefficient alpha: alpha ═ atan (Gy/Gx) × 180/pi;
step 3, acquiring one coordinate point according to the emergency three-dimensional plane terrain, performing registration and proofreading, and calculating angle (N) and distance (M) of the current point:
N＝(atan((Gy-Py)/(Gx-Px))*180/π+90)*(-1)+alpha
M＝√((Gx-Px)^2+(Gy-Py)^2+(Gz-Pz)^2)
wherein:
g represents radar track coordinates and consists of three terms of x, y and z, wherein the x, y and z represent 54 coordinate points,
p represents a terrain single-term coordinate and consists of three terms of x, y and z, wherein the x, y and z represent 54 coordinate points,
gx, Px represent the coordinate x values,
gy, Py represents the value of coordinate y,
gz, Pz represent coordinate z values.
As a further improvement of the present invention, if N is less than 0, N is N + 180.
Compared with the prior art, the invention has the beneficial effects that: the synthetic aperture radar emergency registration algorithm effectively converts coordinate data which cannot be scanned by a radar into data which can be scanned, and applies the data to a slope radar emergency system, so that the system can effectively predict whether the region can generate landslide according to the data, if the region can generate landslide, the time of the landslide is predicted, rescue can be carried out after the time is predicted, and the time is won for rescue.
Drawings
The invention will be further described with reference to the following drawings and detailed description:
FIG. 1 is a schematic representation of a three-dimensional model of a side slope.
It is noted that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Detailed Description
For better understanding of the technical solutions and advantages of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings and specific embodiments, it should be understood that the specific embodiments described herein are only for the understanding of the present invention and are not intended to limit the present invention, and all other embodiments obtained by those of ordinary skill in the art without any inventive work are within the scope of the present invention.
As shown in fig. 1, white is a three-dimensional model of a side slope, a synthetic aperture radar is installed on the opposite side of a real side slope, data acquisition is performed, the radar runs from a point G1 to a point G2 to acquire data, the radar has two parameters in common, one is an angle (a) and the other is a distance (D), the acquired data is-36 if a is-36 and the D is 1000, the radar turns 36 degrees to the left, then data is acquired at a distance of 1000 meters, and generally, the acquisition is performed once in 20 minutes and once in 10 w.
The terrain is a three-dimensional model, the three-dimensional model uses real 54 geodetic coordinates and has three key parameters x, y and z, and the data scanned by the synthetic aperture radar is matched to the emergency three-dimensional plane terrain through a synthetic aperture radar emergency registration algorithm, and the synthetic aperture radar emergency registration algorithm comprises the following steps:
step 1, calculating a central coordinate point G of the synthetic aperture radar orbit according to the coordinates of parameters G1 and G2 of the synthetic aperture radar orbit: g (x, y, z) ═ G1(x, y, z) + G2(x, y, z))/2;
step 2, calculating a coordinate offset coefficient alpha: alpha ═ atan (Gy/Gx) × 180/pi;
step 3, acquiring one coordinate point according to the emergency three-dimensional plane terrain, performing registration and proofreading, and calculating angle (N) and distance (M) of the current point:
N＝(atan((Gy-Py)/(Gx-Px))*180/π+90)*(-1)+alpha
M＝√((Gx-Px)^2+(Gy-Py)^2+(Gz-Pz)^2)
if N is not in the range and M is not in the range, the sum of N is converted into 1, namely N is 1 and M is 1, the matching is not successful;
wherein:
g represents radar track coordinates and consists of three terms of x, y and z, wherein the x, y and z represent 54 coordinate points,
p represents a terrain single-term coordinate and consists of three terms of x, y and z, wherein the x, y and z represent 54 coordinate points,
gx, Px represent the coordinate x values,
gy, Py represents the value of coordinate y,
gz, Pz represent coordinate z values.
x ranges from Dmin × sin, (amin) × I to Dmax × sin (amax) × I;
y ranges from Dmin × cos (amin) J to Dmax × cos (amin) J; z is a number of 0, and,
where I and J are manually uploaded by a person, I represents the length of the generated terrain, J represents the width of the generated terrain,
a represents an angle term, the angle term consists of a plurality of values, Amin represents an angle minimum term, Amax represents an angle maximum term,
d represents a distance term which is composed of a plurality of values, Dmin represents a distance minimum term, Dmax represents a distance maximum term,
a and D are both taken from radar, A represents the number of the division of the rotation angle of the radar, for example, the radar is from-30 to 30, each rotation is 0.1, A is (30- (-30)/0.1) is 600 in the radar recording data, D represents the distance of radar scanning, for example, the radar is from 800 to 1600, the nearest distance of the radar scanning is 800m, and the farthest distance is 1600 m.
Example 1
Inputting:
A＝240
D＝800～1600
G1＝414522.56,4629959.476,176.1805
G2＝414524.35,4629957.923,176.1794
P＝413733.599,4629072.998,225.833
adding each data into a formula to calculate:
Gx＝(414522.56+414524.35)/2＝414523.45499999996
Gy＝(4629959.476+4629957.923)/2＝4629958.6995
Gz＝(176.1805+176.1794)/2＝176.17995
alpha＝atan(4629958.6995/414523.45499999996)*180/π＝84.8839092737533
N＝(atan((4629958.6995-4629072.998)/(414523.45499999996-413733.599))*180/π+90)*( -1)+84.8839092737533＝-53.389965103043025＝-53
N<0,N＝-53+180＝127
M＝√((414523.45499999996-413733.599)^2+(4629958.6995-4629072.998)^2+ (176.17995-225.833)^2)＝1187.7731573045721＝1184
the results were obtained: n127, M1187;
example 2
Inputting:
A＝240
D＝800～1600
G1＝414522.56,4629959.476,176.1805
G2＝414524.35,4629957.923,176.1794
P＝413736.600,4629073.998,225.720
adding each data into a formula to calculate:
Gx＝(414522.56+414524.35)/2＝414523.45499999996
Gy＝(4629959.476+4629957.923)/2＝4629958.6995
Gz＝(176.1805+176.1794)/2＝176.17995
alpha＝atan(4629958.6995/414523.45499999996)*180/π＝84.8839092737533
N＝(atan((4629958.6995-4629073.998)/(414523.45499999996-413736.6))*180/π+90)*(-1 )+84.8839092737533＝-53.46614287859829＝-53
N<0,N＝-53+180＝127
M＝√((414523.45499999996-413736.6)^2+(4629958.6995-4629073.998)^2+ (176.17995-225.72)^2)＝1185.0281649319513＝1185
the results were obtained: n127, M1185;
example 3
Inputting:
A＝240
D＝800～1600
G1＝414522.56,4629959.476,176.1805
G2＝414524.35,4629957.923,176.1794
P＝414115.631,4629669.053,-20.442
adding each data into a formula to calculate:
Gx＝(414522.56+414524.35)/2＝414523.45499999996
Gy＝(4629959.476+4629957.923)/2＝4629958.6995
Gz＝(176.1805+176.1794)/2＝176.17995
alpha＝atan(4629958.6995/414523.45499999996)*180/π＝84.8839092737533
N＝(atan((4629958.6995-4629669.053)/(414523.45499999996-414115.631))*180/π+90)*( -1)+84.8839092737533＝-40.499384546407384＝-40
N<0,N＝-40+180＝140
M＝√((414523.45499999996-414115.631)^2+(4629958.6995-4629669.053)^2+ (176.17995--20.442)^2)＝537.4715817230775＝537
because D is 800-1600 and M is 800, N is 1 and M is 1
And (3) outputting:
N＝1，M＝1；
example 4
Inputting:
A＝240
D＝400～1600
G1＝414522.56,4629959.476,176.1805
G2＝414524.35,4629957.923,176.1794
P＝413705.597,4629426.030,78.191
adding each data into a formula to calculate:
Gx＝(414522.56+414524.35)/2＝414523.45499999996
Gy＝(4629959.476+4629957.923)/2＝4629958.6995
Gz＝(176.1805+176.1794)/2＝176.17995
alpha＝atan(4629958.6995/414523.45499999996)*180/π＝84.8839092737533
N＝(atan((4629958.6995-4629426.03)/(414523.45499999996-413705.597))*180/π+90)*(- 1)+84.8839092737533＝-38.19221925488894＝-38
N<0,N＝-38+180＝142
M＝√((414523.45499999996-413705.597)^2+(4629958.6995-4629426.03)^2+ (176.17995-78.191)^2)＝980.9334017740974＝980
the results were obtained: 142N, 980M;
example 5
Inputting:
A＝180
D＝600～1200
G1＝467269.004,2906380.308,1233.054
G2＝467267.643,2906380.786,1233.078
P＝466941.643,2905729.308,1233.066
adding each data into a formula to calculate:
Gx＝(467269.004+467267.643)/2＝467268.3235
Gy＝(2906380.308+2906380.786)/2＝2906380.5470000003
Gz＝(1233.054+1233.078)/2＝1233.066
alpha＝atan(2906380.5470000003/467268.3235)*180/π＝80.86652872342042
N＝(atan((2906380.5470000003-2905729.308)/(467268.3235-466941.643))*180/π+90)*(- 1)+80.86652872342042＝-72.49379164845199＝-72
N<0,N＝-72+180＝108
M＝√((467268.3235-466941.643)^2+(2906380.5470000003-2905729.308)^2+ (1233.066-1233.066)^2)＝728.5824484581951＝728
the results were obtained: n108, M728.
The results obtained in the above 5 embodiments are all data that can be scanned by the matched synthetic aperture radar, and the following contents are understood by those skilled in the art, and are not described herein again, a registration file is generated according to three-dimensional terrain coordinates, the file format is N, M, x, y, z, when data display is performed, a diffimage file generated by the radar is matched according to the file, a color corresponding to each point is calculated according to N and M, and then the color is displayed on a slope radar emergency system, and other algorithms (such as a vegetarian rattan algorithm, a golden section algorithm, and a tangent angle algorithm) are applied to the system to predict whether the area will have a landslide, and if the landslide occurs, the time of the landslide is predicted, and rescue can be performed after the time is predicted.
Claims (2)
1. An emergent registration algorithm of a synthetic aperture radar is characterized in that: the method comprises the following steps of matching data scanned by the synthetic aperture radar to an emergency three-dimensional plane terrain through a synthetic aperture radar emergency registration algorithm:
step 1, calculating a central coordinate point G of the synthetic aperture radar orbit according to the coordinates of parameters G1 and G2 of the synthetic aperture radar orbit: g (x, y, z) ═ G1(x, y, z) + G2(x, y, z))/2;
step 2, calculating a coordinate offset coefficient alpha: alpha ═ atan (Gy/Gx) × 180/pi;
step 3, acquiring one coordinate point according to the emergency three-dimensional plane terrain, performing registration and proofreading, and calculating angle (N) and distance (M) of the current point:
N＝(atan((Gy-Py)/(Gx-Px))*180/π+90)*(-1)+alpha
M＝√((Gx-Px)^2+(Gy-Py)^2+(Gz-Pz)^2)
wherein:
g represents radar track coordinates and consists of three terms of x, y and z, wherein the x, y and z represent 54 coordinate points,
p represents a terrain single-term coordinate and consists of three terms of x, y and z, wherein the x, y and z represent 54 coordinate points,
gx, Px represent the coordinate x values,
gy, Py represents the value of coordinate y,
gz, Pz represent coordinate z values.
2. The synthetic aperture radar emergency registration algorithm of claim 1, wherein: if N is less than 0, N is N + 180.
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| KR102028324B1 (en) * | 2019-02-26 | 2019-11-04 | 엘아이지넥스원 주식회사 | Synthetic Aperture Radar Image Enhancement Method and Calculating Coordinates Method |
| CN110646794A (en) * | 2019-11-05 | 2020-01-03 | 西安电子工程研究所 | Method for forming terrain detection data by radar |
-
2020
- 2020-01-19 CN CN202010061443.7A patent/CN112465879A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| US20080074312A1 (en) * | 2006-08-31 | 2008-03-27 | Jack Cross | System and method for 3d radar image rendering |
| CN105137432A (en) * | 2015-08-19 | 2015-12-09 | 上海交通大学 | Foundation synthetic aperture radar three dimensional imaging method based on quadrature image registration |
| CN109839634A (en) * | 2019-01-25 | 2019-06-04 | 中国汽车技术研究中心有限公司 | A kind of subject fusion method of vehicle-mounted camera and radar |
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