CN114563782B - Radar offset imaging method and radar offset imaging device - Google Patents
Radar offset imaging method and radar offset imaging device Download PDFInfo
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- CN114563782B CN114563782B CN202210205481.4A CN202210205481A CN114563782B CN 114563782 B CN114563782 B CN 114563782B CN 202210205481 A CN202210205481 A CN 202210205481A CN 114563782 B CN114563782 B CN 114563782B
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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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- G01S13/885—Radar or analogous systems specially adapted for specific applications for ground probing
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
The disclosure provides a radar offset imaging method and a radar offset imaging device. The method comprises the following steps: generating a radar profile from the plurality of reflected signal values; performing signal conversion on each reflected signal value to obtain an analysis signal corresponding to each reflected signal value; determining a research window from the radar profile; determining a grid map and a plurality of time delays corresponding to each grid in the grid map according to the research area, wherein the grid map represents coordinate information of each position in the research area, and the plurality of time delays are determined according to the grid map and the positions of the radars; determining at least two target analytic signals corresponding to the time delay from the plurality of analytic signals based on each time delay and the research window; and determining an offset image according to the grids in the grid map and the target analysis signals corresponding to each grid.
Description
Technical Field
The present disclosure relates to the field of imaging technology, and more particularly, to a method of radar offset imaging, a radar offset imaging apparatus, an electronic device, a computer-readable storage medium, and a computer program product.
Background
The radar detection has the characteristics of convenience, rapidness, high resolution and the like, so that the radar detection is widely applied to the fields of archaeology, building industry, geological exploration, astronomical detection and the like. Because the transmitting signal of the radar has omnibearing property, the transmitting signal not only can receive the reflecting signal under the radar, but also can still receive the reflecting signal in a specific range deviating from the position under the radar, so the radar has lower resolution and needs to carry out offset processing, so that the signal is reset and the signal to noise ratio is improved.
In the process of implementing the disclosed concept, the inventor finds that at least the following problems exist in the related art: the quality of radar offset imaging is poor.
Disclosure of Invention
In view of this, the embodiments of the present disclosure provide a method of radar offset imaging, a radar offset imaging apparatus, an electronic device, a computer-readable storage medium, and a computer program product.
One aspect of an embodiment of the present disclosure provides a method of radar offset imaging, comprising:
Generating a radar profile according to a plurality of reflected signal values, wherein the plurality of reflected signal values are obtained by reflecting different transmitted signals transmitted by a research area in the radar moving process;
Performing signal conversion on each reflected signal value to obtain an analysis signal corresponding to each reflected signal value, wherein the analysis signal comprises the reflected signal and the signal value subjected to signal conversion;
determining a research window from the radar cross-section, wherein the research window is determined according to a signal curve of local signals of at least two of the plurality of reflected signal values, the local signals being generated by reflection of an emitter;
Determining a grid map and a plurality of time delays corresponding to each grid in the grid map according to the research area, wherein the grid map represents coordinate information of each position in the research area, and the plurality of time delays are determined according to the grid map and the positions of the radars;
Determining at least two target analysis signals corresponding to the time delay from the plurality of analysis signals based on each of the time delays and the study window; and
And determining an offset image from the plurality of grids in the grid map and the target analysis signal corresponding to each of the grids.
According to an embodiment of the disclosure, the grid map is obtained by processing the study area according to a preset resolution;
Wherein the determining an offset image from the plurality of grids in the grid map and the target analysis signal corresponding to each of the grids includes:
processing at least two target analysis signals corresponding to the grids based on each grid to obtain amplitude values corresponding to the grids; and
And determining the offset image in the grid chart according to a plurality of amplitude values.
According to an embodiment of the present disclosure, the resolved signal includes a real signal representing a reflected signal value corresponding to the resolved signal and an imaginary signal representing the signal converted signal value;
wherein the processing the at least two target analysis signals corresponding to the grids based on each grid to obtain amplitude values corresponding to the grids includes:
Performing product processing on real part signals in at least two target analysis signals to obtain a first numerical value;
Performing product processing on the imaginary part signals in at least two target analysis signals to obtain a second numerical value; and
And determining the amplitude value corresponding to the grid according to the first value and the second value.
According to an embodiment of the disclosure, the performing signal conversion on each of the reflected signals to obtain an analysis signal corresponding to each of the reflected signals includes:
Performing Hilbert transform on each of the reflected signal values to obtain a converted signal value corresponding to each of the reflected signals, wherein the converted signal values represent the signal-converted signal values; and
And generating an analysis signal corresponding to the reflected signal according to each of the reflected signal values and the converted signal values corresponding to the reflected signal values.
According to an embodiment of the present disclosure, before performing signal conversion on each of the above-mentioned reflected signal values, further includes:
Filtering each reflected signal to obtain a filtered reflected signal corresponding to each reflected signal;
carrying out noise reduction treatment on each filtered reflection signal to obtain a plurality of noise-reduced reflection signals; and
And performing gain processing on each noise-reduced reflected signal to obtain a plurality of preprocessed reflected signal values.
According to an embodiment of the present disclosure, different of the above-mentioned transmission signals are transmitted by the transmission antennas at different transmission positions;
Wherein the determining a grid pattern and a plurality of time delays corresponding to each grid in the grid pattern according to the study area includes:
Determining a signal propagation path corresponding to the transmission signal according to a transmission position corresponding to each transmission signal and a reception position corresponding to the transmission signal for each grid; and
The time delay corresponding to the transmission signal is determined based on the signal propagation path.
According to an embodiment of the present disclosure, different ones of the transmission signals are transmitted by the transmission antennas at different transmission times, and different ones of the reflection signal values are received by the reception antennas at different reception times;
Wherein the determining at least two target analysis signals corresponding to the time delay from the plurality of analysis signals based on each of the time delays includes:
Determining a reception time of the reflected signal value corresponding to the transmission signal based on a transmission time of the transmission signal and the time delay corresponding to the transmission signal for each of the transmission signal and the study window;
determining a target reflected signal value from a plurality of the reflected signal values based on a time of transmission of the transmitted signal and a time of receipt of the reflected signal value; and
And determining the target analysis signal corresponding to each target reflection signal value from the analysis signals according to the target reflection signal values.
According to an embodiment of the present disclosure, the determining a research window from the radar cross-section includes:
Screening hyperbolic signal curves from the radar profile based on preset conditions; and
The horizontal distance span of the signal curve is determined as the study window.
According to an embodiment of the present disclosure, the radar includes a zero offset ground penetrating radar.
Another aspect of an embodiment of the present disclosure provides a radar offset imaging apparatus, including:
The generation module is used for generating a radar profile according to a plurality of reflected signal values, wherein the plurality of reflected signal values are obtained by reflecting different transmitted signals transmitted by a research area in the radar moving process;
The conversion module is used for carrying out signal conversion on each reflected signal value to obtain an analysis signal corresponding to each reflected signal value, wherein the analysis signal comprises the reflected signal and the signal value subjected to signal conversion;
a first determining module configured to determine a study window from the radar cross-section, where the study window is determined according to a signal profile of a local signal of at least two of the plurality of reflected signal values, the local signal being generated by reflection from an emitter;
A second determining module, configured to determine a grid map according to the study area and a plurality of time delays corresponding to each grid in the grid map, where the grid map characterizes coordinate information of each position in the study area, and the plurality of time delays are determined according to the grid map and the positions of the radars;
A third determining module configured to determine at least two target analysis signals corresponding to the time delay from among the plurality of analysis signals based on each of the time delay and the study window; and
And a fourth determining module configured to determine an offset image based on the plurality of grids in the grid map and the target analysis signal corresponding to each of the grids.
Another aspect of an embodiment of the present disclosure provides an electronic device, including: one or more processors; and a memory for storing one or more programs, wherein the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the method as described above.
Another aspect of an embodiment of the present disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are configured to implement a method as described above.
Another aspect of the disclosed embodiments provides a computer program product comprising computer executable instructions which, when executed, are to implement a method as described above.
According to the embodiment of the disclosure, the analysis signals are generated according to the signal values after signal conversion and the original emission signal values, the time delays of each grid are known according to the research window determined through the radar cross-section, the target analysis signals can be determined from the analysis signals according to the time delays in each grid, and therefore the target analysis signals and the grid map of each grid determine the offset image of the emitter. Because the target analysis signal is determined according to the research window, the target analysis signal can more accurately represent the emitter, and the generated radar offset image can more accurately reflect the coordinate information of the emitter, thereby at least partially overcoming the technical problem of poor radar offset imaging quality.
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The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments thereof with reference to the accompanying drawings in which:
FIG. 1 schematically illustrates an exemplary system architecture for a method of applying radar offset imaging in accordance with an embodiment of the present disclosure;
FIG. 2 schematically illustrates a flow chart of a method of radar offset imaging in accordance with an embodiment of the present disclosure;
FIG. 3 schematically illustrates a flow chart of a method of radar offset imaging according to another embodiment of the present disclosure;
FIG. 4 schematically illustrates a block diagram of a radar offset imaging apparatus according to an embodiment of the present disclosure; and
Fig. 5 schematically illustrates a block diagram of an electronic device implementing a method of radar offset imaging in accordance with an embodiment of the disclosure.
Detailed Description
Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is only exemplary and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the present disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. In addition, in the following description, descriptions of well-known structures and techniques are omitted so as not to unnecessarily obscure the concepts of the present disclosure.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and/or the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.
All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It should be noted that the terms used herein should be construed to have meanings consistent with the context of the present specification and should not be construed in an idealized or overly formal manner.
Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a convention should be interpreted in accordance with the meaning of one of skill in the art having generally understood the convention (e.g., "a system having at least one of A, B and C" would include, but not be limited to, systems having a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.).
When an emitter having an abnormal dielectric constant is offset imaged by a radar, for example, a stone, a hyperbolic reflected signal is formed in a generated radar cross section. Since the spatial size of the reflected signal does not necessarily represent the actual emitter size, the resolution of the radar is reduced.
In view of the above, embodiments of the present disclosure provide a radar offset imaging method and a radar offset imaging device. The method comprises the following steps: generating a radar profile from the plurality of reflected signal values; performing signal conversion on each reflected signal value to obtain an analysis signal corresponding to each reflected signal value; determining a research window from the radar profile; determining a grid map and a plurality of time delays corresponding to each grid in the grid map according to the research area, wherein the grid map represents coordinate information of each position in the research area, and the plurality of time delays are determined according to the grid map and the positions of the radars; determining at least two target analytic signals corresponding to the time delay from the plurality of analytic signals based on each time delay and the research window; and determining an offset image according to the grids in the grid map and the target analysis signals corresponding to each grid.
Fig. 1 schematically illustrates an exemplary system architecture 100 to which a method of radar offset imaging may be applied, according to an embodiment of the present disclosure. It should be noted that fig. 1 is only an example of a system architecture to which embodiments of the present disclosure may be applied to assist those skilled in the art in understanding the technical content of the present disclosure, but does not mean that embodiments of the present disclosure may not be used in other devices, systems, environments, or scenarios.
As shown in fig. 1, a system architecture 100 according to this embodiment may include terminal devices 101, 102, 103, a network 104, a server 105, and a radar 106. The network 104 is used as a medium to provide communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired and/or wireless communication links, and the like.
The user may interact with the server 105 via the network 104 using the terminal devices 101, 102, 103 to receive or send messages or the like. Various communication client applications may be installed on the terminal devices 101, 102, 103, such as radar offset imaging applications, web browser applications, search class applications, instant messaging tools, mailbox clients and/or social platform software, to name a few.
The terminal devices 101, 102, 103 may be a variety of electronic devices having a display screen and supporting web browsing, including but not limited to smartphones, tablets, laptop and desktop computers, and the like.
The server 105 may be a server providing various services, such as a background management server (by way of example only) providing support for radar offset imaging requested by a user using the terminal devices 101, 102, 103. The background management server can analyze and process the received data such as the user request and the like, and feed back the processing result to the terminal equipment.
The radar 106 may transmit a transmit signal to the transmitter using a transmit antenna, and after the transmit signal passes through the investigation region and/or reflection by the transmitter, a receive antenna of the radar 106 receives the reflected signal.
It should be noted that the method for radar offset imaging provided by the embodiments of the present disclosure may be generally performed by the server 105. Accordingly, the radar offset imaging apparatus provided by the embodiments of the present disclosure may be generally provided in the server 105. The method of radar offset imaging provided by embodiments of the present disclosure may also be performed by a server or cluster of servers other than server 105 and capable of communicating with terminal devices 101, 102, 103 and/or server 105. Accordingly, the radar offset imaging apparatus provided by the embodiments of the present disclosure may also be provided in a server or server cluster that is different from the server 105 and is capable of communicating with the terminal devices 101, 102, 103 and/or the server 105. Or the method of radar offset imaging provided by the embodiments of the present disclosure may be performed by the terminal device 101, 102, or 103, or may be performed by other terminal devices other than the terminal device 101, 102, or 103. Accordingly, the radar offset imaging apparatus provided by the embodiments of the present disclosure may also be provided in the terminal device 101, 102, or 103, or in another terminal device different from the terminal device 101, 102, or 103.
It should be understood that the number of terminal devices, networks, servers, and radars in fig. 1 is merely illustrative. There may be any number of terminal devices, networks, servers, and radars, as desired for implementation.
Fig. 2 schematically illustrates a flow chart of a method of radar offset imaging according to an embodiment of the present disclosure.
As shown in fig. 2, the method may include operations S201 to S206.
In operation S201, a radar cross-section is generated from a plurality of reflected signal values, wherein the plurality of reflected signal values are reflected for different transmit signals transmitted by a region of interest during radar movement.
In operation S202, signal conversion is performed on each reflected signal value, so as to obtain an resolved signal corresponding to each reflected signal value, where the resolved signal includes the reflected signal and the signal value subjected to signal conversion.
In operation S203, a study window is determined from the radar profile, wherein the study window is determined from a signal profile of a local signal of at least two of the plurality of reflected signal values, the local signal being generated by reflection from the emitter.
In operation S204, a grid map characterizing coordinate information of respective locations within the investigation region and a plurality of time delays corresponding to each grid in the grid map are determined from the location of the grid map and the radar, based on the investigation region.
At operation S205, at least two target analysis signals corresponding to the time delay are determined from among the plurality of analysis signals based on each time delay and the study window.
In operation S206, an offset image is determined from a plurality of grids in the grid map and the target analysis signal corresponding to each grid.
According to an embodiment of the present disclosure, the radar profile is a profile image generated from one or more reflected signals, on which the waveform of each reflected signal may be displayed.
According to an embodiment of the present disclosure, the resolved signal is a complex signal, the real part of which is the reflected signal value and the imaginary part of which is the signal value after signal conversion.
According to an embodiment of the disclosure, a transmitting antenna transmits the transmitting signal at a first moment, generates a reflected signal after reflection by a transmitter and is received by a receiving antenna at a second moment to be converted into a reflected signal value, and the time delay of the reflected signal is known according to the first moment and the second moment.
According to the embodiment of the disclosure, for each grid, according to the time delay corresponding to each reflected signal, a plurality of target analysis signals in the research window are related in pairs, so that the amplitude value of the grid is calculated, and further, the offset image of the emitter is determined according to the amplitude values of the grids and the grid map. Wherein, the pairwise correlation can refer to multiplying and adding the real part and the imaginary part of different target analysis signals respectively.
According to the embodiment of the disclosure, the analysis signals are generated according to the transmission signal values after signal conversion and the original transmission signal values, the time delays of each grid are known according to the research window determined through the radar cross-section, the target analysis signals can be determined from the analysis signals according to the time delays in each grid, and therefore the target analysis signals and the grid map of each grid determine the offset image of the emitter. Because the target analysis signal is determined according to the research window, the target analysis signal can more accurately represent the emitter, and the generated radar offset image can more accurately reflect the coordinate information of the emitter, thereby at least partially overcoming the technical problem of poor radar offset imaging quality.
According to the embodiment of the disclosure, the grid chart is obtained by processing the research area according to the preset resolution.
According to an embodiment of the present disclosure, determining an offset image from a plurality of grids in a grid map and a target analytic signal corresponding to each grid may include the operations of:
and processing at least two target analysis signals corresponding to the grids based on each grid to obtain amplitude values corresponding to the grids. An offset image is determined in the grid map from the plurality of amplitude values.
According to the embodiment of the disclosure, in each grid, amplitude values of the grid can be obtained by performing two-to-two correlation processing on at least two target analytic signals corresponding to the time delay determined through the research window, a plurality of amplitude values can be obtained by performing the processing on each grid, and the positions of the emitters in the grid map can be determined according to the plurality of amplitude values, so that the offset image is determined.
According to an embodiment of the present disclosure, the resolved signal comprises a real part signal representing a reflected signal value corresponding to the resolved signal and an imaginary part signal representing a signal value subjected to signal conversion.
Based on each grid, processing at least two target analysis signals corresponding to the grids to obtain amplitude values corresponding to the grids, which may include the following operations:
And carrying out product processing on real part signals in at least two target analysis signals to obtain a first numerical value. And performing product processing on the imaginary signal in the at least two target analysis signals to obtain a second numerical value. And determining the amplitude value corresponding to the grid according to the first value and the second value.
According to an embodiment of the present disclosure, for example, the signal strength of the mth sampling point of the nth reflected signal is E1 (m, n), and the analysis signal obtained after hilbert transformation thereof is shown in formula (1).
E(m，n)＝E1(m，n)+iE2(m，n) (1)
Wherein E2 (m, n) is the signal conversion result of E1 (m, n). Assuming that the amplitude of a grid in the investigation region is a (p, q), the calculation of a (p, q) is as shown in equation (2).
A(p,q)＝∑TW∑TMWE1(m,n1)·E1(m,n2)+E2(m,n1)·E2(m,n2) (2)
Wherein TW and TMW are respectively a research window and a time window, the time window is determined according to the research window, n 1 and n 2 are respectively two different target analysis signals in the research window, and m is a sampling point in the TMW time window.
According to an embodiment of the present disclosure, performing signal conversion on each reflected signal to obtain an analysis signal corresponding to each reflected signal may include the following operations:
And performing Hilbert transform on each reflected signal value to obtain a converted signal value corresponding to each reflected signal, wherein the converted signal represents the signal value subjected to signal conversion.
An analysis signal corresponding to the reflected signal is generated from each of the reflected signal values and the converted signal value corresponding to the reflected signal.
According to an embodiment of the present disclosure, hilbert transform (Hilbert Transform): the hilbert transform of a continuous-time signal x (t) is equal to the output response xh (t) of the signal after it has passed through a linear system with impulse response h (t) =1/pi t.
Fig. 3 schematically illustrates a flow chart of a method of radar offset imaging according to another embodiment of the present disclosure.
As shown in fig. 3, operations S301 to S303 may be further included before performing signal conversion on each reflected signal value.
In operation S301, a filtering process is performed on each of the reflected signals to obtain a filtered reflected signal corresponding to each of the reflected signals.
In operation S302, a noise reduction process is performed on each of the filtered reflected signals, to obtain a plurality of noise reduced reflected signals.
In operation S303, gain processing is performed on each noise-reduced reflected signal to obtain a plurality of preprocessed reflected signal values.
According to an embodiment of the present disclosure, a method of gain processing includes an automatic gain control algorithm or a fixed gain control algorithm.
According to the embodiment of the disclosure, since the original reflected signal contains a large amount of horizontal interference signals, for example, the signal that is directly received by the receiving antenna without being reflected by the transmitting signal transmitted by the transmitting antenna, background reduction processing is required to be performed on the reflected signal so as to filter out background signals such as horizontal interference, and the filtering processing may select an appropriate band-pass filter according to the frequency band of the radar. Meanwhile, the amplitude of the reflected signal gradually weakens along with time due to the propagation, scattering and attenuation of the signal, so that the signal cannot be distinguished, and therefore, the received reflected signal needs to be added with gain to improve the resolution.
In an exemplary embodiment, the pre-processed reflected signal may be used for signal conversion, so as to determine an offset image according to the analysis signal obtained after conversion, and the imaging quality of radar offset imaging can be improved by using the value of the pre-processed reflected signal.
According to embodiments of the present disclosure, different transmit signals are transmitted by the transmit antennas at different transmit positions.
According to an embodiment of the present disclosure, determining a grid graph and a plurality of time delays corresponding to each grid in the grid graph according to a study area may include the operations of:
For each grid, a signal propagation path corresponding to the transmission signal is determined from the transmission position corresponding to each transmission signal and the reception position corresponding to the transmission signal. From the signal propagation path, a time delay corresponding to the transmitted signal is determined.
According to the embodiment of the disclosure, the geometric relation of each grid and each transmitting signal and the corresponding receiving position of the transmitting signal are utilized to determine the signal propagation path of the optical path, and then the wave speed is converted into time delay, wherein the wave speed can comprise the light speed, and the wave speed under the transmitting medium can be determined according to different transmitting mediums.
According to embodiments of the present disclosure, different transmit signals are transmitted by the transmit antennas at different transmit times and different reflected signal values are received by the receive antennas at different receive times.
According to an embodiment of the present disclosure, determining at least two target analytic signals corresponding to a time delay from among a plurality of analytic signals based on each time delay may include the operations of:
For each of the transmit signal and the study window, a receive time of a reflected signal value corresponding to the transmit signal is determined based on a transmit time of the transmit signal and a time delay corresponding to the transmit signal.
A target reflected signal value is determined from the plurality of reflected signal values based on the transmit time of the transmitted signal and the receive time of the reflected signal value.
And respectively determining target analysis signals corresponding to the target reflection signal values from the analysis signals according to the target reflection signal values.
According to embodiments of the present disclosure, after a study window is determined, a time delay of a transmitted signal within the study window may be determined, so that a time of receipt of a reflected signal value can be determined from a time of transmission of the transmitted signal. After the receiving time of the reflected signal value is determined, a target reflected signal value corresponding to the reflected signal value can be determined in a plurality of reflected signal values, and then a target analysis signal corresponding to the reflected signal value is determined from a plurality of analysis signals according to the target reflected signal value, so that the amplitude value of the grid corresponding to the research window can be calculated according to a plurality of target analysis signals in the research window.
According to an embodiment of the present disclosure, determining a study window from a radar profile may include the operations of:
screening hyperbolic signal curves from the radar profile based on preset conditions; and
The horizontal distance span of the signal curve is determined as the study window.
According to an embodiment of the disclosure, the study window is a distance window, for example, two reflection signals of hyperbolas meeting conditions may be selected in the radar cross-section, and the distance of the horizontal span of the hyperbolas may be the distance window, wherein each curve of the hyperbolas is a local signal, and the selected conditions may include, but are not limited to, curvature, amplitude, etc. of the curve.
According to embodiments of the present disclosure, the radar includes a zero offset ground penetrating radar.
According to embodiments of the present disclosure, the radar may include a zero offset ground penetrating radar that transmits and receives (one transmitting antenna and one receiving antenna), or may include other types of radar that use only one transmitting antenna and one receiving antenna, such as a multi-offset ground penetrating radar such as lunar soil structure finder.
Fig. 4 schematically illustrates a block diagram of a radar offset imaging apparatus according to an embodiment of the present disclosure.
As shown in fig. 4, the radar offset imaging apparatus may include a generation module 410, a conversion module 420, a first determination module 430, a second determination module 440, a third determination module 450, and a fourth determination module 460.
A generating module 410, configured to generate a radar cross-section according to a plurality of reflected signal values, where the plurality of reflected signal values are obtained by reflection of different transmitted signals transmitted by the investigation region during the radar movement.
The conversion module 420 is configured to perform signal conversion on each reflected signal value to obtain an resolved signal corresponding to each reflected signal value, where the resolved signal includes the reflected signal and the signal value subjected to signal conversion.
A first determining module 430 is configured to determine a study window from the radar cross-section, wherein the study window is determined from a signal profile of a local signal of at least two of the plurality of reflected signal values, the local signal being generated by reflection from the emitter.
A second determining module 440 is configured to determine a grid map according to the study area and a plurality of time delays corresponding to each grid in the grid map, wherein the grid map characterizes coordinate information of each location in the study area, and the plurality of time delays are determined according to the grid map and the location of the radar.
A third determining module 450 is configured to determine at least two target analytic signals corresponding to the time delay from the plurality of analytic signals based on each time delay and the research window.
The fourth determining module 460 is configured to determine the shifted image according to the multiple grids in the grid map and the target resolution signal corresponding to each grid.
According to the embodiment of the disclosure, the analysis signals are generated according to the signal values after signal conversion and the original emission signal values, the time delays of each grid are known according to the research window determined through the radar cross-section, the target analysis signals can be determined from the analysis signals according to the time delays in each grid, and therefore the target analysis signals and the grid map of each grid determine the offset image of the emitter. Because the target analysis signal is determined according to the research window, the target analysis signal can more accurately represent the emitter, and the generated radar offset image can more accurately reflect the coordinate information of the emitter, thereby at least partially overcoming the technical problem of poor radar offset imaging quality.
According to the embodiment of the disclosure, the grid chart is obtained by processing the research area according to the preset resolution.
According to an embodiment of the present disclosure, the fourth determination module 460 may include a processing unit and a first determination unit.
And the processing unit is used for processing at least two target analysis signals corresponding to the grids based on each grid to obtain amplitude values corresponding to the grids.
And the first determining unit is used for determining the offset image in the grid chart according to the amplitude values.
According to an embodiment of the present disclosure, the resolved signal comprises a real part signal representing a reflected signal value corresponding to the resolved signal and an imaginary part signal representing a signal value subjected to signal conversion.
According to an embodiment of the present disclosure, the processing unit may include a first processing subunit, a second processing subunit, and a determining subunit.
And the first processing subunit is used for carrying out product processing on real part signals in the at least two target analysis signals to obtain a first numerical value.
And the second processing subunit is used for carrying out product processing on the imaginary signal in the at least two target analysis signals to obtain a second numerical value.
And the determining subunit is used for determining the amplitude value corresponding to the grid according to the first value and the second value.
According to an embodiment of the present disclosure, the conversion module 420 may include a transformation unit and a generation unit.
And the conversion unit is used for carrying out Hilbert conversion on each reflected signal value to obtain a converted signal value corresponding to each reflected signal, wherein the converted signal value represents the signal value subjected to signal conversion.
And a generation unit for generating an analysis signal corresponding to the reflected signal according to each reflected signal value and the converted signal value corresponding to the reflected signal value.
According to an embodiment of the present disclosure, the radar offset imaging apparatus may further include a filtering module, a noise reduction module, and a gain module.
And the filtering module is used for carrying out filtering processing on each reflected signal to obtain a filtered reflected signal corresponding to each reflected signal.
The noise reduction module is used for carrying out noise reduction processing on each filtered reflection signal to obtain a plurality of noise reduced reflection signals.
And the gain module is used for carrying out gain processing on each noise-reduced reflected signal to obtain a plurality of preprocessed reflected signal values.
According to embodiments of the present disclosure, different transmit signals are transmitted by the transmit antennas at different transmit positions.
According to an embodiment of the present disclosure, the second determination module 440 may include a second determination unit and a third determination unit.
And a second determining unit configured to determine, for each of the grids, a signal propagation path corresponding to the transmission signal based on the transmission position corresponding to each of the transmission signals and the reception position corresponding to the transmission signal.
And a third determining unit for determining a time delay corresponding to the transmission signal according to the signal propagation path.
According to embodiments of the present disclosure, different transmit signals are transmitted by the transmit antennas at different transmit times and different reflected signal values are received by the receive antennas at different receive times.
According to an embodiment of the present disclosure, the third determination module 450 may include a fourth determination unit, a fifth determination unit, and a sixth determination unit.
And a fourth determining unit for determining, for each of the transmission signal and the study window, a reception time of a reflected signal value corresponding to the transmission signal based on a transmission time of the transmission signal and a time delay corresponding to the transmission signal.
And a fifth determining unit for determining a target reflected signal value from the plurality of reflected signal values based on the transmission time of the transmission signal and the reception time of the reflected signal value.
And a sixth determining unit configured to determine, from the plurality of analysis signals, a target analysis signal corresponding to each target reflection signal value, respectively, based on the plurality of target reflection signal values.
According to an embodiment of the present disclosure, the first determination module 430 may include a screening unit and a seventh determination unit.
And the screening unit is used for screening hyperbolic signal curves from the radar profile based on preset conditions.
A seventh determining unit for determining a horizontal distance span of the signal curve as a study window.
According to embodiments of the present disclosure, the radar includes a zero offset ground penetrating radar.
Any number of the modules, units, sub-units, or at least some of the functionality of any number of the modules, units, sub-units, or sub-units according to embodiments of the present disclosure may be implemented in one module. Any one or more of the modules, units, sub-units according to embodiments of the present disclosure may be implemented as split into multiple modules. Any one or more of the modules, units, sub-units according to embodiments of the present disclosure may be implemented at least in part as a hardware Circuit, such as a field programmable gate array (Field Programmable GATE ARRAY, FPGA), a programmable logic array (Programmable Logic Arrays, PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-a-package, an Application-specific integrated Circuit (ASIC), or in any other reasonable manner of hardware or firmware that integrates or encapsulates the Circuit, or in any one of or a suitable combination of any of the three. Or one or more of the modules, units, sub-units according to embodiments of the disclosure may be at least partially implemented as computer program modules which, when executed, may perform the corresponding functions.
For example, any of the generation module 410, the conversion module 420, the first determination module 430, the second determination module 440, the third determination module 450, and the fourth determination module 460 may be combined in one module/unit/sub-unit or any of the modules/units/sub-units may be split into a plurality of modules/units/sub-units. Or at least some of the functionality of one or more of these modules/units/sub-units may be combined with at least some of the functionality of other modules/units/sub-units and implemented in one module/unit/sub-unit. According to embodiments of the present disclosure, at least one of the generating module 410, the converting module 420, the first determining module 430, the second determining module 440, the third determining module 450, and the fourth determining module 460 may be implemented at least in part as hardware circuitry, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or in hardware or firmware in any other reasonable manner of integrating or packaging the circuitry, or in any one of or a suitable combination of three of software, hardware, and firmware. Or at least one of the generating module 410, the converting module 420, the first determining module 430, the second determining module 440, the third determining module 450 and the fourth determining module 460 may be at least partially implemented as computer program modules which, when run, may perform the respective functions.
It should be noted that, in the embodiments of the present disclosure, the radar offset imaging device portion corresponds to the radar offset imaging method portion in the embodiments of the present disclosure, and the description of the radar offset imaging device portion specifically refers to the radar offset imaging method portion and is not described herein.
Fig. 5 schematically shows a block diagram of an electronic device adapted to implement the method described above, according to an embodiment of the disclosure. The electronic device shown in fig. 5 is merely an example and should not be construed to limit the functionality and scope of use of the disclosed embodiments.
As shown in fig. 5, an electronic device 500 according to an embodiment of the present disclosure includes a processor 501 that can perform various appropriate actions and processes according to a program stored in a Read-Only Memory (ROM) 502 or a program loaded from a storage section 508 into a random access Memory (Random Access Memory, RAM) 503. The processor 501 may include, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or an associated chipset and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), or the like. The processor 501 may also include on-board memory for caching purposes. The processor 501 may comprise a single processing unit or a plurality of processing units for performing different actions of the method flows according to embodiments of the disclosure.
In the RAM 503, various programs and data required for the operation of the electronic apparatus 500 are stored. The processor 501, ROM 502, and RAM 503 are connected to each other by a bus 504. The processor 501 performs various operations of the method flow according to the embodiments of the present disclosure by executing programs in the ROM 502 and/or the RAM 503. Note that the program may be stored in one or more memories other than the ROM 502 and the RAM 503. The processor 501 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in the one or more memories.
According to an embodiment of the present disclosure, the electronic device 500 may also include an input/output (I/O) interface 505, the input/output (I/O) interface 505 also being connected to the bus 504. The system 500 may also include one or more of the following components connected to the I/O interface 505: an input section 506 including a keyboard, a mouse, and the like; an output portion 507 including a Cathode Ray Tube (CRT), a Liquid crystal display (Liquid CRYSTAL DISPLAY, LCD), and the like, and a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as needed so that a computer program read therefrom is mounted into the storage section 508 as needed.
According to embodiments of the present disclosure, the method flow according to embodiments of the present disclosure may be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program comprising program code for performing the method shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from a network via the communication portion 509, and/or installed from the removable media 511. The above-described functions defined in the system of the embodiments of the present disclosure are performed when the computer program is executed by the processor 501. The systems, devices, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the disclosure.
The present disclosure also provides a computer-readable storage medium that may be embodied in the apparatus/device/system described in the above embodiments; or may exist alone without being assembled into the apparatus/device/system. The computer-readable storage medium carries one or more programs which, when executed, implement methods in accordance with embodiments of the present disclosure.
According to embodiments of the present disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium. Examples may include, but are not limited to: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-Only Memory (ROM), an erasable programmable read-Only Memory (EPROM) or flash Memory, a portable compact disc read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
For example, according to embodiments of the present disclosure, the computer-readable storage medium may include ROM 502 and/or RAM 503 and/or one or more memories other than ROM 502 and RAM 503 described above.
Embodiments of the present disclosure also include a computer program product comprising a computer program comprising program code for performing the methods provided by the embodiments of the present disclosure, the program code for causing an electronic device to implement the methods of radar offset imaging provided by the embodiments of the present disclosure when the computer program product is run on the electronic device.
The above-described functions defined in the system/apparatus of the embodiments of the present disclosure are performed when the computer program is executed by the processor 501. The systems, apparatus, modules, units, etc. described above may be implemented by computer program modules according to embodiments of the disclosure.
In one embodiment, the computer program may be based on a tangible storage medium such as an optical storage device, a magnetic storage device, or the like. In another embodiment, the computer program may also be transmitted, distributed, and downloaded and installed in the form of a signal on a network medium, and/or installed from a removable medium 511 via the communication portion 509. The computer program may include program code that may be transmitted using any appropriate network medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
According to embodiments of the present disclosure, program code for performing computer programs provided by embodiments of the present disclosure may be written in any combination of one or more programming languages, and in particular, such computer programs may be implemented in high-level procedural and/or object-oriented programming languages, and/or assembly/machine languages. Programming languages include, but are not limited to, such as Java, c++, python, "C" or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing device may be connected to the user computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., connected via the Internet using an Internet service provider).
The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. Those skilled in the art will appreciate that the features recited in the various embodiments of the disclosure and/or in the claims may be combined in various combinations and/or combinations, even if such combinations or combinations are not explicitly recited in the disclosure. In particular, the features recited in the various embodiments of the present disclosure and/or the claims may be variously combined and/or combined without departing from the spirit and teachings of the present disclosure. All such combinations and/or combinations fall within the scope of the present disclosure.
The embodiments of the present disclosure are described above. These examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described above separately, this does not mean that the measures in the embodiments cannot be used advantageously in combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and such alternatives and modifications are intended to fall within the scope of the disclosure.
Claims (10)
1. A method of radar offset imaging, comprising:
Generating a radar profile according to a plurality of reflected signal values, wherein the plurality of reflected signal values are obtained by reflecting different transmitted signals transmitted by a research area in the radar moving process;
Performing signal conversion on each reflected signal value to obtain an analysis signal corresponding to each reflected signal value, wherein the analysis signal comprises the reflected signal and the signal value subjected to signal conversion;
determining a research window from the radar profile, wherein the research window is determined from a signal profile of a local signal of at least two of the plurality of reflected signal values, the local signal being generated by reflection from an emitter;
determining a grid map and a plurality of time delays corresponding to each grid in the grid map according to the research area, wherein the grid map represents coordinate information of each position in the research area, and the time delays are determined according to the grid map and the positions of the radars;
Determining at least two target analytic signals corresponding to the time delay from a plurality of analytic signals based on each of the time delays and the research window; and
And determining an offset image according to the grids in the grid map and the target analytic signals corresponding to each grid.
2. The method of claim 1, wherein the grid map is obtained by processing the study area according to a preset resolution;
Wherein the determining an offset image according to the plurality of grids in the grid map and the target analysis signal corresponding to each grid includes:
Processing at least two target analysis signals corresponding to the grids based on each grid to obtain amplitude values corresponding to the grids; and
And determining the offset image in the grid chart according to a plurality of amplitude values.
3. The method of claim 2, the resolved signal comprising a real signal representing reflected signal values corresponding to the resolved signal and an imaginary signal representing the signal converted signal values;
The processing, based on each grid, at least two target analysis signals corresponding to the grids to obtain amplitude values corresponding to the grids includes:
Performing product processing on real part signals in at least two target analysis signals to obtain a first numerical value;
performing product processing on the imaginary part signals in at least two target analysis signals to obtain a second numerical value; and
And determining the amplitude value corresponding to the grid according to the first value and the second value.
4. The method of claim 1, wherein said performing signal conversion on each of said reflected signals to obtain an resolved signal corresponding to each of said reflected signals comprises:
performing Hilbert transform on each reflected signal value to obtain a converted signal value corresponding to each reflected signal, wherein the converted signal value represents the signal value subjected to signal conversion; and
And generating an analysis signal corresponding to the reflection signal according to each reflection signal value and the conversion signal value corresponding to the reflection signal value.
5. The method of claim 1, further comprising, prior to signal converting each of the reflected signal values:
Filtering each reflected signal to obtain a filtered reflected signal corresponding to each reflected signal;
carrying out noise reduction treatment on each filtered reflection signal to obtain a plurality of noise-reduced reflection signals; and
And performing gain processing on each noise-reduced reflected signal to obtain a plurality of preprocessed reflected signal values.
6. The method of claim 1, different ones of the transmit signals being transmitted by a transmit antenna at different transmit locations;
Wherein the determining a grid map and a plurality of time delays corresponding to each grid in the grid map according to the study area includes:
determining, for each of the grids, a signal propagation path corresponding to the transmission signal according to a transmission position corresponding to each of the transmission signals and a reception position corresponding to the transmission signal; and
The time delay corresponding to the transmitted signal is determined based on the signal propagation path.
7. The method of claim 6, different ones of the transmit signals being transmitted by the transmit antennas at different transmit times and different ones of the reflected signal values being received by the receive antennas at different receive times;
wherein the determining, based on each of the time delays, at least two target analytic signals corresponding to the time delays from a plurality of analytic signals includes:
determining, for each of the transmit signal and the study window, a receive time of the reflected signal value corresponding to the transmit signal based on a transmit time of the transmit signal and the time delay corresponding to the transmit signal;
determining a target reflected signal value from a plurality of reflected signal values according to the transmission time of the transmitted signal and the receiving time of the reflected signal value; and
And respectively determining the target analysis signals corresponding to each target reflection signal value from the analysis signals according to the target reflection signal values.
8. The method of claim 1, wherein the determining a study window from the radar profile comprises:
screening hyperbolic signal curves from the radar profile based on preset conditions; and
The horizontal distance span of the signal curve is determined as the study window.
9. The method of claim 1, wherein the radar comprises a zero offset ground penetrating radar.
10. A radar offset imaging apparatus comprising:
The generation module is used for generating a radar profile according to a plurality of reflected signal values, wherein the plurality of reflected signal values are obtained by reflecting different transmitted signals transmitted by a research area in the radar moving process;
the conversion module is used for carrying out signal conversion on each reflected signal value to obtain an analysis signal corresponding to each reflected signal value, wherein the analysis signal comprises the reflected signal and the signal value subjected to signal conversion;
A first determining module for determining a study window from the radar profile, wherein the study window is determined from a signal profile of a local signal of at least two of the plurality of reflected signal values, the local signal being generated by reflection from an emitter;
A second determining module, configured to determine a grid map according to the study area and a plurality of time delays corresponding to each grid in the grid map, where the grid map characterizes coordinate information of each position in the study area, and the plurality of time delays are determined according to the grid map and the positions of the radars;
A third determining module configured to determine at least two target analysis signals corresponding to the time delay from a plurality of analysis signals based on each of the time delay and the study window; and
And a fourth determining module, configured to determine an offset image according to the multiple grids in the grid map and the target analysis signals corresponding to each grid.
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