高速机动平台SAR成像算法及运动补偿研究
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摘要
合成孔径雷达(SyntheticAperture Radar，SAR)是一种全天时、全天候的微波遥感技术。高速机动平台下的SAR成像由于其特殊的实际价值，已成为近年来的研究热点。一方面，SAR系统可有效提高高速机动飞行器的全天时、全天候的探测能力；另一方面，在复杂环境下，装载SAR系统的飞行器具有更强的自主性：在高速机动飞行条件下，SAR系统通过获取包含特征地貌的微波图像，将其与数据库中存储的基准图像进行匹配，从而由几何关系解算出飞行器自身的位置坐标，达到修正惯性导航系统(Inertial Navigation System，INS)的累积误差、提高定位精度的目的；另外，装载在高速机动飞行器上的SAR系统还可直接获得重要区域的二维高分辨图像和散射信息，并由此对该区域的目标进行特征提取、分类和识别。
然而，与传统星载SAR和机载SAR不同，高速机动平台的飞行轨迹更为复杂，这使得传统星载SAR和机载SAR的成像方法往往不能直接应用于高速机动平台SAR。本文主要针对高速机动平台SAR成像中的方位聚焦深度限制的问题、高分辨成像算法问题、调频连续波体制下的成像算法问题展开了研究。此外，为了进一步提高飞行器自身的隐蔽性、反隐身能力以及散射信息获取能力，将双站SAR的构想移植到高速机动平台SAR成像已成为新的发展趋势。因此，本文也针对双站构型下的高速机动平台SAR的运动补偿问题展开了研究。取得的主要研究成果如下：
1.针对高速机动平台SAR下降段成像中的方位聚焦深度限制的问题，提出了一种有效的解决方法。在俯冲阶段，机动飞行器自身较大的俯冲下降速度和加速度导致SAR回波信号方位不变性的假设不再成立，给SAR成像处理带来困难。针对该问题，提出了一种基于方位非线性变标的高速机动平台SAR下降段成像算法：在完成距离徙动校正和距离脉冲压缩之后，通过方位向上的非线性变标操作，校正沿方位向变化的多普勒调频率，从而较为有效地改善了SAR图像的方位聚焦深度和聚焦质量。
2.研究了高速机动平台SAR全孔径成像方法。在俯冲阶段，机动飞行器较大的俯冲下降速度和加速度使得SAR回波信号的二维频谱表达式难以有效获得，给频域成像算法的设计带来困难。针对该问题，提出了一种基于双曲线性修正斜距模型的高速机动平台SAR成像方法。该方法通过构造双曲函数形式的斜距表达式并引入线性修正因子，对全孔径SAR斜距历程进行合理近似；并以修正后的斜距式为基础，采用驻相点原理直接求解SAR回波信号的二维频谱，并基于该频谱设计了高效的频域成像算法。该方法下的频谱推导较为简洁，所获得频谱的数学表达式清晰直观，利于成像分析和后续处理。最后通过点目标成像仿真验证了方法的可行性和有效性。
3.研究了高速机动平台条件下的调频连续波SAR(FMCW-SAR)成像算法。针对俯冲阶段的高速机动平台FMCW-SAR的特点，建立了回波信号模型；通过分析可知，与常规机载FMCW-SAR不同，在高速机动平台这一特定的条件下，雷达相对较高的运动速度使得差频输出信号中的二次耦合相位不能忽略，并且影响距离向的聚焦；针对该问题，提出了一种FMCW-SAR成像处理方法。在成像处理中，通过在二维频域构造相应的二次耦合相位补偿函数，较好地改善了距离向的聚焦质量。最后通过点目标成像仿真对方法的可行性和有效性进行了验证。
4.针对双站构型的高速机动平台SAR成像的运动补偿问题进行了研究。在双站构型下的高速机动平台SAR成像中，高速机动飞行器的运动误差和双站几何构型信息的不准确均会引入额外的相位误差，该相位误差将导致双站SAR(BiSAR)图像的聚焦质量显著下降。针对该问题，文中详细分析了运动误差和几何构型偏差对成像的影响，并提出了一种有效的运动补偿方法。该方法利用多普勒调频率估计，同时补偿由运动误差和几何构型偏差所引入的相位误差，从而较为有效地改善了BiSAR图像的聚焦质量。最后通过对机载BiSAR实测数据的处理与分析验证了所述方法的可行性和有效性。
5.研究了在双基角较大、信号特性沿方位变化较剧烈的情况下，双站构型的高速机动平台SAR成像的运动补偿方法。在双站构型下的高速机动平台SAR成像中，回波信号方位不变性的假设不再成立；完成距离徙动校正和距离脉冲压缩之后，同一距离单元处信号的多普勒调频率具有沿方位向变化的特性。该信号特性导致了传统的PGA方法对相位误差的估计精度显著下降。针对该问题，提出了一种改进的PGA方法。与传统PGA方法相比，该方法通过增加对样本信号的剩余二次相位补偿，有效减小了变化的多普勒调频率对相位误差估计的影响，从而提高了对相位误差的估计精度。最后通过对机载BiSAR实测数据的处理和分析，验证了所述方法能够获得更高聚焦质量的BiSAR图像。
Synthetic Aperture Radar (SAR) is a microwave remote sensing technology withthe capability of working all day and all weather. Due to the special advantages ofhigh-speed maneuvering-platform SAR, it has got growing interests in recent years. Onone hand, the detective ability of all day and all weather for the maneuvering-platformcan be improved by SAR system; on the other hand, the maneuvering-platform hasmore freedom with SAR system equipped in complex environments. The highresolution images with physiognomy embedded in are obtained by SAR, and they arethen matched with the reference images stored in the database, the real time position ofitself is subsquently calculated by the geometry relationship to correct the INScurriculum errors in order to improve the precision of orientation. Besides, thetwo-dimensional high-resolution image and the scattering information of importantregions can be directly obtained by SAR equipped on the platform, based on which thefollowing feature extraction, classification and recognition process procedures can becarried on.
However, unlike traditional airborne SAR or spaceborne SAR, the movingtrajectory of the high-speed maneuvering platform is more complicated, which isleading to difficulties in directly applying available imaging algorithms for traditionalSAR into it. Thus, this paper mainly focuses on the problems of restriction of azimuthfocusing depth, high-resolution imaging algorithms and also the imaging algorithm forFMCW. Moreover, to further improve ability of concealment, counter-concealment andscattering information capture, accommodating the bistatic configuration into thehigh-speed maneuvering-platform SAR has been a new trend. Hence, motioncompensation for bistatic SAR has also been studied. The main research achievementsare given as follows.
1. The issue of restriction of azimuth focusing depth in high-speedmaneuvering-platform SAR is studied. Owing to the downward movement ofmaneuvering platform with high vertical velocity and high acceleration, the assumptionof translational invariance in azimuth is no longer valid, which makes it difficult forSAR imaging processing. To address this problem, an imaging algorithm based onazimuth nonLinear chirp scaling (NLCS) for high-speed maneuvering-platform SAR isproposed. After range cell migration correction and range compression, the Dopplerrates of echo signal are equalized via the operation of azimuth NLCS, and the focusing depth and the focusing quality are effectively improved.
2. A full-aperture based imaging algorithm for high-speed maneuvering-platformSAR is studied. Owing to the large diving velocity and acceleration in the downwardmovement of maneuvering platform, the accurate expression of2-dimensional (2-D)spectrum of SAR echoes is difficult to be derived, which makes it difficult for SARimaging processing. To solve this problem, an imaging algorithm for high-speedmaneuvering-platform SAR based on the model of hyperbolic range equation withlinear modifying is proposed. By simplifying the range history with a hyperbolic rangeexpression and incorporating a linear modifying component, the2-D spectrum for SARechoes can be readily derived via the principle of stationary phase (POSP), based onwhich the high-efficient frequency-domain SAR algorithm can be well designed. In theproposed algorithm, the derivation of2-D spectrum can be simplified and theexpression of the2-D spectrum is brief and concise with clearer meanings, which isconvenient for signal analyses and imaging process procedures. Results from pointtargets simulation are provided to validate the effectiveness of the proposal.
3. The imaging process procedures for high-speed maneuvering-platformFMCW-SAR are studied. According to the downward movement of high-speed andmaneuvering platform, the signal model of FMCW-SAR is established. Based on thesignal model analyses, it can be found that the effects of quadratic coupling phase arepeculiarly introduced by the continuous motion under the condition of high-speed andmaneuvering platform, which is distinguished from traditional airborne FMCW-SARand adversely affects the focusing in range direction. To address this problem, anFMCW-SAR imaging approach is proposed, in which the quadratic coupling phase termare appropriately compensated in2-D frequency domain and the focusing quality issubsequently improved. Simulation results of point targets are provided to validate theeffectiveness of the proposal.
4. Motion compensation for bistatic SAR (BiSAR) with high-speed maneuveringplatform is studied. In BiSAR imaging processing, not only motion error of movingplatform, but also inaccuracy of data acquisition geometry will introduce additionalphase error that seriously degrades focusing quality of the final image. Based on thesignal model established according to the BiSAR configuration, the influence of theinaccurate geometry information is analyzed in detail and an applicable motion compensation approach is proposed. By using Doppler rates estimation, the phase errorsfrom both motion error and inaccurate geometry are appropriately compensated, and thefocusing quality of the final image is consequently improved. Analyses of acquired rawdata are presented to verify the effectiveness of the proposal.
5. In the configuration of large bistatic angle and the condition of signal propertieswith intense variance in azimuth, motion compensation for bistatic high-speedmaneuvering-platform SAR is studied. In bistatic SAR with high-speed maneuveringplatform, the assumption of translational invariance is no longer valid. After the rangecell migration correction (RCMC), range compressed signal in the same range gateexhibits azimuth-variant Doppler rates that make it difficult for the phase error to beestimated from the echoes by using the available phase gradient autofocus (PGA)algorithms. To deal with this problem, a modified PGA algorithm is proposed.Comparing with the traditional PGA, the residual quadratic phase (RQP) caused by theazimuth-variant Doppler rates is additionally estimated and compensated. As theinfluence of the azimuth-variant Doppler rates is greatly reduced, a phase gradientestimator is subsequently applied for accurate phase error retrieval. Analyses ofacquired raw data are presented to verify the advantages of the proposal.
然而，与传统星载SAR和机载SAR不同，高速机动平台的飞行轨迹更为复杂，这使得传统星载SAR和机载SAR的成像方法往往不能直接应用于高速机动平台SAR。本文主要针对高速机动平台SAR成像中的方位聚焦深度限制的问题、高分辨成像算法问题、调频连续波体制下的成像算法问题展开了研究。此外，为了进一步提高飞行器自身的隐蔽性、反隐身能力以及散射信息获取能力，将双站SAR的构想移植到高速机动平台SAR成像已成为新的发展趋势。因此，本文也针对双站构型下的高速机动平台SAR的运动补偿问题展开了研究。取得的主要研究成果如下：
1.针对高速机动平台SAR下降段成像中的方位聚焦深度限制的问题，提出了一种有效的解决方法。在俯冲阶段，机动飞行器自身较大的俯冲下降速度和加速度导致SAR回波信号方位不变性的假设不再成立，给SAR成像处理带来困难。针对该问题，提出了一种基于方位非线性变标的高速机动平台SAR下降段成像算法：在完成距离徙动校正和距离脉冲压缩之后，通过方位向上的非线性变标操作，校正沿方位向变化的多普勒调频率，从而较为有效地改善了SAR图像的方位聚焦深度和聚焦质量。
2.研究了高速机动平台SAR全孔径成像方法。在俯冲阶段，机动飞行器较大的俯冲下降速度和加速度使得SAR回波信号的二维频谱表达式难以有效获得，给频域成像算法的设计带来困难。针对该问题，提出了一种基于双曲线性修正斜距模型的高速机动平台SAR成像方法。该方法通过构造双曲函数形式的斜距表达式并引入线性修正因子，对全孔径SAR斜距历程进行合理近似；并以修正后的斜距式为基础，采用驻相点原理直接求解SAR回波信号的二维频谱，并基于该频谱设计了高效的频域成像算法。该方法下的频谱推导较为简洁，所获得频谱的数学表达式清晰直观，利于成像分析和后续处理。最后通过点目标成像仿真验证了方法的可行性和有效性。
3.研究了高速机动平台条件下的调频连续波SAR(FMCW-SAR)成像算法。针对俯冲阶段的高速机动平台FMCW-SAR的特点，建立了回波信号模型；通过分析可知，与常规机载FMCW-SAR不同，在高速机动平台这一特定的条件下，雷达相对较高的运动速度使得差频输出信号中的二次耦合相位不能忽略，并且影响距离向的聚焦；针对该问题，提出了一种FMCW-SAR成像处理方法。在成像处理中，通过在二维频域构造相应的二次耦合相位补偿函数，较好地改善了距离向的聚焦质量。最后通过点目标成像仿真对方法的可行性和有效性进行了验证。
4.针对双站构型的高速机动平台SAR成像的运动补偿问题进行了研究。在双站构型下的高速机动平台SAR成像中，高速机动飞行器的运动误差和双站几何构型信息的不准确均会引入额外的相位误差，该相位误差将导致双站SAR(BiSAR)图像的聚焦质量显著下降。针对该问题，文中详细分析了运动误差和几何构型偏差对成像的影响，并提出了一种有效的运动补偿方法。该方法利用多普勒调频率估计，同时补偿由运动误差和几何构型偏差所引入的相位误差，从而较为有效地改善了BiSAR图像的聚焦质量。最后通过对机载BiSAR实测数据的处理与分析验证了所述方法的可行性和有效性。
5.研究了在双基角较大、信号特性沿方位变化较剧烈的情况下，双站构型的高速机动平台SAR成像的运动补偿方法。在双站构型下的高速机动平台SAR成像中，回波信号方位不变性的假设不再成立；完成距离徙动校正和距离脉冲压缩之后，同一距离单元处信号的多普勒调频率具有沿方位向变化的特性。该信号特性导致了传统的PGA方法对相位误差的估计精度显著下降。针对该问题，提出了一种改进的PGA方法。与传统PGA方法相比，该方法通过增加对样本信号的剩余二次相位补偿，有效减小了变化的多普勒调频率对相位误差估计的影响，从而提高了对相位误差的估计精度。最后通过对机载BiSAR实测数据的处理和分析，验证了所述方法能够获得更高聚焦质量的BiSAR图像。
Synthetic Aperture Radar (SAR) is a microwave remote sensing technology withthe capability of working all day and all weather. Due to the special advantages ofhigh-speed maneuvering-platform SAR, it has got growing interests in recent years. Onone hand, the detective ability of all day and all weather for the maneuvering-platformcan be improved by SAR system; on the other hand, the maneuvering-platform hasmore freedom with SAR system equipped in complex environments. The highresolution images with physiognomy embedded in are obtained by SAR, and they arethen matched with the reference images stored in the database, the real time position ofitself is subsquently calculated by the geometry relationship to correct the INScurriculum errors in order to improve the precision of orientation. Besides, thetwo-dimensional high-resolution image and the scattering information of importantregions can be directly obtained by SAR equipped on the platform, based on which thefollowing feature extraction, classification and recognition process procedures can becarried on.
However, unlike traditional airborne SAR or spaceborne SAR, the movingtrajectory of the high-speed maneuvering platform is more complicated, which isleading to difficulties in directly applying available imaging algorithms for traditionalSAR into it. Thus, this paper mainly focuses on the problems of restriction of azimuthfocusing depth, high-resolution imaging algorithms and also the imaging algorithm forFMCW. Moreover, to further improve ability of concealment, counter-concealment andscattering information capture, accommodating the bistatic configuration into thehigh-speed maneuvering-platform SAR has been a new trend. Hence, motioncompensation for bistatic SAR has also been studied. The main research achievementsare given as follows.
1. The issue of restriction of azimuth focusing depth in high-speedmaneuvering-platform SAR is studied. Owing to the downward movement ofmaneuvering platform with high vertical velocity and high acceleration, the assumptionof translational invariance in azimuth is no longer valid, which makes it difficult forSAR imaging processing. To address this problem, an imaging algorithm based onazimuth nonLinear chirp scaling (NLCS) for high-speed maneuvering-platform SAR isproposed. After range cell migration correction and range compression, the Dopplerrates of echo signal are equalized via the operation of azimuth NLCS, and the focusing depth and the focusing quality are effectively improved.
2. A full-aperture based imaging algorithm for high-speed maneuvering-platformSAR is studied. Owing to the large diving velocity and acceleration in the downwardmovement of maneuvering platform, the accurate expression of2-dimensional (2-D)spectrum of SAR echoes is difficult to be derived, which makes it difficult for SARimaging processing. To solve this problem, an imaging algorithm for high-speedmaneuvering-platform SAR based on the model of hyperbolic range equation withlinear modifying is proposed. By simplifying the range history with a hyperbolic rangeexpression and incorporating a linear modifying component, the2-D spectrum for SARechoes can be readily derived via the principle of stationary phase (POSP), based onwhich the high-efficient frequency-domain SAR algorithm can be well designed. In theproposed algorithm, the derivation of2-D spectrum can be simplified and theexpression of the2-D spectrum is brief and concise with clearer meanings, which isconvenient for signal analyses and imaging process procedures. Results from pointtargets simulation are provided to validate the effectiveness of the proposal.
3. The imaging process procedures for high-speed maneuvering-platformFMCW-SAR are studied. According to the downward movement of high-speed andmaneuvering platform, the signal model of FMCW-SAR is established. Based on thesignal model analyses, it can be found that the effects of quadratic coupling phase arepeculiarly introduced by the continuous motion under the condition of high-speed andmaneuvering platform, which is distinguished from traditional airborne FMCW-SARand adversely affects the focusing in range direction. To address this problem, anFMCW-SAR imaging approach is proposed, in which the quadratic coupling phase termare appropriately compensated in2-D frequency domain and the focusing quality issubsequently improved. Simulation results of point targets are provided to validate theeffectiveness of the proposal.
4. Motion compensation for bistatic SAR (BiSAR) with high-speed maneuveringplatform is studied. In BiSAR imaging processing, not only motion error of movingplatform, but also inaccuracy of data acquisition geometry will introduce additionalphase error that seriously degrades focusing quality of the final image. Based on thesignal model established according to the BiSAR configuration, the influence of theinaccurate geometry information is analyzed in detail and an applicable motion compensation approach is proposed. By using Doppler rates estimation, the phase errorsfrom both motion error and inaccurate geometry are appropriately compensated, and thefocusing quality of the final image is consequently improved. Analyses of acquired rawdata are presented to verify the effectiveness of the proposal.
5. In the configuration of large bistatic angle and the condition of signal propertieswith intense variance in azimuth, motion compensation for bistatic high-speedmaneuvering-platform SAR is studied. In bistatic SAR with high-speed maneuveringplatform, the assumption of translational invariance is no longer valid. After the rangecell migration correction (RCMC), range compressed signal in the same range gateexhibits azimuth-variant Doppler rates that make it difficult for the phase error to beestimated from the echoes by using the available phase gradient autofocus (PGA)algorithms. To deal with this problem, a modified PGA algorithm is proposed.Comparing with the traditional PGA, the residual quadratic phase (RQP) caused by theazimuth-variant Doppler rates is additionally estimated and compensated. As theinfluence of the azimuth-variant Doppler rates is greatly reduced, a phase gradientestimator is subsequently applied for accurate phase error retrieval. Analyses ofacquired raw data are presented to verify the advantages of the proposal.
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