CN106842210A - A kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm - Google Patents
A kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm Download PDFInfo
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- CN106842210A CN106842210A CN201611102563.7A CN201611102563A CN106842210A CN 106842210 A CN106842210 A CN 106842210A CN 201611102563 A CN201611102563 A CN 201611102563A CN 106842210 A CN106842210 A CN 106842210A
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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
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/89—Sonar systems specially adapted for specific applications for mapping or imaging
- G01S15/8906—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques
- G01S15/8997—Short-range imaging systems; Acoustic microscope systems using pulse-echo techniques using synthetic aperture 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/52—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00
- G01S7/539—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S15/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
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- Radar, Positioning & Navigation (AREA)
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- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
Abstract
The invention provides a kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm, the subsystem constituted for single reception array element and transmitting array element calculates two-dimensional frequency system function；The characteristics of based on orientation focusing and distance to processing relatively independent, computer azimuth is to pulse compression phase modulation function；Phase based on two-dimensional frequency system function and orientation pulse compression modulation function, calculates apart from orientation coupled phase；Sub-system echo data carries out the consistent correction process of coupled phase；Distance is to deblocking；The participation range migration correction of subsystem signals is realized using coupled phase difference correction；Sub-system signal carries out orientation pulse compression；After imaging being carried out to the echo data that each reception array element and transmitting array element constitute subsystem, all coarse resolution images are carried out into coherent superposition and just obtains final synthetic aperture sonar full resolution pricture, overcome the complicated design process of traditional imaging algorithm and improve imaging performance of the imaging algorithm in whole mapping band.
Description
Technical field
The invention belongs to field of signal processing, more particularly to a kind of new multiple submatrixes synthetic aperture sonar fast imaging is calculated
Method.
Background technology
Synthetic aperture sonar technology by small size primitive the secondary length of linear uniform motion dummy synthesis one with detection away from
From the large aperture basic matrix being directly proportional, obtain unrelated with distance, frequency by the coherent superposition of space diverse location sampled signal
Orientation high-resolution, solves traditional side-scan sonar imaging resolution by basic matrix reality aperture length, signal frequency and effect
The problem of the factors such as distance restriction, 1~2 order of magnitude is improve by the azimuth resolution of conventional side-scan sonar, and multiple submatrixes skill
The use of art is even more and solves orientation high-resolution and distance to the contradiction between range finding, synthetic aperture sonar technology is started very
Just moving towards the road of practical application.
Imaging algorithm is the core of synthetic aperture sonar technology, existing multiple submatrixes synthetic aperture sonar frequency domain imaging algorithm
Can be generally divided into three classes.The first kind is to close to put the thought of synthetic aperture sonar based on equivalent transmitting-receiving, during Typical Representative is phase
Heart approximation method, is received and dispatched by analogy and closes the round trip oblique distance course for putting synthetic aperture sonar to multiple submatrixes synthetic aperture sonar double joint
The oblique distance course of number form is modified, and is just converted to tradition transmitting-receiving conjunction and puts synthetic aperture sonar imaging problem, and this kind of method exists
Data transmit-receive closes the compensation put and need in transfer process into row interpolation and two-dimentional Spatially variant phase error, in the complete phase of hardly possible compensation
Heart approximate error also results in closely place's target and defocuses.Equations of The Second Kind method is the imaging method based on numerical computations, such side
Method needs to obtain the system transfer function in imaging process by numerical computations, and amount of calculation is larger.3rd class method is base
The display expression formula of multiple submatrixes synthetic aperture sonar two-dimensional frequency system function is solved in algebraically or method of geometry, Typical Representative has
The biradical equations of Loffeld, the series method of inversion, instantaneous Doppler method etc..The maximum feature of this kind of method is to need to be employed many times
The analytical expression of Taylors approximation or other polynomial approximation method solving system functions.Generally speaking, this three classes method all compares
It is more complicated, it is necessary to repeatedly approximate using series and computing of differentiating could obtain in distance-Doppler domain and two-dimensional frequency and be
System function, calculating process complexity is cumbersome, and the flexibility and imaging algorithm that significantly limit imaging algorithm design are entirely being surveyed and drawn
Imaging performance in band.
The content of the invention
Design process and raising imaging algorithm it is an object of the invention to overcome traditional imaging algorithm complicated are entirely being surveyed
Paint the imaging performance in band, there is provided a kind of multiple submatrixes synthetic aperture sonar high-resolution imaging algorithm suitable for wide swath.
In order to solve the above technical problems, the technical solution adopted in the present invention is：A kind of new multiple submatrixes synthetic aperture sound
Receive fast imaging algorithm, it is characterised in that comprise the following steps：
S1, the subsystem constituted for single reception array element and transmitting array element calculate two-dimensional frequency system function；
S2, based on orientation focus on distance to process it is relatively independent the characteristics of, phase from computer azimuth to pulse compression
Modulation function；
S3, the phase based on two-dimensional frequency system function and orientation pulse compression modulation function, calculate range-azimuth coupling
Close phase term；
S4, sub-system echo data carry out the consistent correction process of coupled phase；
S5, distance are to deblocking；
S6, the remaining range migration correction that subsystem signals are realized using coupled phase difference correction；
S7, sub-system signal carry out orientation pulse compression；
S8, coherent superposition is carried out to all subgraphs.
As one of the invention preferred technical scheme, described step S2 orientation pulse compression phase-modulation letters
Number, its phase calculation formula is as follows：
Wherein i represents i-th subsystem that i-th reception array element and transmitting array element are constituted；R represents target oblique distance；fc
Represent the centre frequency of broadband signal；fτAnd ftThe wink for corresponding to the distance dimension fast time τ and slow time t of azimuth dimension is represented respectively
When frequency；Represent signal after round trip oblique distance course；di
Represent i-th sending and receiving array element spacing of subsystem；V and c represent the propagation speed of sonar bearer rate and sound in water respectively
Degree；τ*Represent the accurate travel time of signal；Represent phase dwell pointIn fτValue when=0, i.e.,
As one of the invention preferred technical scheme, the calculating of described step S3 range-azimuths coupled phase
Formula is as follows：
WhereinRepresent two-dimensional frequency system letter
Several phases, P (fτ) represent transmission signal frequency spectrum phase.
As one of the invention preferred technical scheme, the consistent correction process of coupled phase of described step S4, its
The computing formula of penalty function is as follows：
Wherein rrefRepresent entirely to survey and draw the reference distance that the focus target distance of band is reference,Represent phase expression formula of the range migration function in two-dimensional frequency.
As one of the invention preferred technical scheme, piecemeal from described step S5 distances to data, its data block
Length by following formula calculate：
WhereinExpression take the focus target distance of nth data block as the reference distance for referring to.
As one of the invention preferred technical scheme, described step S6 residual coupling phase compensations, its compensation letter
Several computing formula is as follows：
One or more technical schemes provided in the embodiment of the present application, at least have the following technical effect that or advantage：
Overcome the complicated design process of traditional imaging algorithm and improve imaging performance of the imaging algorithm in whole mapping band.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this hairs
Some bright embodiments, for those of ordinary skill in the art, on the premise of not paying creative work, can be with root
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is multiple submatrixes synthetic aperture sonar fast imaging algorithm flow of the present invention suitable for wide swath.
Fig. 2 is multiple submatrixes synthetic aperture sonar system two-dimensional imaging geometry.
Fig. 3 is single transmitting/reception array element system imaging result.
Fig. 4 is single transmitting/reception array element system imaging result orientation section.
Fig. 5 compares imaging results for the final high score of system.
Fig. 6 is the final high score of system than imaging results orientation section.
Specific embodiment
In order to be better understood from above-mentioned technical proposal, below in conjunction with Figure of description and specific embodiment to upper
Technical scheme is stated to be described in detail.
As shown in figure 1, the implementation of a kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm described in the present embodiment
Flow is mainly comprised the steps of：The subsystem constituted for single reception array element and transmitting array element calculates two-dimensional frequency system
System function；Based on orientation focus on distance to process it is relatively independent the characteristics of, phase-modulation from computer azimuth to pulse compression
Function；Phase based on two-dimensional frequency system function and orientation pulse compression modulation function, calculates range-azimuth coupled phase
；Sub-system echo data carries out the consistent correction process of coupled phase；Distance is to deblocking；Using coupled phase difference school
Just realizing the remaining range migration correction of subsystem signals；Sub-system signal carries out orientation pulse compression；To each reception
After the echo data that array element constitutes subsystem with transmitting array element carries out imaging, all coarse resolution images are carried out relevant folded
Plus just obtain final synthetic aperture sonar full resolution pricture.
Multiple submatrixes synthetic aperture sonar system two-dimensional imaging geometry is illustrated in figure 2, platform is in the process advanced with speed v
In, transmitting array element launches the broadband signal unrelated with position to positive side-looking direction with fixed pulse recurrence frequency simultaneously；Through
After spending the t times, transmitting array element is vt in the position of orientation, now launches array element with point ideal point target apart from RT(t；r)
For：
The use of multiple submatrixes improves the Mapping rate of conventional synthesis aperture sonar system, if ignoring acoustic transit time
τ*The motion of inner platform, that decline that will cause orientation focusing performance and distance are walked about the generation of phenomenon to target；When
When wave beam is narrower, τ*Can be approximate with 2r/c.Without loss of generality, only consider to be separated by d with transmitting battle array hereiniI-th reception array element,
So ideal point target to i-th reception array element actual propagation distanceFor：
Signal after round trip oblique distance course be：
The frequency spectrum of transmission signal is P (fτ), i-th subsystem that array element and transmitting array element are constituted is received for i-th,
Its phase dwell point isTwo-dimensional frequency system function can be calculated is：
WithRepresent phase dwell pointIn fτValue when=0, i.e.,So according to orientation pulse compression
The characteristics of with distance to processing independent, computer azimuth is to the phase of pulse compression phase modulation function：
According to two-dimensional frequency system function φi(fτ,ft；R), the frequency spectrum P (f of transmission signalτ) and orientation pulse compression phase
The phase of position modulation function, calculates range-azimuth coupled phase in two-dimensional frequency, and its expression formula is as follows：
According to reference distance rrefThe two-dimensional frequency system function at place, and the range migration function in two-dimensional frequencyThe consistent correction process of coupled phase is carried out in two-dimensional frequency, its compensation letter
Number is：
To make phase error not significantly affect imaging performance, it is remote that distance must is fulfilled for phase error to the division of each data block
Less than the requirement of π/8, based on nth data block centre distanceIt is the two-dimensional frequency range migration function of referenceBand center r is surveyed and drawn with wholerefIt is the two-dimensional frequency range migration function of reference
Difference, distance is to the calculating formula of length of data block：
After the consistent correction process of coupled phase is carried out in two-dimensional frequency, mapping band center rrefThe target at place has obtained complete
Total focus, rather than target of the mapping with center is still present residual error, according to nth data block centre distanceFor
The two-dimensional frequency range migration function of referenceBand center r is surveyed and drawn with wholerefIt is the two dimension frequency of reference
Domain range migration functionDifference, the residual coupling phase error compensation function in each data block is：
The azimuth focus of target are realized in distance-Doppler domain, its phase compensation function is：
The echo data for constituting subsystem according to the single reception array element of above-mentioned steps treatment and transmitting array element can just be obtained
To a width coarse resolution image, coarse resolution result as shown in figure 3, the orientation section of coarse resolution result is as shown in Figure 4.
Each is processed according to above-mentioned steps receive the echo data that array element constitutes subsystem with transmitting array element, it is possible to
To corresponding to the M coarse resolution image of subsystem, the coarse resolution image of all M subsystems is carried out into coherent superposition and is just obtained finally
Synthetic aperture sonar full resolution pricture, imaging results are as shown in figure 5, orientation section such as Fig. 6 institutes of high-resolution imaging result
Show.
The above, is only presently preferred embodiments of the present invention, and any formal limitation is not made to the present invention, though
So the present invention is disclosed above with preferred embodiment, but is not limited to the present invention, any to be familiar with this professional technology people
Member, without departing from the scope of the present invention, when making a little change or modification using the technology contents of the disclosure above
It is the Equivalent embodiments of equivalent variations, as long as being the content without departing from technical solution of the present invention, according to technical spirit of the invention
Any simple modification, equivalent variations and the modification made to above example, still fall within the range of technical solution of the present invention.
Claims (6)
1. a kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm, it is characterised in that comprise the following steps：
S1, the subsystem constituted for single reception array element and transmitting array element calculate two-dimensional frequency system function；
S2, based on orientation focus on distance to process it is relatively independent the characteristics of, phase-modulation from computer azimuth to pulse compression
Function；
S3, the phase based on two-dimensional frequency system function and orientation pulse compression modulation function, calculate range-azimuth coupling phase
Position item；
S4, sub-system echo data carry out the consistent correction process of coupled phase；
S5, distance are to deblocking；
S6, the remaining range migration correction that subsystem signals are realized using coupled phase difference correction；
S7, sub-system signal carry out orientation pulse compression；
S8, coherent superposition is carried out to all subgraphs.
2. a kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm according to claim 1, it is characterised in that institute
The step of stating S2 orientation pulse compression phase modulation functions, its phase calculation formula is as follows：
Wherein i represents i-th subsystem that i-th reception array element and transmitting array element are constituted；R represents target oblique distance；fcRepresent wide
The centre frequency of band signal；fτAnd ftThe instantaneous frequency for corresponding to the distance dimension fast time τ and slow time t of azimuth dimension is represented respectively；Represent signal after round trip oblique distance course；diRepresent i-th
The sending and receiving array element spacing of individual subsystem；V and c represent the spread speed of sonar bearer rate and sound in water respectively；τ*Represent
The accurate travel time of signal；Represent phase dwell pointIn fτValue when=0, i.e.,
3. a kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm according to claim 1, it is characterised in that institute
The computing formula of the step of stating S3 range-azimuths coupled phase is as follows：
WhereinRepresent the phase of two-dimensional frequency system function
Position, P (fτ) represent transmission signal frequency spectrum phase.
4. a kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm according to claim 1, it is characterised in that institute
The consistent correction process of coupled phase of the step of stating S4, the computing formula of its penalty function is as follows：
Wherein rrefRepresent with whole mapping with the reference distance that focus target distance is reference,Represent phase expression formula of the range migration function in two-dimensional frequency.
5. a kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm according to claim 1, it is characterised in that institute
Piecemeal from the step of stating S5 distances to data, the length of its data block calculated by following formula：
WhereinExpression take the focus target distance of nth data block as the reference distance for referring to.
6. a kind of new multiple submatrixes synthetic aperture sonar fast imaging algorithm according to claim 1, it is characterised in that institute
The step of stating S6 residual coupling phase compensations, the computing formula of its penalty function is as follows：
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Cited By (13)
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| CN107505604A (en) * | 2017-09-02 | 2017-12-22 | 中国人民解放军91388部队 | A kind of echo simulation method for considering sending and receiving directivity |
| CN107632304A (en) * | 2017-08-18 | 2018-01-26 | 杭州电子科技大学 | A kind of synthetic aperture sonar image processing method under the conditions of big strabismus |
| CN108037497A (en) * | 2018-01-04 | 2018-05-15 | 中国人民解放军91388部队 | The transmitting-receiving of multiple submatrixes synthetic aperture sonar data closes and puts conversion method |
| CN108344987A (en) * | 2018-01-04 | 2018-07-31 | 中国人民解放军91388部队 | Multiple submatrixes synthetic aperture sonar frequency domain system function based on numerical computation method |
| CN109116364A (en) * | 2018-08-03 | 2019-01-01 | 中国人民解放军91388部队 | Based on the equivalent single gust of conversion method of the tactic multiple submatrixes SAS echo-signal of time domain |
| CN109521401A (en) * | 2018-09-27 | 2019-03-26 | 北京大学 | A kind of fast beam forming method of synthetic aperture imaging |
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| CN111487628A (en) * | 2020-05-19 | 2020-08-04 | 中国科学院声学研究所 | 'zero degree' interference suppression method for downward-looking multi-beam synthetic aperture imaging sonar |
| CN116500626A (en) * | 2023-06-30 | 2023-07-28 | 海底鹰深海科技股份有限公司 | Multi-receiving array element data receiving-transmitting combination conversion method |
| CN116520335A (en) * | 2023-06-29 | 2023-08-01 | 海底鹰深海科技股份有限公司 | Multi-receiving array element synthetic aperture sonar wave number domain imaging method |
| CN116990791A (en) * | 2023-09-25 | 2023-11-03 | 海底鹰深海科技股份有限公司 | Multi-receiving-array synthetic aperture sonar echo simulation method |
| CN117724108A (en) * | 2024-01-10 | 2024-03-19 | 海底鹰深海科技股份有限公司 | Multi-subarray synthetic aperture sonar linear frequency modulation scaling imaging method and imaging system |
| CN117828246A (en) * | 2024-01-10 | 2024-04-05 | 海底鹰深海科技股份有限公司 | Imaging method and imaging system of multi-subarray synthetic aperture sonar and computing device |
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| CN107505604A (en) * | 2017-09-02 | 2017-12-22 | 中国人民解放军91388部队 | A kind of echo simulation method for considering sending and receiving directivity |
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| CN110456361A (en) * | 2019-06-27 | 2019-11-15 | 浙江大学 | The bistatic acoustics imaging method of large-scale seabed landforms telemetering |
| CN111487628B (en) * | 2020-05-19 | 2022-05-03 | 中国科学院声学研究所 | 'zero degree' interference suppression method for downward-looking multi-beam synthetic aperture imaging sonar |
| CN111487628A (en) * | 2020-05-19 | 2020-08-04 | 中国科学院声学研究所 | 'zero degree' interference suppression method for downward-looking multi-beam synthetic aperture imaging sonar |
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| CN116990791B (en) * | 2023-09-25 | 2023-11-28 | 海底鹰深海科技股份有限公司 | Multi-receiving-array synthetic aperture sonar echo simulation method |
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