阅读说明：本技术 一种雷达成像方法、装置、设备及存储介质 (Radar imaging method, device, equipment and storage medium ) 是由 方庭柱 梁达 张衡 刘开雨 陈亚锋 刘大成 王宇 邓云凯 于 2020-06-03 设计创作，主要内容包括：本发明实施例公开了一种雷达成像方法、装置、设备和存储介质,该方法包括：持续获取信号直到预设时间结束,得到多个第一同步接收信号、多个第二同步接收信号、多个第一回波接收信号和多个第二回波接收信号；获取多个第一同步接收信号和多个第二同步接收信号对应的补偿相位,得到多个第一补偿相位；并利用多个第一补偿相位,对多个第二回波接收信号对应的方位向点数进行拟合插值,得到多个第二补偿相位；利用多个第一补偿相位和多个第二补偿相位,对多个第二回波接收信号进行相位补偿,并基于多个第一回波接收信号和补偿后的多个第二回波接收信号进行雷达成像,得到目标图像。通过本发明实施例提供的方法,能够提升雷达成像质量。(The embodiment of the invention discloses a radar imaging method, a device, equipment and a storage medium, wherein the method comprises the following steps: continuously acquiring signals until the preset time is over, and obtaining a plurality of first synchronous receiving signals, a plurality of second synchronous receiving signals, a plurality of first echo receiving signals and a plurality of second echo receiving signals; acquiring compensation phases corresponding to a plurality of first synchronous receiving signals and a plurality of second synchronous receiving signals to obtain a plurality of first compensation phases; fitting and interpolating the azimuth points corresponding to the second echo receiving signals by using the first compensation phases to obtain second compensation phases; and performing phase compensation on the plurality of second echo receiving signals by using the plurality of first compensation phases and the plurality of second compensation phases, and performing radar imaging based on the plurality of first echo receiving signals and the plurality of compensated second echo receiving signals to obtain a target image. By the method provided by the embodiment of the invention, the radar imaging quality can be improved.)

1. A method of radar imaging, the method comprising:

controlling a first radar to sequentially transmit a radar signal and a first synchronous signal at a first pulse repetition time, acquiring a first synchronous receiving signal received by a second radar aiming at the first synchronous signal, and acquiring a first echo receiving signal received by the first radar and a second echo receiving signal received by the second radar aiming at the radar signal;

at a second pulse repetition time, controlling the first radar to transmit the radar signal, controlling the second radar to transmit a second synchronization signal, and acquiring a second synchronization reception signal received by the first radar for the second synchronization signal, a first echo reception signal received by the first radar for the radar signal, and a second echo reception signal received by the second radar;

continuously acquiring signals until the preset time is over, and obtaining a plurality of first synchronous receiving signals, a plurality of second synchronous receiving signals, a plurality of first echo receiving signals and a plurality of second echo receiving signals;

acquiring compensation phases corresponding to the first synchronous receiving signals and the second synchronous receiving signals to obtain a plurality of first compensation phases; fitting and interpolating the number of azimuth points corresponding to the second echo receiving signals by using the first compensation phases to obtain second compensation phases;

and performing phase compensation on the plurality of second echo receiving signals by using the plurality of first compensation phases and the plurality of second compensation phases, and performing radar imaging based on the plurality of first echo receiving signals and the plurality of compensated second echo receiving signals to obtain a target image.

2. The method of claim 1,

the transmitting time of the first synchronous signal and the receiving time of the first synchronous receiving signal are the time period between the transmitting completion time of the radar signal and the receiving start time of the echo signal corresponding to the radar signal in the first pulse repetition time; and the number of the first and second groups,

and the transmitting time of the second synchronous signal and the receiving time of the second synchronous received signal are time periods between the transmitting completion time of the radar signal and the receiving start time of the echo signal corresponding to the radar signal in the second pulse repetition time.

3. The method according to claim 1 or 2,

the pulse width of the first synchronization signal is determined according to the transmission duration of the first synchronization signal, the time period between the emission completion time of the radar signal and the reception start time of the echo signal corresponding to the radar signal in the first pulse repetition time, and a preset signal-to-noise ratio threshold; and

the pulse width of the second synchronization signal is determined according to the transmission duration of the second synchronization signal, a time period between the transmission completion time of the radar signal and the reception start time of the echo signal corresponding to the radar signal in the second pulse repetition time, and the preset signal-to-noise ratio threshold.

4. The method of claim 1 or 2, wherein the obtaining the compensation phases corresponding to the first synchronous received signals and the second synchronous received signals to obtain a plurality of first compensation phases comprises:

performing pulse compression on each first synchronous received signal of the plurality of first synchronous received signals and a corresponding second synchronous received signal in the plurality of second synchronous received signals to obtain a first signal peak phase and a second signal peak phase which respectively correspond to each other;

obtaining a difference value of the first signal peak phase and the second signal peak phase to obtain a signal peak phase difference;

and averaging the signal peak phase difference to obtain a first compensation phase, thereby obtaining the plurality of first compensation phases.

5. The method according to claim 1 or 2, wherein the fitting interpolation is performed on the number of azimuth points corresponding to the plurality of second echo received signals by using the plurality of first compensation phases to obtain a plurality of second compensation phases, and the method comprises:

acquiring time information corresponding to each first compensation phase in the plurality of first compensation phases to obtain target time information;

forming a sample by each first compensation phase and the target time information to obtain a training sample, thereby obtaining a plurality of training samples;

training to obtain a fitting relation between time and a compensation phase based on the training samples;

selecting a plurality of pieces of time information to be fitted except for a plurality of pieces of target time information from a plurality of pieces of time corresponding to azimuth points corresponding to the plurality of second echo received signals;

and determining a plurality of fitting compensation phases corresponding to the plurality of pieces of time information to be fitted according to the fitting relation between the time and the compensation phases to obtain a plurality of second compensation phases.

6. The method of claim 5, wherein training the fitting relationship of time to compensation phase based on the plurality of training samples comprises:

dividing the plurality of training samples into a training sample set and a verification sample set;

determining a fitting parameter value of preset time and a compensation phase by using the training sample set;

and determining the fitting relation between the time and the compensation phase according to the fitting parameter values and the fitting relation between the preset time and the compensation phase and by combining the verification sample set.

7. The method according to claim 1 or 2, wherein the carrier frequencies between the radar signal, the first synchronization signal and the second synchronization signal are the same.

8. A radar imaging apparatus, characterized in that the apparatus comprises:

the first signal module is used for controlling a first radar to sequentially transmit a radar signal and a first synchronous signal at a first pulse repetition time, acquiring a first synchronous receiving signal received by a second radar aiming at the first synchronous signal, and acquiring a first echo receiving signal received by the first radar and a second echo receiving signal received by the second radar aiming at the radar signal;

a second signal module, configured to control the first radar to transmit the radar signal and control the second radar to transmit a second synchronization signal at a second pulse repetition time, and acquire a second synchronization reception signal received by the first radar for the second synchronization signal, and a first echo reception signal received by the first radar and a second echo reception signal received by the second radar for the radar signal;

the total signal module is used for continuously acquiring signals until the preset time is over to obtain a plurality of first synchronous receiving signals, a plurality of second synchronous receiving signals, a plurality of first echo receiving signals and a plurality of second echo receiving signals;

a compensation phase obtaining module, configured to obtain compensation phases corresponding to the multiple first synchronous received signals and the multiple second synchronous received signals, so as to obtain multiple first compensation phases; fitting and interpolating the number of azimuth points corresponding to the second echo receiving signals by using the first compensation phases to obtain second compensation phases;

and the imaging module is used for performing phase compensation on the plurality of second echo receiving signals by using the plurality of first compensation phases and the plurality of second compensation phases, and performing radar imaging based on the plurality of first echo receiving signals and the plurality of compensated second echo receiving signals to obtain a target image.

9. A radar imaging device, characterized in that the device comprises: a processor, a memory and a communication bus, the memory in communication with the processor through the communication bus, the memory storing a program executable by the processor, the program, when executed, causing the processor to perform the method of any of claims 1-7.

10. A computer-readable storage medium, on which a program is stored, which, when being executed by a processor, carries out the method according to any one of claims 1 to 7.

Technical Field

The present invention relates to information processing technology in the field of radar, and in particular, to a radar imaging method, apparatus, device, and storage medium.

Background

With the increasing application of radar in disaster monitoring, resource exploration, ocean monitoring, environment monitoring, mapping, military reconnaissance and other aspects, the radar is also developed into a multi-base radar from a single-base radar; the multi-base radar has the advantages of flexible configuration, rich acquired information, interception resistance, interference resistance and the like, and can complete tasks such as large swath high-resolution imaging, ground elevation measurement, ocean current speed measurement, ground moving target monitoring and the like through the multi-base radar.

However, when a task is performed by using the multi-base radar, because the crystal oscillators used by the radars in the multi-base radar are different, a crystal oscillator frequency error exists between the second radar and the first radar, and phase noise exists between a transmitted radar signal and a received echo signal; therefore, the problem that the phases of the echo information respectively obtained by each radar in the multi-base radar are not synchronous exists, and the imaging quality is low when monitoring is carried out according to the echo signals received by each radar.

Disclosure of Invention

In order to solve the above technical problems, embodiments of the present invention desirably provide a radar imaging method, apparatus, device, and storage medium, which can improve imaging quality of radar imaging.

The technical scheme of the invention is realized as follows:

in a first aspect, an embodiment of the present invention provides a radar imaging method, where the method includes:

controlling a first radar to sequentially transmit a radar signal and a first synchronous signal at a first pulse repetition time, acquiring a first synchronous receiving signal received by a second radar aiming at the first synchronous signal, and acquiring a first echo receiving signal received by the first radar and a second echo receiving signal received by the second radar aiming at the radar signal;

at a second pulse repetition time, controlling the first radar to transmit the radar signal, controlling the second radar to transmit a second synchronization signal, and acquiring a second synchronization reception signal received by the first radar for the second synchronization signal, a first echo reception signal received by the first radar for the radar signal, and a second echo reception signal received by the second radar;

continuously acquiring signals until the preset time is over, and obtaining a plurality of first synchronous receiving signals, a plurality of second synchronous receiving signals, a plurality of first echo receiving signals and a plurality of second echo receiving signals;

acquiring compensation phases corresponding to the first synchronous receiving signals and the second synchronous receiving signals to obtain a plurality of first compensation phases; fitting and interpolating the number of azimuth points corresponding to the second echo receiving signals by using the first compensation phases to obtain second compensation phases;

and performing phase compensation on the plurality of second echo receiving signals by using the plurality of first compensation phases and the plurality of second compensation phases, and performing radar imaging based on the plurality of first echo receiving signals and the plurality of compensated second echo receiving signals to obtain a target image.

In the above scheme, the transmitting time of the first synchronization signal and the receiving time of the first synchronization receiving signal are time periods between the transmitting completion time of the radar signal and the receiving start time of the echo signal corresponding to the radar signal in the first pulse repetition time; and the number of the first and second groups,

and the transmitting time of the second synchronous signal and the receiving time of the second synchronous received signal are time periods between the transmitting completion time of the radar signal and the receiving start time of the echo signal corresponding to the radar signal in the second pulse repetition time.

In the above scheme, the pulse width of the first synchronization signal is determined according to the transmission duration of the first synchronization signal, a time period between the transmission completion time of the radar signal and the reception start time of the echo signal corresponding to the radar signal in the first pulse repetition time, and a preset signal-to-noise ratio threshold; and

the pulse width of the second synchronization signal is determined according to the transmission duration of the second synchronization signal, a time period between the transmission completion time of the radar signal and the reception start time of the echo signal corresponding to the radar signal in the second pulse repetition time, and the preset signal-to-noise ratio threshold.

In the foregoing solution, the obtaining compensation phases corresponding to the multiple first synchronous received signals and the multiple second synchronous received signals to obtain multiple first compensation phases includes:

performing pulse compression on each first synchronous received signal of the plurality of first synchronous received signals and a corresponding second synchronous received signal in the plurality of second synchronous received signals to obtain a first signal peak phase and a second signal peak phase which respectively correspond to each other;

obtaining a difference value of the first signal peak phase and the second signal peak phase to obtain a signal peak phase difference;

and averaging the signal peak phase difference to obtain a first compensation phase, thereby obtaining the plurality of first compensation phases.

In the foregoing solution, the performing fitting interpolation on the number of azimuth points corresponding to the plurality of second echo received signals by using the plurality of first compensation phases to obtain a plurality of second compensation phases includes:

acquiring time information corresponding to each first compensation phase in the plurality of first compensation phases to obtain target time information;

forming a sample by each first compensation phase and the target time information to obtain a training sample, thereby obtaining a plurality of training samples;

training to obtain a fitting relation between time and a compensation phase based on the training samples;

selecting a plurality of pieces of time information to be fitted except for a plurality of pieces of target time information from a plurality of pieces of time corresponding to azimuth points corresponding to the plurality of second echo received signals;

and determining a plurality of fitting compensation phases corresponding to the plurality of pieces of time information to be fitted according to the fitting relation between the time and the compensation phases to obtain a plurality of second compensation phases.

In the above scheme, the training to obtain the fitting relationship between time and compensation phase based on the plurality of training samples includes:

dividing the plurality of training samples into a training sample set and a verification sample set;

determining a fitting parameter value of preset time and a compensation phase by using the training sample set;

and determining the fitting relation between the time and the compensation phase according to the fitting parameter values and the fitting relation between the preset time and the compensation phase and by combining the verification sample set.

In the above scheme, the carrier frequencies of the radar signal, the first synchronization signal and the second synchronization signal are the same.

In a second aspect, an embodiment of the present invention provides a radar imaging apparatus, including:

the first signal module is used for controlling a first radar to sequentially transmit a radar signal and a first synchronous signal at a first pulse repetition time, acquiring a first synchronous receiving signal received by a second radar aiming at the first synchronous signal, and acquiring a first echo receiving signal received by the first radar and a second echo receiving signal received by the second radar aiming at the radar signal;

a second signal module, configured to control the first radar to transmit the radar signal and control the second radar to transmit a second synchronization signal at a second pulse repetition time, and acquire a second synchronization reception signal received by the first radar for the second synchronization signal, and a first echo reception signal received by the first radar and a second echo reception signal received by the second radar for the radar signal;

the total signal module is used for continuously acquiring signals until the preset time is over to obtain a plurality of first synchronous receiving signals, a plurality of second synchronous receiving signals, a plurality of first echo receiving signals and a plurality of second echo receiving signals;

a compensation phase obtaining module, configured to obtain compensation phases corresponding to the multiple first synchronous received signals and the multiple second synchronous received signals, so as to obtain multiple first compensation phases; fitting and interpolating the number of azimuth points corresponding to the second echo receiving signals by using the first compensation phases to obtain second compensation phases;

and the imaging module is used for performing phase compensation on the plurality of second echo receiving signals by using the plurality of first compensation phases and the plurality of second compensation phases, and performing radar imaging based on the plurality of first echo receiving signals and the plurality of compensated second echo receiving signals to obtain a target image.

In a third aspect, an embodiment of the present invention provides a radar imaging apparatus, where the apparatus includes: a processor, a memory and a communication bus, the memory communicating with the processor through the communication bus, the memory storing a program executable by the processor, the program, when executed, executing the radar imaging method as described above through the processor.

In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a program is stored, which when executed by a processor, implements the radar imaging method as described above.

The embodiment of the invention provides a radar imaging method, a device, equipment and a storage medium, wherein the method comprises the following steps: controlling a first radar to sequentially transmit a radar signal and a first synchronous signal at a first pulse repetition time, acquiring a first synchronous receiving signal received by a second radar aiming at the first synchronous signal, and acquiring a first echo receiving signal received by the first radar aiming at the radar signal and a second echo receiving signal received by the second radar; at a second pulse repetition time, controlling the first radar to transmit a radar signal, controlling the second radar to transmit a second synchronous signal, and acquiring a second synchronous received signal received by the first radar aiming at the second synchronous signal, a first echo received signal received by the first radar aiming at the radar signal and a second echo received signal received by the second radar; continuously acquiring signals until the preset time is over, and obtaining a plurality of first synchronous receiving signals, a plurality of second synchronous receiving signals, a plurality of first echo receiving signals and a plurality of second echo receiving signals; acquiring compensation phases corresponding to a plurality of first synchronous receiving signals and a plurality of second synchronous receiving signals to obtain a plurality of first compensation phases; fitting and interpolating the azimuth points corresponding to the second echo receiving signals by using the first compensation phases to obtain second compensation phases; and performing phase compensation on the plurality of second echo receiving signals by using the plurality of first compensation phases and the plurality of second compensation phases, and performing radar imaging based on the plurality of first echo receiving signals and the plurality of compensated second echo receiving signals to obtain a target image. By adopting the technical scheme, because the obtained target image is a radar imaging result obtained according to the echo signal (first synchronous receiving signal) received by the first radar and the echo signal (second synchronous receiving signal) received by the second radar after phase compensation, the phases of the echo signals obtained by the radars are synchronous; the compensation phase according to which the phase compensation is performed is determined based on fitting the existing compensation phase (the plurality of first compensation phases), so that the accuracy of the compensation phase is high, and the phases of the echo signals obtained by the radars are further synchronized; therefore, when each synchronous echo signal is reused for radar imaging, the imaging quality of radar imaging can be improved.

Drawings

FIG. 1 is an alternative schematic diagram of a radar imaging system provided by an embodiment of the present invention;

fig. 2 is a flowchart of an implementation of a radar imaging method according to an embodiment of the present invention;

fig. 3 is a schematic diagram illustrating exemplary signal transceiving according to an embodiment of the present invention;

FIG. 4 is a flowchart of another implementation of a radar imaging method according to an embodiment of the present invention;

fig. 5 is a first schematic structural diagram of a radar imaging apparatus according to an embodiment of the present invention;

fig. 6 is a schematic structural diagram of a radar imaging apparatus according to an embodiment of the present invention.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to fig. 1, fig. 1 is an alternative schematic diagram of a radar imaging system according to an embodiment of the present invention; as shown in fig. 1, in the radar imaging system 100, the radar imaging device 200 is connected to the radar device 300, controls the radar device 300 to detect the target object 400 by transmitting a signal, and acquires an echo signal obtained by the radar device 300, and performs radar imaging based on the acquired echo signal. Therein, the radar apparatus 300 includes a plurality of radars, and here, the radar apparatus is divided into a first radar 301 and a second radar 302.

It should be noted that the following embodiments are all implemented based on the radar imaging system described above.