动态距离选通激光成像试验研究
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摘要
距离选通激光成像技术通过距离选通切片成像获取目标的强度像和三维距离像,并可以有效地克服后向散射,是目前有潜力实现工程化的少数几种焦平面激光成像技术之一。运动成像是激光主动成像技术的一个大的发展方向,在航天和工业领域占有重要的地位。本文对距离选通激光成像系统在动态环境下的成像适应性进行了研究。
首先,提出了一种基于距离选通技术和GPS定位系统的动态激光成像方案。本文将GPS引入到距离选通激光成像系统中,提出了一种用于动态成像的距离选通激光成像方案,通过分析方案中的GPS工作情况和动态距离选通门控切片成像模型,确定了动态成像系统中不同参数之间的关系,并对GPS运动成像距离误差进行了分析。
其次,提出一种基于Zernike矩不变量的运动图像畸变评价方法,并对仿真运动图像进行了评价。本文分析了动态成像过程中畸变产生的原因,提出了一种通过计算距离图像的Zernike矩不变量来评价运动图像畸变的方法,并对仿真运动图像的畸变进行了评价。通过仿真得出:运动速度为10m/s时,当成像帧频大于4 Hz时,仿真运动图像的畸变较小;成像帧频为20Hz时,当运动速度小于60 m/s时,仿真运动图像的畸变较小。
再次,搭建了基于动态成像的距离选通激光成像系统。动态激光成像系统主要包括激光发射系统、激光接收系统、控制中心与数据处理系统、同步控制系统和GPS定位系统,本文对系统中的关键成像模块和动态成像保障性设备的性能进行了详细地分析。
最后,进行了动态距离选通激光成像试验,对运动图像的畸变进行了评价,并对成像系统的动态适应性进行了分析。我们进行了动态成像试验,对切片像进行处理得到了目标的强度像和3D距离像。随后,我们采用Zernike矩不变量对运动距离像的畸变进行了评价:图像畸变随运动速度的增大而变大;在速度为20km/h情况下,当成像帧频大于5Hz时,图像畸变较小,可以满足动态成像要求。
Range-gated imaging can obtain both intensity image and three-dimensional range image by the range-gated slices, which can effectively overcome the backscattering. It is one of the few focal plane imaging technologies that has engineering application potential. Dynamic imaging is a major direction of development direction of laser active imaging that has great importance in aerospace and industrial areas. This thesis focuses on the adaptability of range-gated imaging system to dynamic imaging.
First, we proposed an imaging scheme based on range-gated technology and GPS. Adding GPS to the range-gated laser imaging system, we built the dynamic range-gated laser imaging systerm. Analyzing the work of GPS and dynamic range-gated model, we obtained the relations between various dynamic parameters, and analyzed the range errors caused by the GPS.
Second, We analyzed the causes for dynamical distortion, then proposed a dynamic imaging distortion evaluation method based on Zernike moment invariants and evaluated the simulated dynamic images. Through the simulation, when velocity is 10m/s and imaging frame rate is greater than 4Hz, the simulated image’s distortion is small. When the imaging frame rate is 20Hz, velocity is lower than 60m/s, the simulated image’s distortion is small.
Third, we built a dynamic range-gated laser imaging system. Dynamic laser imaging system consists of laser emitting system, laser receiving system, controlling center and data processing system, synchronous control systems and GPS. In this thesis, we analyzed the system’s critical modulus and dynamic imaging of protective imaging equipment in detail.
Finally, we did dynamic range-gated laser imaging experiments. We evaluated the distortion of dynamic images and analyzed the system’s dynamic adaptability. We conducted dynamic experiments and processed the slices in order to get the intensity image and 3D range images. Subsequently, we evaluated the images. The distortion increases with the velocity larger, the speed of 20km/h case, when the imaging frame rate is greater than 5Hz, the distortion is small enough to meet the requirements of dynamic imaging.
首先,提出了一种基于距离选通技术和GPS定位系统的动态激光成像方案。本文将GPS引入到距离选通激光成像系统中,提出了一种用于动态成像的距离选通激光成像方案,通过分析方案中的GPS工作情况和动态距离选通门控切片成像模型,确定了动态成像系统中不同参数之间的关系,并对GPS运动成像距离误差进行了分析。
其次,提出一种基于Zernike矩不变量的运动图像畸变评价方法,并对仿真运动图像进行了评价。本文分析了动态成像过程中畸变产生的原因,提出了一种通过计算距离图像的Zernike矩不变量来评价运动图像畸变的方法,并对仿真运动图像的畸变进行了评价。通过仿真得出:运动速度为10m/s时,当成像帧频大于4 Hz时,仿真运动图像的畸变较小;成像帧频为20Hz时,当运动速度小于60 m/s时,仿真运动图像的畸变较小。
再次,搭建了基于动态成像的距离选通激光成像系统。动态激光成像系统主要包括激光发射系统、激光接收系统、控制中心与数据处理系统、同步控制系统和GPS定位系统,本文对系统中的关键成像模块和动态成像保障性设备的性能进行了详细地分析。
最后,进行了动态距离选通激光成像试验,对运动图像的畸变进行了评价,并对成像系统的动态适应性进行了分析。我们进行了动态成像试验,对切片像进行处理得到了目标的强度像和3D距离像。随后,我们采用Zernike矩不变量对运动距离像的畸变进行了评价:图像畸变随运动速度的增大而变大;在速度为20km/h情况下,当成像帧频大于5Hz时,图像畸变较小,可以满足动态成像要求。
Range-gated imaging can obtain both intensity image and three-dimensional range image by the range-gated slices, which can effectively overcome the backscattering. It is one of the few focal plane imaging technologies that has engineering application potential. Dynamic imaging is a major direction of development direction of laser active imaging that has great importance in aerospace and industrial areas. This thesis focuses on the adaptability of range-gated imaging system to dynamic imaging.
First, we proposed an imaging scheme based on range-gated technology and GPS. Adding GPS to the range-gated laser imaging system, we built the dynamic range-gated laser imaging systerm. Analyzing the work of GPS and dynamic range-gated model, we obtained the relations between various dynamic parameters, and analyzed the range errors caused by the GPS.
Second, We analyzed the causes for dynamical distortion, then proposed a dynamic imaging distortion evaluation method based on Zernike moment invariants and evaluated the simulated dynamic images. Through the simulation, when velocity is 10m/s and imaging frame rate is greater than 4Hz, the simulated image’s distortion is small. When the imaging frame rate is 20Hz, velocity is lower than 60m/s, the simulated image’s distortion is small.
Third, we built a dynamic range-gated laser imaging system. Dynamic laser imaging system consists of laser emitting system, laser receiving system, controlling center and data processing system, synchronous control systems and GPS. In this thesis, we analyzed the system’s critical modulus and dynamic imaging of protective imaging equipment in detail.
Finally, we did dynamic range-gated laser imaging experiments. We evaluated the distortion of dynamic images and analyzed the system’s dynamic adaptability. We conducted dynamic experiments and processed the slices in order to get the intensity image and 3D range images. Subsequently, we evaluated the images. The distortion increases with the velocity larger, the speed of 20km/h case, when the imaging frame rate is greater than 5Hz, the distortion is small enough to meet the requirements of dynamic imaging.
引文
[1] Richard L.Espinola, Brian Teaney, Quang Nguyen, et al. Active Imaging System Performance Model for Target Acquisition. SPIE. 2007, (6543): 65430T-1~65430T-12.
[2] J.F.Andersen, J.Busck, H.Heiselberg. Long Distance High Accuracy 3-D Laser Radar and Person Identification. SPIE. 2005, 5791:6~16.
[3] Jens Busck. Underwater 3-D Optical Imaging with Gated Viewing Laser Radar. Optical Engineering. 2005, 44(11): 116001-1~116001-17.
[4] Lena Klasen, Pierre Andersson, H?kan Larsson, et al. Aided Target Recognition from 3-D Laser Radar Data. Proc. SPIE. 2004: 321~331.
[5] Deni Bonnier, Vincent Larochelle. A Range-Gated Active Imaging System for Search and Rescue, and Surveillance Operations. SPIE. 1996, 2744: 8~12.
[6] Pierre Andersson. Long-Range Three-Dimensional Imaging Using Range-Gated Laser Radar Images. Optical Engineering. 2006, 45(3): 034301-1~034301-10.
[7] Jianhua Sun, Pengge Ma, Ning Zheng. Detection Algorithm of Laser Rader Target Based on Wavelet Transform. IEEE CONFERENCES. 2011, vol. 1: 1026~1028.
[8]王德志.激光雷达原理.科协论坛. 2008, 5(2): 40.
[9]张晟翀,唐树威,朱海波.激光主动成像技术研究.光电技术应用. 2009, 24(3): 9~11.
[10]曲巨宝,林宏基,梁洪涛等.运动图像快速跟踪技术研究.重庆师范大学学报. 2011, 28(1): 44~48.
[11]吴艳平,崔宇,胡士强.基于运动图像序列的异常行为检测.计算机应用研究. 2010, 27(7): 2741~2744.
[12]王蔚然.机载激光成像雷达运动畸变的分析与修正.电子科技大学学报. 1998, 27(6): 583~587.
[13] Kevin J.Snell. Active Range-Gated Near-IR TV System for All-Weather Surveillance, Proc. SPIE. 1997, 2935: 171~181.
[14]范保虎,赵长明,纪荣祎.非扫描激光主动成像制导技术及其导引规律的研究.兵工学报. 2009, 30(9): 1264~1267.
[15]余明权,李海廷,路英宾等. MSM激光距离成像雷达中线性调频信号的产生.激光与红外. 2010, 40(9): 945~949.
[16] Mingsong Chen, Zhiyi He, Faliang Ao. Study and Implementation for Range-gated Underwater Laser Imaging System. Proc. SPIE. 2008, 6625: 66251J-1~66251J-7.
[17] Ove Steinvall, Pierre Andersson, Magnus Elmquist. Image Quality for Range-Gated Systems during Differentranges Atmospheric Conditions. Proc. SPIE. 2006, 6396: 07-1~07-17.
[18] Ian Baker, Stuart Duncanb, Jeremy Copley. A Low Noise, Laser Gated Imaging System for Long Range Target Imaging in an Airborne Environment Stuart Duncan. Proc. SPIE. 2006, 6206: 620607-1~ 620607-11.
[19] Ian Baker, Stuart Duncanb, Jeremy Copley. A Low Noise, Laser Gated Imaging System for Long Range Target Imaging in an Airborne Environment Stuart Duncan. Proc. SPIE. 2006, 6206: 620607-1~ 620607-11.
[20] Thomas E.McDonald, Jr., George J.Yates, et al. Range Gated Imaging Experiments Using Gated Intensifiers. SPIE. 1999, 3642: 142~148.
[21] Cliff Andressen, David Anthony, Tony DaMommio, et al. Tower Test Results for an Imaging LADAR Seeker. SPIE. 2005, 5791: 70~81.
[22] Xiaofeng Jin, Jianfeng Sun, Yi Yan. Application of phase retrieval algorithm in reflective tomography laser radar imaging. CHINESE OPTICS LETTERS. 2011, 9(1): 012801-1~012801-4.
[23]姚金良.机载面阵三维激光雷达运动成像的特性研究.浙江大学硕士学位论文. 2010: 1~2.
[24]刘晓波,李丽.基于盖革模式APD阵列的激光雷达性能分析.航空兵器. 2009, (6): 35~38.
[25] Brian F.Aull, Andrew H.Loomis, Douglas J.Young, el al. Three-Dimensional Imaging with Arrays of Geiger-Mode Avalanche Photodiodes. Proc. SPIE. 2004, 5353: 105~116.
[26]李晓峰,徐军,罗积军等.非扫描激光主动成像制导技术研究.光学技术. 2008, 34: 175~178.
[27]任熙明,李丽,鄢冬斌.基于APD阵列三维成像激光雷达信噪比分析.激光与红外. 2010, 40(2): 132~135.
[28] Richard M.Marino, Timothy Stephens, Robert E.Hatch, et al. A Compact 3D Imaging Laser Radar System using Geiger-Mode APD Arrays: System and Measurements. SPIE. 2003, (5086): 1~15.
[29]李琦,迟欣,王骐.基于盖革模式APD阵列的单脉冲3D激光雷达原理和技术.激光与红外. 2006, 36(12): 1116~1119.
[30]邓陈,赵继广,杜小平等. FM/CW激光雷达发射功率的研究.红外与激光工程. 2009, 38(2): 304~307.
[31] Barry Stann, Mark Giza, Dale Robinson, et al.. A Scannerless Imaging Ladar Using a Laser Diode Illuminator and FM/CW Radar Principles. Proc. SPIE. 1999, 3707: 421~431.
[32]姜鹏, FM/cw激光成像雷达中的大功率激光调制系统及技术研究.哈尔滨工业大学博士学位论文. 2009: 3~4.
[33]臧俊恒,李思宁,王骐等.条纹管激光成像雷达条纹图像噪音分析与处理.光子学报. 2008, 37(8): 1533~1536.
[34]孙剑锋,郜键,魏靖松等.条纹管激光成像雷达水下探测成像研究进展.红外与激光工程. 2010, 39(5): 811~814.
[35]梁小雪.条纹管激光雷达偏振成像实验研究.哈尔滨工业大学硕士学位论文. 2010: 2~6.
[36] Ove Steinvall, Pierre Andersson, Magnus Elmqvist, et al. Overview of Range Gated Imaging at FOI. Proc. SPIE. 2007, 6542: 654216-1~654216-13.
[37] Vincent Larochelle, Pierre Mathieu, Jean Robert Simard. Two Generations of Canadian Active Imaging Systems: ALBEDOS and ELVISS. Proc. SPIE. 1999, 3698: 229~243.
[38]王智.基于激光主动成像图像的多帧后处理算法研究.中国科学院博士学位论文. 2006: 6~11.
[39]王祥科.小型化激光主动成像系统研究.国防科技大学硕士学位论文. 2006: 2-4.
[40] Jens Busck, Henning Heiselberg. High accuracy 3-D laser radar. Proc. SPIE. 2004, 5412: 257~263.
[41]韩宏伟,张晓晖,葛卫龙.水下激光距离选通成像系统的模型与极限探测性能研究.中国激光. 2011, 38(1): 0109001-1 ~0109001-7.
[42]李海兰,王霞,金伟其等.基于多帧水下距离选通图像的三维重构方法.光学学报. 2010, 30(12): 3464~3470.
[43] Matthew C.Thomas. Image Enhancement Using a Range-Gated Microchannel-Plate Image Intensifier (MCPII) Video System with a 180-ps FWHM Shutter. Proc. SPIE. 1995, 2551: 174~180.
[44] David A.Freiwald, Joyce Freiwald. Range-Gated Laser and ICCD Camera System for On-Orbit Detection of Small Space Debris. Proc. SPIE. 1994, 2214: 116~123.
[45] Pierre Andersson. Long-Range Three-Dimensional Imaging Using Range-Gated Laser Radar Images. Optical Engineering. 2006, 45(3): 034301-1~034301-10.
[46]江克,陈北京,张辉等.完备的Zernike矩不变量集的构造及应用.东南大学学报. 2011, 41(1): 58~62.
[47]张淼.基于矩不变性的印鉴鉴别技术的研究.西安电子科技大学硕士学位论文. 2005: 14~18.
[48] A. Khotanzad. Inviariant Image Recognition by Zernike Moments. IEEE Trans. Pattern. Anal. Machine Intell..May 1990, vol. 12: 489~497.
[2] J.F.Andersen, J.Busck, H.Heiselberg. Long Distance High Accuracy 3-D Laser Radar and Person Identification. SPIE. 2005, 5791:6~16.
[3] Jens Busck. Underwater 3-D Optical Imaging with Gated Viewing Laser Radar. Optical Engineering. 2005, 44(11): 116001-1~116001-17.
[4] Lena Klasen, Pierre Andersson, H?kan Larsson, et al. Aided Target Recognition from 3-D Laser Radar Data. Proc. SPIE. 2004: 321~331.
[5] Deni Bonnier, Vincent Larochelle. A Range-Gated Active Imaging System for Search and Rescue, and Surveillance Operations. SPIE. 1996, 2744: 8~12.
[6] Pierre Andersson. Long-Range Three-Dimensional Imaging Using Range-Gated Laser Radar Images. Optical Engineering. 2006, 45(3): 034301-1~034301-10.
[7] Jianhua Sun, Pengge Ma, Ning Zheng. Detection Algorithm of Laser Rader Target Based on Wavelet Transform. IEEE CONFERENCES. 2011, vol. 1: 1026~1028.
[8]王德志.激光雷达原理.科协论坛. 2008, 5(2): 40.
[9]张晟翀,唐树威,朱海波.激光主动成像技术研究.光电技术应用. 2009, 24(3): 9~11.
[10]曲巨宝,林宏基,梁洪涛等.运动图像快速跟踪技术研究.重庆师范大学学报. 2011, 28(1): 44~48.
[11]吴艳平,崔宇,胡士强.基于运动图像序列的异常行为检测.计算机应用研究. 2010, 27(7): 2741~2744.
[12]王蔚然.机载激光成像雷达运动畸变的分析与修正.电子科技大学学报. 1998, 27(6): 583~587.
[13] Kevin J.Snell. Active Range-Gated Near-IR TV System for All-Weather Surveillance, Proc. SPIE. 1997, 2935: 171~181.
[14]范保虎,赵长明,纪荣祎.非扫描激光主动成像制导技术及其导引规律的研究.兵工学报. 2009, 30(9): 1264~1267.
[15]余明权,李海廷,路英宾等. MSM激光距离成像雷达中线性调频信号的产生.激光与红外. 2010, 40(9): 945~949.
[16] Mingsong Chen, Zhiyi He, Faliang Ao. Study and Implementation for Range-gated Underwater Laser Imaging System. Proc. SPIE. 2008, 6625: 66251J-1~66251J-7.
[17] Ove Steinvall, Pierre Andersson, Magnus Elmquist. Image Quality for Range-Gated Systems during Differentranges Atmospheric Conditions. Proc. SPIE. 2006, 6396: 07-1~07-17.
[18] Ian Baker, Stuart Duncanb, Jeremy Copley. A Low Noise, Laser Gated Imaging System for Long Range Target Imaging in an Airborne Environment Stuart Duncan. Proc. SPIE. 2006, 6206: 620607-1~ 620607-11.
[19] Ian Baker, Stuart Duncanb, Jeremy Copley. A Low Noise, Laser Gated Imaging System for Long Range Target Imaging in an Airborne Environment Stuart Duncan. Proc. SPIE. 2006, 6206: 620607-1~ 620607-11.
[20] Thomas E.McDonald, Jr., George J.Yates, et al. Range Gated Imaging Experiments Using Gated Intensifiers. SPIE. 1999, 3642: 142~148.
[21] Cliff Andressen, David Anthony, Tony DaMommio, et al. Tower Test Results for an Imaging LADAR Seeker. SPIE. 2005, 5791: 70~81.
[22] Xiaofeng Jin, Jianfeng Sun, Yi Yan. Application of phase retrieval algorithm in reflective tomography laser radar imaging. CHINESE OPTICS LETTERS. 2011, 9(1): 012801-1~012801-4.
[23]姚金良.机载面阵三维激光雷达运动成像的特性研究.浙江大学硕士学位论文. 2010: 1~2.
[24]刘晓波,李丽.基于盖革模式APD阵列的激光雷达性能分析.航空兵器. 2009, (6): 35~38.
[25] Brian F.Aull, Andrew H.Loomis, Douglas J.Young, el al. Three-Dimensional Imaging with Arrays of Geiger-Mode Avalanche Photodiodes. Proc. SPIE. 2004, 5353: 105~116.
[26]李晓峰,徐军,罗积军等.非扫描激光主动成像制导技术研究.光学技术. 2008, 34: 175~178.
[27]任熙明,李丽,鄢冬斌.基于APD阵列三维成像激光雷达信噪比分析.激光与红外. 2010, 40(2): 132~135.
[28] Richard M.Marino, Timothy Stephens, Robert E.Hatch, et al. A Compact 3D Imaging Laser Radar System using Geiger-Mode APD Arrays: System and Measurements. SPIE. 2003, (5086): 1~15.
[29]李琦,迟欣,王骐.基于盖革模式APD阵列的单脉冲3D激光雷达原理和技术.激光与红外. 2006, 36(12): 1116~1119.
[30]邓陈,赵继广,杜小平等. FM/CW激光雷达发射功率的研究.红外与激光工程. 2009, 38(2): 304~307.
[31] Barry Stann, Mark Giza, Dale Robinson, et al.. A Scannerless Imaging Ladar Using a Laser Diode Illuminator and FM/CW Radar Principles. Proc. SPIE. 1999, 3707: 421~431.
[32]姜鹏, FM/cw激光成像雷达中的大功率激光调制系统及技术研究.哈尔滨工业大学博士学位论文. 2009: 3~4.
[33]臧俊恒,李思宁,王骐等.条纹管激光成像雷达条纹图像噪音分析与处理.光子学报. 2008, 37(8): 1533~1536.
[34]孙剑锋,郜键,魏靖松等.条纹管激光成像雷达水下探测成像研究进展.红外与激光工程. 2010, 39(5): 811~814.
[35]梁小雪.条纹管激光雷达偏振成像实验研究.哈尔滨工业大学硕士学位论文. 2010: 2~6.
[36] Ove Steinvall, Pierre Andersson, Magnus Elmqvist, et al. Overview of Range Gated Imaging at FOI. Proc. SPIE. 2007, 6542: 654216-1~654216-13.
[37] Vincent Larochelle, Pierre Mathieu, Jean Robert Simard. Two Generations of Canadian Active Imaging Systems: ALBEDOS and ELVISS. Proc. SPIE. 1999, 3698: 229~243.
[38]王智.基于激光主动成像图像的多帧后处理算法研究.中国科学院博士学位论文. 2006: 6~11.
[39]王祥科.小型化激光主动成像系统研究.国防科技大学硕士学位论文. 2006: 2-4.
[40] Jens Busck, Henning Heiselberg. High accuracy 3-D laser radar. Proc. SPIE. 2004, 5412: 257~263.
[41]韩宏伟,张晓晖,葛卫龙.水下激光距离选通成像系统的模型与极限探测性能研究.中国激光. 2011, 38(1): 0109001-1 ~0109001-7.
[42]李海兰,王霞,金伟其等.基于多帧水下距离选通图像的三维重构方法.光学学报. 2010, 30(12): 3464~3470.
[43] Matthew C.Thomas. Image Enhancement Using a Range-Gated Microchannel-Plate Image Intensifier (MCPII) Video System with a 180-ps FWHM Shutter. Proc. SPIE. 1995, 2551: 174~180.
[44] David A.Freiwald, Joyce Freiwald. Range-Gated Laser and ICCD Camera System for On-Orbit Detection of Small Space Debris. Proc. SPIE. 1994, 2214: 116~123.
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