CN113777605B - Passive millimeter wave three-dimensional imaging system and imaging method thereof - Google Patents
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Abstract
The invention relates to a passive millimeter wave three-dimensional imaging system and an imaging method thereof. The system comprises: a main dielectric lens, a sub-dielectric lens array, a radiometer receiver array, a digital acquisition circuit and a computer; electromagnetic waves radiated by objects in the field are converged to a sub-lens array plane through a main medium lens, then focused to a radiometer receiver array plane through different sub-lenses, electromagnetic waves are received by a receiving antenna on the radiometer receiver array, signals are sequentially output to a millimeter wave band low-noise amplifier, a high-sensitivity square law detector, a low-pass filter, a low-frequency amplifier, an output end of the low-frequency amplifier is connected with an input end of a digital acquisition circuit, and the digital acquisition circuit transmits sampling signals to a computer for data processing.
Description
Technical Field
The invention relates to the technical field of three-dimensional imaging, in particular to a passive millimeter wave three-dimensional imaging system and an imaging method thereof.
Background
Millimeter waves are electromagnetic waves with the frequency range from 30GHz to 300GHz, a millimeter wave band covers a plurality of atmospheric windows (35 GHz, 94GHz, 140GHz, 220GHz and the like), cloud, fog and smoke dust can be penetrated, and radiation measurement is not influenced by weather and environment; therefore, the millimeter wave radiation field measurement technology has important application in the fields of military national defense, remote sensing detection and the like. In addition, since millimeter waves have good penetrating properties on clothes, millimeter wave radiation field detection is also important in the field of human body security inspection imaging for detecting hidden dangerous goods. In millimeter wave bands, particularly W wave bands, the radiation difference between a hidden object and a human body is large, and the detection of a radiation field and passive imaging are facilitated.
Conventional millimeter wave radiation field measurement and passive millimeter wave imaging are often limited to detecting two-dimensional information, only position information of an electromagnetic wave radiation path can be recorded, but angle information highly coupled with scene depth, target geometry, scene shielding relation and the like is lost, which means that conventional millimeter wave radiation field detection cannot adjust focal depth of detection and imaging so that an imaging plane is focused on a plane where an object of interest is located, three-dimensional information of a radiation field cannot be obtained, and functions and application scenes of the device are greatly limited.
Millimeter wave focal plane systems are currently the dominant technology of passive millimeter wave detection imaging, and the structure of such systems is that the field plane is located at the focal plane of the dark surface of the lens, while the receiver array is located at the bright focal plane of the lens, which has the problem of contradiction between the imaging spatial resolution and the imaging depth of field. Spatial resolution refers to the size of a focal spot formed by a feed beam on an imaging plane, and the smaller the focal spot is, the higher the spatial resolution and the higher the imaging precision. Depth of field refers to the distance the focal plane moves in the axial direction allowed by the distortion of the focal spot to a certain extent, the greater the depth of focus the greater the working range of the system imaging, the more effective the scanning of the surface relief target [1]. It is desirable that the imaging system have high spatial resolution and a large depth of field. The spatial resolution delta and depth of field deltau are related as:
As shown in fig. 1, if the imaging spatial resolution is increased, the imaging depth of field is reduced; if the depth of field is increased, the imaging spatial resolution is reduced. Therefore, the conventional fixed focal depth focal plane array passive millimeter wave imaging system has the problem of smaller imaging depth of field, which results in reduced resolution of the imaging system during scanning of rotating or moving objects, especially during axial movement, and poor capability of detecting surface spoofing objects.
Disclosure of Invention
The invention provides a passive millimeter wave three-dimensional imaging system and an imaging method thereof, which solve the problems in the prior art and provide the following technical scheme:
A passive millimeter wave three-dimensional imaging system, the system comprising: a main dielectric lens, a sub-dielectric lens array, a radiometer receiver array, a digital acquisition circuit and a computer;
Electromagnetic waves radiated by objects in the field are converged to a sub-lens array plane through a main medium lens, then focused to a radiometer receiver array plane through different sub-lenses, electromagnetic waves are received by a receiving antenna on the radiometer receiver array, signals are sequentially output to a millimeter wave band low-noise amplifier, a high-sensitivity square law detector, a low-pass filter, a low-frequency amplifier, an output end of the low-frequency amplifier is connected with an input end of a digital acquisition circuit, and the digital acquisition circuit transmits sampling signals to a computer for data processing;
A group of two-dimensional radiometer receivers which are distributed at equal intervals are placed on the focal plane of each sub-medium lens, the distance between the phase center of a receiving antenna of each group of radiometer receivers and the center point of the bright surface of the corresponding sub-medium lens is the same, and all the radiometer receivers jointly form a radiometer receiver array;
step 3: flywheel rotational speed optimization during imaging is performed.
Preferably, the sub-medium lens array is composed of a plurality of sub-medium lenses which are two-dimensionally and equally spaced, and the sub-medium lens array and the center of the main medium lens are on the same axis.
A passive millimeter wave three-dimensional imaging method comprises the following steps:
Step 1: extracting radiation field information, and recording a four-dimensional function of the radiation field;
Step 2: determining the radiation field intensity on the radiometer plane according to the distance between the radiometer array plane and the sub-lens plane;
Step 3: and obtaining millimeter wave radiation power corresponding to a series of plane sampling points with different depths of field, namely obtaining three-dimensional millimeter wave radiation field data corresponding to the three-dimensional space sampling points one by one, and realizing millimeter wave three-dimensional radiation field detection.
Preferably, the step1 specifically includes:
The radiation field from a certain point in the field of view of the imaging system is received by a plurality of radiometer receivers behind a plurality of sub-lenses after being focused by the main lens; each radiometer receiver receives millimeter wave radiation from a plurality of range, plurality of azimuth targets; the coordinates corresponding to the radiation paths are represented by the coordinates of the intersection points of the sub-lens planes and the plane of the radiometer array;
The coordinates (x, y) of the radiometer plane represent the azimuth information of the target, the line connecting the coordinates (x, y) with the coordinates (x ', y') on the sub-lens plane represent the radiation direction, the recorded radiation field, and the four-dimensional function of the radiation field is represented by PF (x ', y', x, y).
Preferably, the step 2 specifically includes: the distance between the radiometer array plane and the sub-lens plane is f, and the radiation field intensity at the point (x, y) on the radiometer plane is:
preferably, the step 3 specifically includes:
The method comprises the steps of measuring scene depth, target geometry and scene shielding relation information lost in a traditional passive millimeter wave focal plane array imaging mode through a passive millimeter wave three-dimensional imaging system, obtaining millimeter wave radiation power corresponding to a series of plane sampling points with different depths of field through representing the mapping relation between the radiation intensity of a target point and the position and distance information of the target point, namely obtaining three-dimensional millimeter wave radiation field data corresponding to three-dimensional space sampling points one by one, and realizing millimeter wave three-dimensional radiation field detection.
Preferably, millimeter wave three-dimensional radiation field detection is achieved by:
The distance between the new imaging plane and the sub-lens plane is f ', let f' =βf, and β is a virtual imaging depth scale factor; when the sub-lens plane and the sensor plane are infinite, the distance between the sub-lens plane and the imaging plane changes when the sub-lens array focuses on different depths, and the integral track of the calculated focusing image in space shifts, so that the focal length agility is realized by applying spatial domain integral projection;
As can be seen from the similar triangle theorem, after the focal length is changed rapidly, the coordinate of the intersection point formed by the electromagnetic wave and the radiometer plane is The resulting radiation field strength at the radiation plane is expressed as:
after the focal length agility is obtained, the radiation intensity of the radiometer plane is as follows:
On the basis of collected four-dimensional (x ', y', x, y) matrix radiation field data, corresponding beta values are determined by transforming different virtual focusing image planes, sub lenses corresponding to the positions of pixels on the radiometer are determined by the beta values, and the mapping relation of the radiation fields at different depth distances is obtained, so that the information extraction of the three-dimensional radiation field is realized;
Through a sensitive target depth of field extraction algorithm and a focal length agile image inversion algorithm, coordinate transformation is performed by changing a virtual depth of field transformation factor, so that focusing agile of a focal plane of an imaging system is achieved to a plane where an interested target in a system view field is located, and a two-dimensional or three-dimensional gray image is inverted according to a passive millimeter wave imaging algorithm.
Preferably, the aperture and focal length of the main lens and the sub lens need to have a system to integrate the requirements of imaging distance, field of view range and self volume; the number of pixels imaged by the system is determined by the number and arrangement of the sub-lenses and the number and arrangement of the radiometer receivers, and when the sub-lenses are arranged in m1×m2 and the radiometer receivers are arranged in n1×n2, the number of pixels imaged by the system is (m1×n1) × (m2×n2).
The beneficial effects are that:
According to the passive millimeter wave three-dimensional imaging method and system, millimeter wave radiation field measurement is introduced by inserting the sub-lens array between the main focusing antenna and the radiometer receiver array, information such as scene depth, target geometry, scene shielding relation and the like lost in a traditional passive millimeter wave focal plane array imaging mode can be measured, and millimeter wave radiation power corresponding to a series of plane sampling points with different depth of field is obtained by representing the mapping relation between the radiation intensity of a target point and the position and distance information of the target point, namely three-dimensional millimeter wave radiation field data corresponding to the three-dimensional space sampling points one by one is obtained. The method and the system can realize the detection of the three-dimensional millimeter wave radiation field of the environment (leaf clusters, cloud mist and smoke dust) under the all-weather complex shielding condition and realize the three-dimensional perspective of the environment. The system can realize large depth of field imaging, thereby meeting the demands of non-matched type, rapid and convenient security inspection imaging. The system provided by the invention realizes planar focusing imaging of any depth of field through focal length agility in the system view field range, and realizes two-dimensional or three-dimensional imaging of sensitive objects in scenes such as human body security inspection and the like through a sensitive target depth of field extraction algorithm and a focal length agility image inversion algorithm.
Drawings
FIG. 1 is a schematic diagram of depth of field versus spatial resolution;
FIG. 2 is a block diagram of a passive millimeter wave three-dimensional imaging system;
FIG. 3 is a schematic diagram of a passive millimeter wave three-dimensional imaging system;
Fig. 4 is a schematic structural perspective view of a passive millimeter wave three-dimensional imaging system;
FIG. 5 is a schematic diagram of a point source radiation path;
FIG. 6 is a schematic view of spatial domain focal length agility;
fig. 7 is a schematic diagram of an imaging algorithm based on focal length agility.
Detailed Description
The present invention will be described in detail with reference to specific examples.
First embodiment:
According to the embodiments shown in fig. 2 to 7, the specific optimization technical scheme adopted by the present invention to solve the above technical problems is as follows: the three-dimensional structure of the system is shown in fig. 4. The millimeter wave three-dimensional radiation field measuring system comprises a main medium lens 1, a sub-medium lens array 2, a radiometer receiver array 3, a digital acquisition circuit 4 and a computer 5. Electromagnetic waves radiated by objects in a system view field are converged to the plane of the sub-lens array 2 through the main medium lens 1, then focused to the plane of the radiometer receiver array 3 through different sub-lenses, the receiving antenna 3-1 on the radiometer receiver receives the electromagnetic waves, signals are sequentially output to the millimeter wave band low-noise amplifier 3-2, the high-sensitivity square law detector 3-3, the low-pass filter 3-4, the low-frequency amplifier 3-5, the output end of the low-frequency amplifier 3-5 is connected with the input end of the digital acquisition circuit 4, and the digital acquisition circuit 4 transmits sampling signals to the computer 5 for data processing. The method is characterized in that: the sub-medium lens array 2 is composed of two-dimensional sub-medium lenses which are arranged at equal intervals, and the sub-medium lens array 2 and the center of the main medium lens 1 are on the same axis. A group of two-dimensional radiometer receivers which are distributed at equal intervals are placed on the focal plane of each sub-medium lens, the distance between the phase center of a receiving antenna of each group of radiometer receivers and the center point of the bright surface of the corresponding sub-medium lens is the same, and all the radiometer receivers jointly form a radiometer receiver array.
The main medium lens is Polytetrafluoroethylene (PTFE); the sub-medium lens is Polytetrafluoroethylene (PTFE), a radiation tracking method is used for simulating the propagation paths of electromagnetic waves in the main medium lens and the sub-medium lens in combination with the requirements of the imaging distance (1000 mm) and the view field range of the system, and a Gaussian beam method is used for simulating the propagation paths of the electromagnetic waves between the feed source and the lens; determining that the aperture of a main lens is 300mm, the focusing focal lengths of a bright surface and a dark surface are 1000mm, the aperture of a sub lens is 10mm, and the focal lengths of the bright surface and the dark surface are respectively 1000mm and 12mm in number and 10 x 10 in arrangement; the radiometer receiver consists of a receiving antenna, a millimeter wave band low-noise amplifier, a high-sensitivity square law detector, a low-pass filter, a low-frequency amplifier and a low-frequency amplifier, wherein the number and the arrangement are (10 multiplied by 10) multiplied by (3 multiplied by 3); the main medium lens and the sub-medium lens arrays belong to the radiometer receiver arrays which are fixed on the metal support frame. Electromagnetic waves radiated by objects in the system view field are converged to a sub-lens array plane through a main medium lens, and then focused to a radiometer receiver array plane through different sub-lenses, wherein the output end of a radiometer receiver is connected with the input end of a digital acquisition circuit, and the output end of the digital acquisition circuit is connected with the input end of a computer.
In the embodiment, the digital acquisition circuit adopts and encodes the analog signal output by the radiometer receiver and then transmits the analog signal to the computer for data processing, so that the three-dimensional information of the radiation field in the system view field range can be obtained, and the two-dimensional or three-dimensional imaging of the sensitive target can be realized through the focal length shortcut-side-based imaging algorithm discussed in the principle.
The method adopts a mode of combining mechanical scanning with a one-dimensional radiometer array, reduces the number of radiometer receivers for constructing the system, and saves the system cost.
A passive millimeter wave three-dimensional imaging method comprises the following steps:
Step 1: extracting radiation field information, and recording a four-dimensional function of the radiation field;
The step1 specifically comprises the following steps:
The radiation field from a certain point in the field of view of the imaging system is received by a plurality of radiometer receivers behind a plurality of sub-lenses after being focused by the main lens; each radiometer receiver receives millimeter wave radiation from a plurality of range, plurality of azimuth targets; the coordinates corresponding to the radiation paths are represented by the coordinates of the intersection points of the sub-lens planes and the plane of the radiometer array;
The coordinates (x, y) of the radiometer plane represent the azimuth information of the target, the line connecting the coordinates (x, y) with the coordinates (x ', y') on the sub-lens plane represent the radiation direction, the recorded radiation field, and the four-dimensional function of the radiation field is represented by P F (x ', y', x, y).
Step 2: determining the radiation field intensity on the radiometer plane according to the distance between the radiometer array plane and the sub-lens plane;
the step 2 specifically comprises the following steps: the distance between the radiometer array plane and the sub-lens plane is f, and the radiation field intensity at the point (x, y) on the radiometer plane is:
Step 3: and obtaining millimeter wave radiation power corresponding to a series of plane sampling points with different depths of field, namely obtaining three-dimensional millimeter wave radiation field data corresponding to the three-dimensional space sampling points one by one, and realizing millimeter wave three-dimensional radiation field detection.
The step 3 specifically comprises the following steps:
The method comprises the steps of measuring scene depth, target geometry and scene shielding relation information lost in a traditional passive millimeter wave focal plane array imaging mode through a passive millimeter wave three-dimensional imaging system, obtaining millimeter wave radiation power corresponding to a series of plane sampling points with different depths of field through representing the mapping relation between the radiation intensity of a target point and the position and distance information of the target point, namely obtaining three-dimensional millimeter wave radiation field data corresponding to three-dimensional space sampling points one by one, and realizing millimeter wave three-dimensional radiation field detection.
The millimeter wave three-dimensional radiation field detection is realized by the following steps:
The distance between the new imaging plane and the sub-lens plane is f ', let f' =βf, and β is a virtual imaging depth scale factor; when the sub-lens plane and the sensor plane are infinite, the distance between the sub-lens plane and the imaging plane changes when the sub-lens array focuses on different depths, and the integral track of the calculated focusing image in space shifts, so that the focal length agility is realized by applying spatial domain integral projection;
As can be seen from the similar triangle theorem, after the focal length is changed rapidly, the coordinate of the intersection point formed by the electromagnetic wave and the radiometer plane is The resulting radiation field strength at the radiation plane is expressed as:
after the focal length agility is obtained, the radiation intensity of the radiometer plane is as follows:
On the basis of collected four-dimensional (x ', y', x, y) matrix radiation field data, corresponding beta values are determined by transforming different virtual focusing image planes, sub lenses corresponding to the positions of pixels on the radiometer are determined by the beta values, and the mapping relation of the radiation fields at different depth distances is obtained, so that the information extraction of the three-dimensional radiation field is realized;
Through a sensitive target depth of field extraction algorithm and a focal length agile image inversion algorithm, coordinate transformation is performed by changing a virtual depth of field transformation factor, so that focusing agile of a focal plane of an imaging system is achieved to a plane where an interested target in a system view field is located, and a two-dimensional or three-dimensional gray image is inverted according to a passive millimeter wave imaging algorithm.
The aperture and focal length of the main lens and the sub lens need to have a system to integrate the requirements of imaging distance, field range and self volume; the number of pixels imaged by the system is determined by the number and arrangement of the sub-lenses and the number and arrangement of the radiometer receivers, and when the sub-lenses are arranged in m1×m2 and the radiometer receivers are arranged in n1×n2, the number of pixels imaged by the system is (m1×n1) × (m2×n2).
The above description is only a preferred embodiment of a passive millimeter wave three-dimensional imaging system and an imaging method thereof, and the protection scope of a passive millimeter wave three-dimensional imaging system and an imaging method thereof is not limited to the above embodiments, and all technical solutions under the concept belong to the protection scope of the invention. It should be noted that modifications and variations can be made by those skilled in the art without departing from the principles of the present invention, which is also considered to be within the scope of the present invention.
Claims (5)
1. A passive millimeter wave three-dimensional imaging method, the method being based on a passive millimeter wave three-dimensional imaging system, the system comprising: a main dielectric lens, a sub-dielectric lens array, a radiometer receiver array, a digital acquisition circuit and a computer;
Electromagnetic waves radiated by objects in the field are converged to a sub-lens array plane through a main medium lens, then focused to a radiometer receiver array plane through different sub-lenses, electromagnetic waves are received by a receiving antenna on the radiometer receiver array, signals are sequentially output to a millimeter wave band low-noise amplifier, a high-sensitivity square law detector, a low-pass filter, a low-frequency amplifier, an output end of the low-frequency amplifier is connected with an input end of a digital acquisition circuit, and the digital acquisition circuit transmits sampling signals to a computer for data processing;
A group of two-dimensional radiometer receivers which are distributed at equal intervals are placed on the focal plane of each sub-medium lens, the distance between the phase center of a receiving antenna of each group of radiometer receivers and the center point of the bright surface of the corresponding sub-medium lens is the same, and all the radiometer receivers jointly form a radiometer receiver array, which is characterized in that: the method comprises the following steps:
Step 1: extracting radiation field information, and recording a four-dimensional function of the radiation field;
Step 2: determining the radiation field intensity on the radiometer plane according to the distance between the radiometer array plane and the sub-lens plane;
step 3: obtaining millimeter wave radiation power corresponding to a series of plane sampling points with different depths of field, namely obtaining three-dimensional millimeter wave radiation field data corresponding to three-dimensional space sampling points one by one, and realizing millimeter wave three-dimensional radiation field detection;
The step 3 specifically comprises the following steps:
The method comprises the steps of measuring scene depth, target geometry and scene shielding relation information lost in a traditional passive millimeter wave focal plane array imaging mode through a passive millimeter wave three-dimensional imaging system, obtaining millimeter wave radiation power corresponding to a series of plane sampling points with different depths of field through representing the mapping relation between the radiation intensity of a target point and the position and distance information of the target point, namely obtaining three-dimensional millimeter wave radiation field data corresponding to three-dimensional space sampling points one by one, and realizing millimeter wave three-dimensional radiation field detection;
the millimeter wave three-dimensional radiation field detection is realized by the following steps:
the distance between the new imaging plane and the sub-lens plane is f ', let f' =βf, and β is a virtual imaging depth scale factor; when the sub-lens plane and the sensor plane are infinite, the distance between the sub-lens plane and the imaging plane changes when the sub-lens array focuses on different depths, and the integral track of the calculated focusing image in space shifts, so that the focal length agility is realized by applying spatial domain integral projection;
As can be seen from the similar triangle theorem, after the focal length is changed rapidly, the coordinate of the intersection point formed by the electromagnetic wave and the radiometer plane is The resulting radiation field strength at the radiation plane is expressed as:
after the focal length agility is obtained, the radiation intensity of the radiometer plane is as follows:
On the basis of collected four-dimensional (x ', y', x, y) matrix radiation field data, corresponding beta values are determined by transforming different virtual focusing image planes, sub lenses corresponding to the positions of pixels on the radiometer are determined by the beta values, and the mapping relation of the radiation fields at different depth distances is obtained, so that the information extraction of the three-dimensional radiation field is realized;
Through a sensitive target depth of field extraction algorithm and a focal length agile image inversion algorithm, coordinate transformation is performed by changing a virtual depth of field transformation factor, so that focusing agile of a focal plane of an imaging system is achieved to a plane where an interested target in a system view field is located, and a two-dimensional or three-dimensional gray image is inverted according to a passive millimeter wave imaging algorithm.
2. The passive millimeter wave three-dimensional imaging method according to claim 1, characterized in that: the step 1 specifically comprises the following steps:
The radiation field from a certain point in the field of view of the imaging system is received by a plurality of radiometer receivers behind a plurality of sub-lenses after being focused by the main lens; each radiometer receiver receives millimeter wave radiation from a plurality of range, plurality of azimuth targets; the coordinates corresponding to the radiation paths are represented by the coordinates of the intersection points of the sub-lens planes and the plane of the radiometer array;
The coordinates (x, y) of the radiometer plane represent the azimuth information of the target, the line connecting the coordinates (x, y) with the coordinates (x ', y') on the sub-lens plane represent the radiation direction, the recorded radiation field, and the four-dimensional function of the radiation field is represented by P F (x ', y', x, y).
3. The passive millimeter wave three-dimensional imaging method according to claim 2, characterized in that: the step 2 specifically comprises the following steps: the distance between the radiometer array plane and the sub-lens plane is f, and the radiation field intensity at the point (x, y) on the radiometer plane is:
4. A passive millimeter wave three-dimensional imaging method according to claim 3, characterized in that: the aperture and focal length of the main lens and the sub lens need to have a system to integrate the requirements of imaging distance, field range and self volume; the number of pixels imaged by the system is determined by the number and arrangement of the sub-lenses and the number and arrangement of the radiometer receivers, and when the sub-lenses are arranged in m1×m2 and the radiometer receivers are arranged in n1×n2, the number of pixels imaged by the system is (m1×n1) × (m2×n2).
5. The passive millimeter wave three-dimensional imaging method according to claim 1, characterized in that: the sub-medium lens array is composed of a plurality of sub-medium lenses which are two-dimensionally and equally spaced, and the centers of the sub-medium lens array and the main medium lens are on the same axis.
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