CN113960602B - Track error information generation method and device, electronic equipment and readable medium - Google Patents
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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
- 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
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/89—Radar or analogous systems specially adapted for specific applications for mapping or imaging
- G01S13/90—Radar or analogous systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques, e.g. synthetic aperture radar [SAR] techniques
- G01S13/9021—SAR image post-processing techniques
- G01S13/9023—SAR image post-processing techniques combined with interferometric techniques
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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Abstract
The embodiment of the disclosure discloses a track error information generation method, a track error information generation device, an electronic device and a readable medium. One embodiment of the method comprises: acquiring a single-view complex image, wherein the single-view complex image is an image generated after a synthetic aperture radar acquires a return wave; generating a defocused complex image based on the single-view complex image; performing aperture division on the defocused complex image along the azimuth direction to generate a sub-image set; generating frequency modulation slope error information corresponding to each sub-image in the sub-image set to obtain a frequency modulation slope error information set; determining satellite acceleration information corresponding to each FM slope error information in the FM slope error information set to obtain a satellite acceleration information set; and generating satellite orbit error information according to the satellite acceleration information set. This embodiment eliminates the need to rely on satellite positioning data acquired by multiple observatory stations to determine satellite trajectory errors. The data processing amount is greatly reduced.
Description
Technical Field
The embodiment of the disclosure relates to the technical field of computers, in particular to a track error information generation method and device, an electronic device and a readable medium.
Background
A Synthetic-aperture radar (SAR) which is constructed by using a navigation satellite as an external radiation source is a new earth observation means which has been developed in recent years. However, since the satellite spatial position is calculated by the ground monitoring system according to the satellite orbit measurement result, the satellite spatial position and the actual satellite position often have deviation, thereby affecting the earth observation result of the synthetic aperture radar. At present, in terms of eliminating satellite trajectory errors, the following methods are generally adopted: the positioning data for the same satellite are acquired simultaneously by at least two observation stations, and the orbit error of the satellite is determined in a differential mode.
However, there are often technical problems when the above-described method is adopted:
when earth observation is carried out through the SAR, geographic data in a certain area are measured often within a period of time, and the default premise that the errors within a short period of time are consistent is to determine the satellite trajectory errors in a differential mode.
Disclosure of Invention
This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used to limit the scope of the claimed subject matter.
Some embodiments of the present disclosure propose a track error information generation method, apparatus, electronic device and readable medium to solve one or more of the technical problems mentioned in the background section above.
In a first aspect, some embodiments of the present disclosure provide a method for generating track error information, the method including: acquiring a single-view complex image, wherein the single-view complex image is an image generated after the synthetic aperture radar acquires echo; generating a defocused complex image based on the single-view complex image; carrying out aperture division on the defocused complex image along the azimuth direction to generate a sub-image set;
generating frequency modulation slope error information corresponding to each sub-image in the sub-image set to obtain a frequency modulation slope error information set; determining satellite acceleration information corresponding to each FM slope error information in the FM slope error information set to obtain a satellite acceleration information set; and generating satellite orbit error information according to the satellite acceleration information set.
Optionally, the method further includes: and performing phase compensation on the defocused complex image according to the satellite orbit error information to generate a focused complex image.
The generating of the defocused complex image based on the single-view complex image includes: performing 0 compensation on two sides of the single-view complex image along the azimuth direction to generate a 0 compensated single-view complex image; performing fourier transform processing on the single-view complex image after 0 compensation along the azimuth direction to generate azimuth frequency domain data; performing phase compensation on the single-view complex image to generate a compensated single-view complex image; and performing inverse fourier transform processing on the compensated single-view complex image along the azimuth direction based on the azimuth frequency domain data to generate the defocus complex image.
Optionally, the aperture dividing the defocused complex image in the azimuth direction to generate a sub-image set includes: and performing image division on the defocused complex image along the azimuth direction to generate the sub-image set, wherein image overlapping exists between sub-images in the sub-image set.
Optionally, the generating chirp-slope error information corresponding to each sub-image in the sub-image set includes: filtering the sub-image to generate a filtered sub-image; slicing the filtered sub-images along the azimuth direction to generate a first sub-image and a second sub-image; respectively complementing 0 on both sides of the first sub-image and the second sub-image along the azimuth direction to generate a first sub-image after complementing 0 and a second sub-image after complementing 0; respectively performing fourier transform processing on the first sub-image after 0 complementing and the second sub-image after 0 complementing along the azimuth direction to generate a transformed first sub-image and a transformed second sub-image; respectively carrying out image transformation processing on the transformed first sub-image and the transformed second sub-image to generate a first amplitude image and a second amplitude image; performing correlation processing on the first amplitude image and the second amplitude image to generate peak offset information corresponding to the sub-image; and determining the frequency modulation slope error information corresponding to the sub-image according to the peak value offset information, the pulse repetition frequency, the time interval and the Fourier transform length.
Optionally, the determining satellite acceleration information corresponding to each piece of chirp rate error information in the set of chirp rate error information includes: and determining satellite acceleration information corresponding to the FM slope error information according to a preset wavelength and the FM slope error information.
Optionally, the generating satellite orbit error information according to the satellite acceleration information set includes: integrating the satellite acceleration information in the set of satellite acceleration information along the azimuth direction to generate an error velocity of the satellite in the azimuth direction; integrating the error velocity along the azimuth direction to generate the satellite orbit error information.
In a second aspect, some embodiments of the present disclosure provide an apparatus for generating track error information, the apparatus comprising: an acquisition unit configured to acquire a single-view complex image, wherein the single-view complex image is an image generated after an acquisition echo of a synthetic aperture radar; a first generating unit configured to generate a defocused complex image based on the single-view complex image; an aperture dividing unit configured to perform aperture division on the defocused complex image along an azimuth direction to generate a sub-image set; the second generating unit is configured to generate chirp rate error information corresponding to each sub-image in the sub-image set to obtain a chirp rate error information set; the determining unit is configured to determine satellite acceleration information corresponding to each FM slope error information in the FM slope error information set to obtain a satellite acceleration information set; and a third generating unit configured to generate satellite orbit error information according to the satellite acceleration information set.
Optionally, the apparatus further comprises: and performing phase compensation on the defocused complex image according to the satellite orbit error information to generate a focused complex image.
Optionally, the first generating unit is further configured to: performing 0 compensation on two sides of the single-view complex image along the azimuth direction to generate a 0 compensated single-view complex image; performing fourier transform processing on the single-view complex image after 0 compensation along the azimuth direction to generate azimuth frequency domain data; performing phase compensation on the single-view complex image to generate a compensated single-view complex image; and performing inverse fourier transform processing on the compensated single-view complex image along the azimuth direction based on the azimuth frequency domain data to generate the defocus complex image.
Optionally, the aperture dividing unit is further configured to: and performing image division on the defocused complex image along the azimuth direction to generate the sub-image set, wherein image overlapping exists between sub-images in the sub-image set.
Optionally, the second generating unit is further configured to: filtering the sub-image to generate a filtered sub-image; slicing the filtered sub-images along the azimuth direction to generate a first sub-image and a second sub-image; respectively complementing 0 on both sides of the first sub-image and the second sub-image along the azimuth direction to generate a first sub-image after complementing 0 and a second sub-image after complementing 0; respectively performing fourier transform processing on the first sub-image after 0 complementing and the second sub-image after 0 complementing along the azimuth direction to generate a transformed first sub-image and a transformed second sub-image; respectively carrying out image transformation processing on the transformed first sub-image and the transformed second sub-image to generate a first amplitude image and a second amplitude image; performing correlation processing on the first amplitude image and the second amplitude image to generate peak offset information corresponding to the sub-image; and determining the frequency modulation slope error information corresponding to the sub-image according to the peak value offset information, the pulse repetition frequency, the time interval and the Fourier transform length.
Optionally, the determining unit is further configured to: and determining satellite acceleration information corresponding to the FM slope error information according to a preset wavelength and the FM slope error information.
Optionally, the third generating unit is further configured to: integrating the satellite acceleration information in the set of satellite acceleration information along the azimuth direction to generate an error velocity of the satellite in the azimuth direction; integrating the error velocity along the azimuth direction to generate the satellite orbit error information.
In a third aspect, some embodiments of the present disclosure provide an electronic device, comprising: one or more processors; a storage device having one or more programs stored thereon, which when executed by one or more processors, cause the one or more processors to implement the method described in any of the implementations of the first aspect.
In a fourth aspect, some embodiments of the present disclosure provide a computer readable medium on which a computer program is stored, wherein the program, when executed by a processor, implements the method described in any of the implementations of the first aspect.
The above embodiments of the present disclosure have the following advantages: by the track error information generation method of some embodiments of the present disclosure, on the premise of ensuring the accuracy of the obtained track error information, the data processing amount is reduced. Specifically, the reason why the data processing amount is large is that: when earth observation is carried out through the SAR, geographic data in a certain area are usually measured within a period of time, and as the premise that satellite trajectory errors are determined in a differential mode is that the errors within a short period of time are consistent, in actual situations, the satellite trajectory errors at every moment are different, so that satellite positioning data need to be obtained uninterruptedly through a plurality of observation stations to determine the trajectory errors, and the data processing amount is increased. Based on this, in the orbit error information generation method of some embodiments of the present disclosure, first, a single-view complex image is obtained, where the single-view complex image is an image generated after a synthetic aperture radar collects a return wave. In contrast to the differential-based trajectory error determination method, satellite positioning data for multiple observers need not be acquired. Next, a defocused complex image is generated based on the single-view complex image. Because the original single-view complex image is a compressed image, the compensation of a compression phase is realized by generating a defocusing complex image, and the subsequent aperture division processing is facilitated. Then, the defocused complex image is subjected to aperture division along the azimuth direction to generate a sub-image set. And then generating corresponding FM slope error information of each sub-image in the sub-image set to obtain an FM slope error information set. By dividing the defocused complex image into sub-image sets, the frequency modulation slope error corresponding to each sub-image can be conveniently calculated subsequently. In addition, satellite acceleration information corresponding to each FM slope error information in the FM slope error information set is determined, and a satellite acceleration information set is obtained. The satellite acceleration is determined for each sub-image over the corresponding time interval. And finally, generating satellite orbit error information according to the satellite acceleration information set. The satellite trajectory error is determined by the satellite acceleration over a plurality of consecutive time periods. In this way, satellite trajectory errors are determined without relying on satellite positioning data acquired by multiple observers. The data processing amount is greatly reduced.
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The above and other features, advantages and aspects of various embodiments of the present disclosure will become more apparent by referring to the following detailed description when taken in conjunction with the accompanying drawings. Throughout the drawings, the same or similar reference numbers refer to the same or similar elements. It should be understood that the drawings are schematic and that elements and elements are not necessarily drawn to scale.
Fig. 1 is a schematic diagram of an application scenario of a method of generating track error information according to some embodiments of the present disclosure;
FIG. 2 is a flow diagram of some embodiments of a method of track error information generation according to the present disclosure;
FIG. 3 is a flow diagram of further embodiments of a method of track error information generation according to the present disclosure;
FIG. 4 is a schematic illustration of a defocused complex image and a focused complex image;
FIG. 5 is a schematic block diagram of some embodiments of a track error information generation apparatus according to the present disclosure;
FIG. 6 is a schematic structural diagram of an electronic device suitable for use in implementing some embodiments of the present disclosure.
Detailed Description
Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While certain embodiments of the present disclosure are shown in the drawings, it is to be understood that the disclosure may be embodied in various forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete. It should be understood that the drawings and embodiments of the disclosure are for illustration purposes only and are not intended to limit the scope of the disclosure.
It should be noted that, for convenience of description, only the portions related to the related invention are shown in the drawings. The embodiments and features of the embodiments in the present disclosure may be combined with each other without conflict.
It should be noted that the terms "first", "second", and the like in the present disclosure are only used for distinguishing different devices, modules or units, and are not used for limiting the order or interdependence relationship of the functions performed by the devices, modules or units.
It is noted that references to "a", "an", and "the" modifications in this disclosure are intended to be illustrative rather than limiting, and that those skilled in the art will recognize that "one or more" may be used unless the context clearly dictates otherwise.
The names of messages or information exchanged between devices in the embodiments of the present disclosure are for illustrative purposes only, and are not intended to limit the scope of the messages or information.
The present disclosure will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic diagram of an application scenario of a track error information generation method of some embodiments of the present disclosure.
In the application scenario of fig. 1, first, the computing device 101 may acquire a single-view complex image 102, where the single-view complex image 102 is an image generated after a synthetic aperture radar acquires a return wave; then, the computing device 101 may generate a defocused complex image 103 based on the above-described single-view complex image 102; next, the computing device 101 may perform aperture division on the defocused complex image 103 along an azimuth direction to generate a sub-image set 104; in addition, the computing device 101 may generate chirp rate error information corresponding to each sub-image in the sub-image set 104, to obtain a chirp rate error information set 105; in addition, the computing device 101 may determine satellite acceleration information corresponding to each chirp rate error information in the set of chirp rate error information 105 to obtain a set of satellite acceleration information 106; finally, the computing device 101 may generate satellite orbit error information 107 from the set of satellite acceleration information 106 described above.
The computing device 101 may be hardware or software. When the computing device is hardware, it may be implemented as a distributed cluster composed of multiple servers or terminal devices, or may be implemented as a single server or a single terminal device. When the computing device is embodied as software, it may be installed in the hardware devices enumerated above. It may be implemented, for example, as multiple software or software modules to provide distributed services, or as a single software or software module. And is not particularly limited herein.
It should be understood that the number of computing devices in FIG. 1 is merely illustrative. There may be any number of computing devices, as implementation needs dictate.
With continued reference to fig. 2, a flow 200 of some embodiments of a track error information generation method according to the present disclosure is shown. The track error information generation method comprises the following steps:
In some embodiments, the execution subject of the orbit error information generation method (e.g., the computing device 101 shown in fig. 1) may acquire the above-described single-view video image by means of a wired connection or a wireless connection. The single-view complex image may be an image generated after an acquisition echo of a synthetic aperture radar. The synthetic aperture radar may be mounted on a target satellite. The target satellite may be a remote sensing satellite for earth observation. For example, the single-view complex image may be a single-view complex image generated after an antenna of a synthetic aperture radar installed in the target satellite acquires a return wave.
In some embodiments, the execution subject may generate the defocused complex image in various ways based on the single-view complex image.
In some embodiments, the execution subject may perform aperture division on the defocused complex image along the azimuth direction to generate the sub-image set. The azimuth direction may be a flight direction of the target satellite. The execution subject may perform aperture division on the defocused complex image along the azimuth direction by a preset aperture size to generate the sub-image set.
And 204, generating the chirp rate error information corresponding to each sub-image in the sub-image set to obtain a chirp rate error information set.
In some embodiments, the executing entity may generate chirp rate error information corresponding to each sub-image in the sub-image set to obtain the chirp rate error information set. The chirp rate error information in the chirp rate error information set may represent a slope error of a chirp signal of a corresponding sub-image. The execution subject may determine a ratio between a deviation between frequency modulation signal troughs of the sub-image and a pulse frequency as chirp rate error information.
In some embodiments, the execution body may determine satellite acceleration information corresponding to each chirp rate error information in the set of chirp rate error information to obtain the set of satellite acceleration information. The satellite acceleration information in the satellite acceleration information set may be the acceleration of the target satellite when the corresponding sub-image is acquired. The execution body may determine a product of the chirp rate error information and the transmission wavelength of the target satellite as satellite acceleration information corresponding to the chirp rate error information.
And step 206, generating satellite orbit error information according to the satellite acceleration information set.
In some embodiments, the execution body may generate the satellite orbit error information according to the set of satellite acceleration information. The satellite orbit error information may represent an orbit error of the target satellite. The execution subject may perform double integration on the satellite acceleration information in the set of satellite acceleration information within a time period during which the monoscopic complex image is acquired, so as to generate the satellite orbit error information.
The above embodiments of the present disclosure have the following advantages: by the track error information generation method of some embodiments of the present disclosure, on the premise of ensuring the accuracy of the obtained track error information, the data processing amount is reduced. Specifically, the reason why the data processing amount is large is that: when earth observation is carried out through the SAR, geographic data in a certain area are usually measured within a period of time, and as the premise that satellite trajectory errors are determined in a differential mode is that the errors within a short period of time are consistent, in actual situations, the satellite trajectory errors at every moment are different, so that satellite positioning data need to be obtained uninterruptedly through a plurality of observation stations to determine the trajectory errors, and the data processing amount is increased. Based on this, in the orbit error information generation method of some embodiments of the present disclosure, first, a single-view complex image is obtained, where the single-view complex image is an image generated after a synthetic aperture radar collects a return wave. In contrast to the differential-based trajectory error determination method, satellite positioning data for multiple observers need not be acquired. Next, a defocused complex image is generated based on the single-view complex image. Because the original single-view complex image is a compressed image, the compensation of a compression phase is realized by generating a defocused complex image, and the subsequent aperture division processing is facilitated. Then, the defocused complex image is subjected to aperture division along the azimuth direction to generate a sub-image set. And then generating corresponding FM slope error information of each sub-image in the sub-image set to obtain an FM slope error information set. By dividing the defocused complex image into sub-image sets, the frequency modulation slope error corresponding to each sub-image can be conveniently calculated subsequently. In addition, satellite acceleration information corresponding to each FM slope error information in the FM slope error information set is determined, and a satellite acceleration information set is obtained. And determining the satellite acceleration in the corresponding time interval of each sub-image. And finally, generating satellite orbit error information according to the satellite acceleration information set. The satellite trajectory error is determined by the satellite acceleration over a plurality of consecutive time periods. In this way, satellite trajectory errors are determined without relying on satellite positioning data acquired by multiple observers. The data processing amount is greatly reduced.
With further reference to fig. 3, a flow 300 of further embodiments of a method of generating track error information is shown. The process 300 of the track error information generating method includes the following steps:
In some embodiments, the specific implementation of step 301 and the technical effect thereof may refer to step 201 in those embodiments corresponding to fig. 2, and are not described herein again.
In some embodiments, an executing subject (e.g., the computing device 101 shown in fig. 1) of the track error information generating method generates the defocused complex image based on the single-view complex image, and may include the following steps:
in the first step, 0 is compensated along the azimuth direction on both sides of the single-view complex image to generate a 0-compensated single-view complex image.
The execution main body may add pixel points to both sides of the monoscopic complex image along the azimuth direction, where a pixel value of the added pixel point is 0.
And secondly, performing Fourier transform processing on the single-view complex image after 0 compensation along the azimuth direction to generate azimuth frequency domain data.
The azimuth frequency domain data can represent the signal quantity in a frequency range within a fixed frequency band. The execution body may perform fourier transform processing on the 0-compensated monoscopic complex image along the azimuth direction to generate the azimuth frequency domain data.
And thirdly, performing phase compensation on the single-view complex image to generate a compensated single-view complex image.
Wherein the compensated phase can be characterized by the following formula:
wherein,
indicating the phase of the compensation.
Representing a complex signal. Wherein
。
Representing a circle.
Indicating close proximity.
Indicating the wavelength.
Representing the equivalent speed.
Representing the equivalent squint angle.
Representing the doppler frequency. Wherein,
。
and a fourth step of performing inverse fourier transform processing on the compensated single-view complex image along the azimuth direction based on the azimuth frequency domain data to generate the defocus complex image.
Wherein the execution subject may generate the defocused complex image by performing inverse fourier transform on the compensated single-view complex image along the azimuth direction using the azimuth frequency domain data. The above-mentioned single-view complex image is a compressed image. The phase compensation is performed to restore the single-view complex image to an uncompressed image in the direction, thereby obtaining the defocused complex image.
In some embodiments, the performing subject may aperture divide the defocused complex image in the azimuth direction to generate the set of sub-images. The execution subject may perform image division on the defocused complex image along the azimuth direction to generate the sub-image set. There may be image overlap between sub-images in the set of sub-images.
And 304, generating the chirp rate error information corresponding to each sub-image in the sub-image set to obtain a chirp rate error information set.
In some embodiments, the executing entity may generate chirp rate error information corresponding to each sub-image in the sub-image set to obtain a chirp rate error information set. The executing step of generating the chirp rate error information corresponding to the sub-image may include:
first, the sub-image is filtered to generate a filtered sub-image.
The execution subject may construct a time-domain filter, and perform filtering processing on the sub-image to generate the filtered sub-image. The above time domain filter can be characterized by the following formula:
wherein,
the time domain filter described above is represented.
Representing a complex signal.
Indicating the circumferential ratio.
Indicating the chirp rate.
Indicating azimuth time.
And secondly, segmenting the filtered sub-images along the azimuth direction to generate a first sub-image and a second sub-image.
The execution subject may equally divide the filtered sub-image along the azimuth direction to generate the first sub-image and the second sub-image. The first image and the second sub-image have the same size.
And thirdly, respectively complementing 0 on two sides of the first sub-image and the second sub-image along the azimuth direction to generate a first sub-image after complementing 0 and a second sub-image after complementing 0.
The executing agent may respectively supplement pixel points on both sides of the first sub-image and the second sub-image along the azimuth direction to generate the first sub-image after 0 supplementation and the second sub-image after 0 supplementation. The pixel value of the supplemented pixel point may be 0.
And fourthly, respectively carrying out Fourier transform processing on the first sub-image after being complemented with 0 and the second sub-image after being complemented with 0 along the azimuth direction to generate a first sub-image after being transformed and a second sub-image after being transformed.
And fifthly, respectively carrying out image transformation processing on the transformed first sub-image and the transformed second sub-image to generate a first amplitude image and a second amplitude image.
The execution subject may convert the transformed first sub-image and the transformed second sub-image into magnitude images, respectively, to generate the first magnitude image and the second magnitude image.
And sixthly, performing correlation processing on the first amplitude image and the second amplitude image to generate peak value offset information corresponding to the sub-image.
The correlation processing is to perform a cross-correlation operation on the first amplitude image and the second amplitude image.
And seventhly, determining the frequency modulation slope error information corresponding to the sub-image according to the peak value offset information, the pulse repetition frequency, the time interval and the Fourier transform length.
Wherein, the executing body may determine the chirp rate error information corresponding to the sub-image according to the following formula:
wherein,
representing the chirp rate error information.
Indicating chirp rate error information.
Indicating the pulse repetition frequency.
Representing the time interval between two view centers.
Representing the fourier transform length.
And 305, determining satellite acceleration information corresponding to the FM slope error information according to the preset wavelength and the FM slope error information.
In some embodiments, the execution body may determine satellite acceleration information corresponding to the chirp rate error information according to a preset wavelength and the chirp rate error information by using the following formula:
wherein,
the satellite acceleration information is represented.
Indicating the wavelength.
Representing the chirp rate error information described above.
And step 306, generating satellite orbit error information according to the satellite acceleration information set.
In some embodiments, the executing entity generating the satellite orbit error information according to the set of satellite acceleration information may include:
first, integrating the satellite acceleration information in the set of satellite acceleration information along the azimuth direction to generate an error velocity of the satellite in the azimuth direction.
Wherein the error velocity may be indicative of a velocity error value of the target satellite in the azimuth direction.
And integrating the error velocity along the azimuth direction to generate the satellite orbit error information.
And 307, performing phase compensation on the defocused complex image according to the satellite orbit error information to generate a focused complex image.
In some embodiments, the execution subject may perform phase compensation on the defocused complex image according to the satellite orbit error information to generate the focused complex image.
The executing body can determine the accurate moving track of the target satellite according to the satellite track error information. Then, phase compensation is carried out on the defocusing complex image according to the accurate moving track so as to generate the focusing complex image.
As an example, a schematic diagram of a defocused complex image and a focused complex image as shown in fig. 4. Wherein, fig. 4 includes: a defocused complex image 103 and a focused complex image 401.
As can be seen from fig. 3, compared with the description of some embodiments corresponding to fig. 2, the present disclosure compensates the defocused complex image by determining the satellite orbit error information, thereby improving the definition of the defocused complex image. In addition, the track error information generation method is suitable for multiple imaging modes, such as a stripe imaging mode, a scanning imaging mode, a bunching imaging mode and the like, and can solve the definition problem of complex images in multiple scenes.
With further reference to fig. 5, as an implementation of the methods shown in the above figures, the present disclosure provides some embodiments of a track error information generation apparatus, which correspond to those method embodiments shown in fig. 2, and which may be applied in various electronic devices in particular.
As shown in fig. 5, the track error information generation apparatus 500 of some embodiments includes: an acquisition unit 501, a first generation unit 502, an aperture division unit 503, a second generation unit 504, a determination unit 505, and a third generation unit 506. The acquiring unit 501 is configured to acquire a single-view complex image, where the single-view complex image is an image generated after a synthetic aperture radar acquires a return wave; a first generating unit 502 configured to generate a defocused complex image based on the single-view complex image; an aperture dividing unit 503 configured to perform aperture division on the defocused complex image in the azimuth direction to generate a sub-image set; a second generating unit 504, configured to generate chirp rate error information corresponding to each sub-image in the sub-image set, to obtain a chirp rate error information set; a determining unit 505 configured to determine satellite acceleration information corresponding to each chirp rate error information in the chirp rate error information set, so as to obtain a satellite acceleration information set; a third generating unit 506 configured to generate satellite orbit error information according to the set of satellite acceleration information.
In some optional implementations of some embodiments, the apparatus 500 further includes: and performing phase compensation on the defocused complex image according to the satellite orbit error information to generate a focused complex image.
In some optional implementations of some embodiments, the first generating unit 502 is further configured to: performing 0 compensation on two sides of the single-view complex image along the azimuth direction to generate a 0 compensated single-view complex image; performing fourier transform processing on the single-view complex image after 0 compensation along the azimuth direction to generate azimuth frequency domain data; performing phase compensation on the single-view complex image to generate a compensated single-view complex image; and performing inverse fourier transform processing on the compensated single-view complex image along the azimuth direction based on the azimuth frequency domain data to generate the defocus complex image.
In some optional implementations of some embodiments, the aperture dividing unit 503 is further configured to: and performing image division on the defocused complex image along the azimuth direction to generate the sub-image set, wherein image overlapping exists between sub-images in the sub-image set.
In some optional implementations of some embodiments, the second generating unit 504 is further configured to: filtering the sub-image to generate a filtered sub-image; slicing the filtered sub-images along the azimuth direction to generate a first sub-image and a second sub-image; respectively complementing 0 on both sides of the first sub-image and the second sub-image along the azimuth direction to generate a first sub-image after complementing 0 and a second sub-image after complementing 0; respectively performing fourier transform processing on the first sub-image after 0 complementing and the second sub-image after 0 complementing along the azimuth direction to generate a transformed first sub-image and a transformed second sub-image; respectively carrying out image transformation processing on the transformed first sub-image and the transformed second sub-image to generate a first amplitude image and a second amplitude image; performing correlation processing on the first amplitude image and the second amplitude image to generate peak offset information corresponding to the sub-image; and determining the frequency modulation slope error information corresponding to the sub-image according to the peak value offset information, the pulse repetition frequency, the time interval and the Fourier transform length.
In some optional implementations of some embodiments, the determining unit 505 is further configured to: and determining satellite acceleration information corresponding to the FM slope error information according to a preset wavelength and the FM slope error information.
In some optional implementations of some embodiments, the third generating unit 506 is further configured to: integrating the satellite acceleration information in the set of satellite acceleration information along the azimuth direction to generate an error velocity of the satellite in the azimuth direction; integrating the error velocity along the azimuth direction to generate the satellite orbit error information.
It will be understood that the elements described in the apparatus 500 correspond to various steps in the method described with reference to fig. 2. Thus, the operations, features and advantages described above with respect to the method are also applicable to the apparatus 500 and the units included therein, and are not described herein again.
Referring now to FIG. 6, a block diagram of an electronic device (such as computing device 101 shown in FIG. 1) 600 suitable for use in implementing some embodiments of the present disclosure is shown. The electronic device shown in fig. 6 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present disclosure.
As shown in fig. 6, electronic device 600 may include a processing means (e.g., central processing unit, graphics processor, etc.) 601 that may perform various appropriate actions and processes in accordance with a program stored in a Read Only Memory (ROM) 602 or a program loaded from a storage means 608 into a Random Access Memory (RAM) 603. In the RAM 603, various programs and data necessary for the operation of the electronic apparatus 600 are also stored. The processing device 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.
Generally, the following devices may be connected to the I/O interface 605: input devices 606 including, for example, a touch screen, touch pad, keyboard, mouse, camera, microphone, accelerometer, gyroscope, etc.; output devices 607 including, for example, a Liquid Crystal Display (LCD), a speaker, a vibrator, and the like; storage 608 including, for example, tape, hard disk, etc.; and a communication device 609. The communication means 609 may allow the electronic device 600 to communicate with other devices wirelessly or by wire to exchange data. While fig. 6 illustrates an electronic device 600 having various means, it is to be understood that not all illustrated means are required to be implemented or provided. More or fewer devices may alternatively be implemented or provided. Each block shown in fig. 6 may represent one device or may represent multiple devices as desired.
In particular, according to some embodiments of the present disclosure, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, some embodiments of the present disclosure include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In some such embodiments, the computer program may be downloaded and installed from a network through the communication device 609, or installed from the storage device 608, or installed from the ROM 602. The computer program, when executed by the processing device 601, performs the above-described functions defined in the methods of some embodiments of the present disclosure.
It should be noted that the computer readable medium described in some embodiments of the present disclosure may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, 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), an optical fiber, 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 some embodiments of the 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. In some embodiments of the present disclosure, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: acquiring a single-view complex image, wherein the single-view complex image is an image generated after a synthetic aperture radar acquires a return wave; generating a defocused complex image based on the single-view complex image; carrying out aperture division on the defocused complex image along the azimuth direction to generate a sub-image set; generating frequency modulation slope error information corresponding to each sub-image in the sub-image set to obtain a frequency modulation slope error information set; determining satellite acceleration information corresponding to each FM slope error information in the FM slope error information set to obtain a satellite acceleration information set; and generating satellite orbit error information according to the satellite acceleration information set.
Computer program code for carrying out operations for embodiments of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart 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 and/or flowchart illustration, and combinations of blocks in the block diagrams and/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.
The units described in some embodiments of the present disclosure may be implemented by software, and may also be implemented by hardware. The described units may also be provided in a processor, and may be described as: a processor includes an acquisition unit, a first generation unit, an aperture division unit, a second generation unit, a determination unit, and a third generation unit. Here, the names of the cells do not constitute a limitation on the cell itself in some cases, and for example, the first generation unit may also be described as "a cell that generates a defocused complex image based on the above-described single-view complex image".
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
The foregoing description is only exemplary of the preferred embodiments of the disclosure and is illustrative of the principles of the technology employed. It will be appreciated by those skilled in the art that the scope of the invention in the embodiments of the present disclosure is not limited to the specific combination of the above-mentioned features, but also encompasses other embodiments in which any combination of the above-mentioned features or their equivalents is made without departing from the inventive concept as defined above. For example, the above features and (but not limited to) technical features with similar functions disclosed in the embodiments of the present disclosure are mutually replaced to form the technical solution.
Claims (8)
1. A method of generating orbital error information, comprising:
acquiring a single-view complex image, wherein the single-view complex image is an image generated after a synthetic aperture radar acquires a return wave;
generating a defocused complex image based on the single-view complex image;
performing aperture division on the defocused complex image along an azimuth direction to generate a sub-image set;
generating frequency modulation slope error information corresponding to each sub-image in the sub-image set to obtain a frequency modulation slope error information set;
determining satellite acceleration information corresponding to each FM slope error information in the FM slope error information set to obtain a satellite acceleration information set;
generating satellite orbit error information from the set of satellite acceleration information, wherein generating a defocused complex image based on the single-view complex image comprises:
performing 0 complementing on two sides of the single-view complex image along the azimuth direction to generate a 0-complemented single-view complex image;
carrying out Fourier transform processing on the single-view complex image after 0 compensation along the azimuth direction to generate azimuth frequency domain data;
performing phase compensation on the single-view complex image to generate a compensated single-view complex image, wherein the compensated phase is characterized by the following formula:
wherein,
representing the phase of the compensation;
representing a complex signal; wherein
；
Represents a circle;
to representClose-up;
represents a wavelength;
representing the equivalent speed;
representing an equivalent squint angle;
represents the Doppler frequency; wherein,
；
according to the azimuth frequency domain data, performing inverse fourier transform processing on the compensated single-view complex image along the azimuth direction to generate the defocused complex image, wherein the generating of the chirp rate error information corresponding to each sub-image in the sub-image set comprises:
performing filtering processing on the sub-image through a time domain filter to generate a filtered sub-image, wherein the time domain filter is characterized by the following formula:
wherein,
representing the time-domain filter in question,
which represents a complex number of signals that are,
it is shown that the circumferential ratio,
which is indicative of the slope of the frequency modulation,
indicating the azimuth time;
slicing the filtered sub-images along the azimuth direction to generate a first sub-image and a second sub-image;
respectively complementing 0 on two sides of the first sub-image and the second sub-image along the azimuth direction to generate a first sub-image after complementing 0 and a second sub-image after complementing 0;
respectively carrying out Fourier transform processing on the first sub-image subjected to 0 complementing and the second sub-image subjected to 0 complementing along the azimuth direction to generate a first sub-image subjected to transform and a second sub-image subjected to transform;
respectively carrying out image transformation processing on the transformed first sub-image and the transformed second sub-image to generate a first amplitude image and a second amplitude image;
performing correlation processing on the first amplitude image and the second amplitude image to generate peak value offset information corresponding to the sub-images;
according to the peak value offset information, the pulse repetition frequency, the time interval and the Fourier transform length, determining frequency modulation slope error information corresponding to the sub-image by the following formula:
wherein,
which represents the above-mentioned peak shift information,
is indicative of the chirp rate error information,
which is indicative of the pulse repetition frequency,
the time interval between the centers of two views is represented,
representing the fourier transform length.
2. The method of claim 1, wherein the method further comprises:
and performing phase compensation on the defocused complex image according to the satellite orbit error information to generate a focused complex image.
3. The method of claim 2, wherein the aperture dividing the defocused complex image in the azimuth direction to generate a set of sub-images comprises:
and performing image division on the defocused complex image along the azimuth direction to generate the sub-image set, wherein image overlapping exists between sub-images in the sub-image set.
4. The method of claim 3, wherein said determining satellite acceleration information corresponding to each chirp rate error information in said set of chirp rate error information comprises:
and determining satellite acceleration information corresponding to the FM slope error information according to a preset wavelength and the FM slope error information.
5. The method of claim 4, wherein said generating satellite orbit error information from said set of satellite acceleration information comprises:
integrating the satellite acceleration information in the satellite acceleration information set along the azimuth direction to generate an error velocity of the satellite in the azimuth direction;
and integrating the error speed along the azimuth direction to generate the satellite orbit error information.
6. A track error information generation apparatus comprising:
an acquisition unit configured to acquire a single-view complex image, wherein the single-view complex image is an image generated after an acquisition echo by a synthetic aperture radar;
a first generation unit configured to generate a defocused complex image based on the single-view complex image;
an aperture dividing unit configured to aperture-divide the defocused complex image in an azimuth direction to generate a sub-image set;
the second generating unit is configured to generate frequency modulation slope error information corresponding to each sub-image in the sub-image set to obtain a frequency modulation slope error information set;
a determining unit configured to determine satellite acceleration information corresponding to each chirp rate error information in the chirp rate error information set, to obtain a satellite acceleration information set;
a third generating unit configured to generate satellite orbit error information according to the set of satellite acceleration information, wherein the generating of the defocused complex image based on the single-view complex image comprises:
performing 0 complementing on two sides of the single-view complex image along the azimuth direction to generate a 0-complemented single-view complex image;
carrying out Fourier transform processing on the single-view complex image after 0 compensation along the azimuth direction to generate azimuth frequency domain data;
performing phase compensation on the single-view complex image to generate a compensated single-view complex image, wherein the compensated phase is characterized by the following formula:
wherein,
indicating the phase of the compensation;
representing a complex signal; wherein
；
Represents a circle;
indicating near;
represents a wavelength;
representing the equivalent speed;
representing an equivalent squint angle;
represents the Doppler frequency; wherein,
；
according to the azimuth frequency domain data, performing inverse fourier transform processing on the compensated single-view complex image along the azimuth direction to generate the defocused complex image, wherein the generating of the chirp rate error information corresponding to each sub-image in the sub-image set comprises:
performing filtering processing on the sub-image through a time domain filter to generate a filtered sub-image, wherein the time domain filter is characterized by the following formula:
wherein,
representing the time-domain filter in question,
which represents a complex number of signals that are,
it is shown that the circumferential ratio,
which is indicative of the slope of the frequency modulation,
indicating the azimuth time;
slicing the filtered sub-images along the azimuth direction to generate a first sub-image and a second sub-image;
respectively complementing 0 at two sides of the first sub-image and the second sub-image along the azimuth direction to generate a first sub-image subjected to 0 complementing and a second sub-image subjected to 0 complementing;
respectively carrying out Fourier transform processing on the first sub-image subjected to 0 complementing and the second sub-image subjected to 0 complementing along the azimuth direction to generate a first sub-image subjected to transform and a second sub-image subjected to transform;
respectively carrying out image transformation processing on the transformed first sub-image and the transformed second sub-image to generate a first amplitude image and a second amplitude image;
performing correlation processing on the first amplitude image and the second amplitude image to generate peak value offset information corresponding to the sub-images;
according to the peak value offset information, the pulse repetition frequency, the time interval and the Fourier transform length, determining frequency modulation slope error information corresponding to the sub-image by the following formula:
wherein,
which represents the above-mentioned peak shift information,
is indicative of the chirp rate error information,
which is indicative of the pulse repetition frequency,
the time interval between the centers of two views is represented,
representing the fourier transform length.
7. An electronic device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
when executed by the one or more processors, cause the one or more processors to implement the method of any one of claims 1-5.
8. A computer-readable medium, on which a computer program is stored, wherein the program, when executed by a processor, implements the method of any one of claims 1 to 5.
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