CN110609283A - Three-dimensional target imaging method and device - Google Patents
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Abstract
The embodiment of the invention discloses a three-dimensional target imaging method and a device, wherein the method comprises the following steps: respectively carrying out conjugate transpose processing on the range domain echo vector with the impulse response and a range domain reference signal matrix corresponding to the range domain echo vector with the impulse response to obtain a space domain echo vector and a space domain reference signal matrix; extracting a space domain echo vector with impulse response of each partition of the two-dimensional imaging plane; constructing a spatial domain reference signal matrix corresponding to a spatial domain echo vector with impulse response; imaging each subarea of the two-dimensional imaging plane; and imaging the three-dimensional target according to the imaging of each subarea of the two-dimensional imaging plane. The invention eliminates noise and improves the signal-to-noise ratio by extracting the space domain echo vector with impulse response in the space domain echo vector. In addition, due to the division of the two-dimensional imaging plane areas, all the areas of the two-dimensional imaging plane are independently imaged in parallel, the scale of a reference signal matrix is reduced, and the calculation capacity and the calculation precision are improved.
Description
Technical Field
The invention relates to the technical field of radar three-dimensional imaging, in particular to a three-dimensional target imaging method and device.
Background
With the development of society, radar high-resolution imaging plays an increasingly important role in ensuring national strategic safety and promoting national economic development.
The terahertz aperture coding imaging is used for reference from the idea of microwave correlation imaging, and the radar array in the microwave correlation imaging is replaced by real-time modulation of terahertz wave beams by the array coding aperture, so that more complex and diversified space wave modulation is realized. Compared with the traditional radar, the terahertz wave has higher frequency and shorter wavelength, so that the terahertz radar can provide larger absolute bandwidth, an aperture coding technology is combined under the condition of the same aperture antenna, the irradiation mode and the faster mode switching speed are more easily generated, the more diverse the irradiation mode, the higher the degree of freedom is, the richer the target information carried in the echo is, and the potential of utilizing the echo to perform target high-resolution imaging is higher.
However, there are two main problems with terahertz aperture coding three-dimensional imaging. On one hand, the calculation difficulty of terahertz aperture coding imaging depends on the scale size of a reference signal matrix. Compared with two-dimensional imaging, the scale of the three-dimensional imaging reference signal matrix is expanded in multiples, and higher requirements are put forward on computing power and computing precision. On the other hand, the real imaging environment has large noise, so that the conventional method is difficult to realize three-dimensional high-resolution imaging under the condition of low signal-to-noise ratio.
Disclosure of Invention
Because the existing method has the problems, the embodiment of the invention provides a three-dimensional target imaging method and a three-dimensional target imaging device.
In a first aspect, an embodiment of the present invention provides a three-dimensional target imaging method, including:
performing conjugate transpose processing on the distance domain echo vector with the impulse response to obtain a space domain echo vector;
performing conjugate transpose processing on a distance domain reference signal matrix corresponding to the distance domain echo vector with the impulse response to obtain a space domain reference signal matrix;
extracting space domain echo vectors with impulse response of each subarea of the two-dimensional imaging plane based on the space domain echo vectors;
constructing a spatial domain reference signal matrix corresponding to a spatial domain echo vector with impulse response based on the spatial domain reference signal matrix;
imaging each subarea of the two-dimensional imaging plane according to the space domain echo vector with the impulse response and the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response;
and carrying out three-dimensional target imaging according to the imaging of each subarea of the two-dimensional imaging plane.
Optionally, the performing conjugate transpose processing on the range domain echo vector with the impulse response to obtain a spatial domain echo vector specifically includes:
using the formula: srx＝(S′x)H·Sr′xObtaining a spatial domain echo vector;
wherein, SrxIs a spatial domain echo vector, Sr'xIs a range domain echo vector with impulse response (S'x)HIs a conjugate transpose matrix.
Optionally, the conjugate transposing processing is performed on the distance domain reference signal matrix corresponding to the distance domain echo vector with the impulse response to obtain a spatial domain reference signal matrix, and the method specifically includes:
using the formula: s ″)x＝(S′x)HS′xObtaining a spatial domain reference signal matrix;
wherein, S ″)xIs a spatial domain reference signal matrix, S'xIs a range domain reference signal matrix (S ') corresponding to a range domain echo vector with an impulse response'x)HIs a conjugate transpose matrix.
Optionally, the constructing a spatial domain reference signal matrix corresponding to a spatial domain echo vector with an impulse response based on the spatial domain reference signal matrix specifically includes:
and extracting the row vector of the space domain reference signal matrix according to the extracted row coordinate position of the space domain echo vector with the impulse response of each partition of the two-dimensional imaging plane in the space domain echo vector to obtain the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response.
Optionally, the imaging the partitions of the two-dimensional imaging plane according to the space domain echo vector with the impulse response and the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response specifically includes:
one of the two-dimensional imaging plane partitions of the named three-dimensional object is xa, using the model:
Sr″xa＝S″xaβxa+w″xa
parallel independent imaging is carried out on each subarea of the two-dimensional imaging plane; wherein, the two-dimensional imaging plane is divided into xa, xa epsilon { x1, x2, x3, x4}, Sr ″)xa、S″xa、βxaAnd w ″)xaRespectively corresponding echo vectors, reference signal matrixes, target scattering coefficient vectors and noise vectors of the two-dimensional imaging plane subareas xa; n is a radical ofxaEcho vector length, K, for two-dimensional imaging plane partition xaxaThe number of split grid cells for two-dimensional imaging plane partition xa.
Optionally, the imaging of the three-dimensional target according to the imaging of each partition of the two-dimensional imaging plane specifically includes:
and according to the imaging of each partition of the two-dimensional imaging plane, performing three-dimensional target imaging by adopting a compressed sensing algorithm.
In a second aspect, an embodiment of the present invention further provides a three-dimensional target imaging apparatus, including: the device comprises a vector obtaining module, a matrix obtaining module, a vector extracting module, a matrix constructing module, a two-dimensional imaging module and a three-dimensional imaging module;
the vector obtaining module is used for performing conjugate transpose processing on the distance domain echo vector with the impulse response to obtain a space domain echo vector;
the matrix obtaining module is used for performing conjugate transpose processing on a distance domain reference signal matrix corresponding to a distance domain echo vector with impulse response to obtain a spatial domain reference signal matrix;
the vector extraction module is used for extracting the space domain echo vector with the impulse response of each partition of the two-dimensional imaging plane based on the space domain echo vector;
the matrix construction module is used for constructing a spatial domain reference signal matrix corresponding to a spatial domain echo vector with an impulse response based on the spatial domain reference signal matrix;
the two-dimensional imaging module is used for imaging each subarea of the two-dimensional imaging plane according to the space domain echo vector with the impulse response and the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response;
and the three-dimensional imaging module is used for imaging a three-dimensional target according to the imaging of each subarea of the two-dimensional imaging plane.
Optionally, the vector obtaining module is specifically configured to:
using the formula: srx＝(S′x)H·Sr′xObtaining a spatial domain echo vector;
wherein, SrxIs a spatial domain echo vector, Sr'xIs a range domain echo vector with impulse response (S'x)HIs a conjugate transpose matrix.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
at least one memory communicatively coupled to the processor, wherein:
the memory stores program instructions executable by the processor, which when called by the processor are capable of performing the above-described methods.
In a fourth aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium storing a computer program, which causes the computer to execute the above method.
According to the technical scheme, the space domain echo vector with the impulse response in the space domain echo vector is extracted, the space domain echo vector without the impulse response is removed, namely noise is removed, and the signal to noise ratio is improved. In addition, due to the division of the two-dimensional imaging plane areas, all the areas of the two-dimensional imaging plane are independently imaged in parallel, the scale of a reference signal matrix is reduced, and the calculation capacity and the calculation precision are improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic diagram of a terahertz aperture coding three-dimensional target imaging based on correlation processing according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a three-dimensional target imaging method according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of range-domain echo vector extraction and reference signal matrix construction based on range-domain slices according to an embodiment of the present invention;
fig. 4 is a schematic diagram of spatial domain echo vector extraction and reference signal matrix construction based on correlation processing according to an embodiment of the present invention;
FIGS. 5(a) - (i) are schematic diagrams illustrating comparison of imaging results at different signal-to-noise ratios, respectively, according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a three-dimensional target imaging apparatus according to an embodiment of the present invention;
fig. 7 is a logic block diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The following further describes embodiments of the present invention with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
At present, the idea of microwave correlation imaging is used for reference in aperture coding imaging, terahertz wave beams are coded and modulated in real time through array coding apertures, so that a time-space two-dimensional randomly distributed radiation field is formed, and finally high-resolution, forward-looking and staring imaging is realized by utilizing a detection echo and radiation field reference signal matrix through a matrix equation solving mode, so that the defect that synthetic aperture high-resolution imaging depends on target motion is overcome. However, the aperture coding three-dimensional imaging has two problems of high computational complexity and low signal-to-noise ratio: (1) the three-dimensional imaging grid resolution unit has large scale, the combined reconstruction calculation burden is heavy, and the conventional calculation power is difficult to solve; (2) the actual imaging signal is weak, the noise is prominent, and the reconstruction precision of the three-dimensional target is low under the low signal-to-noise ratio. Therefore, the invention provides a three-dimensional target imaging method, as shown in fig. 1, a schematic diagram of terahertz aperture coding three-dimensional imaging based on correlation processing is shown, in the diagram, capital letters a-G respectively represent a terahertz transmitting antenna, an array aperture coding antenna, a calculation control system, a radiation field coding signal, a random radiation field, an echo signal and a three-dimensional imaging region, an x axis is an axis passing through a central bisector of a coding aperture in a horizontal direction, a y axis is an axis passing through a central bisector of a coding aperture in a vertical direction, a coordinate center o is at a central position of the coding aperture, and a z axis is an axis passing through centers of the terahertz transmitting antenna and the array aperture coding antenna. For the expression of image, the three-dimensional imaging area is represented as a-b two imaging planes with different distances, each imaging plane is divided into four plane partitions, and the three-dimensional imaging in practical application is not limited to two imaging planes and four plane partitions. Firstly, a terahertz transmitting antenna radiates a terahertz signal to an array aperture coding antenna, the array aperture coding antenna comprises 1 receiving array element and I transmitting array elements, the receiving array element is located at the center of the array aperture coding antenna, and the transmitting array elements are arranged in an array form, as shown in fig. 1. The transmitting array elements are represented by square boxes, wherein the square boxes with different gray levels represent that signals are loaded with different modulation phases or amplitudes after passing through the array elements.
In the terahertz aperture coding imaging system, a terahertz time-domain echo signal is processed to obtain a one-dimensional range profile, a range domain echo with target scattering is extracted, the core of the terahertz aperture coding imaging system is that a related processing method is adopted to project the range domain echo onto a two-dimensional imaging plane slice of a corresponding range unit, then a space domain echo corresponding to each partition is extracted according to the plane target scattering condition, finally algorithms such as compressed sensing and the like are adopted to reconstruct a target, and finally each plane partition is combined to obtain a three-dimensional high-resolution imaging result. The invention can realize high frame frequency and high resolution imaging of the three-dimensional target under the condition of low signal to noise ratio, and can be applied to the near-distance imaging fields of security inspection, anti-terrorism, target detection and identification and the like.
It should be noted that, in the embodiment of the present invention, the related processing-based terahertz aperture coding three-dimensional imaging is uniformly abbreviated as SD-TCAI; uniformly abbreviating the terahertz aperture coding three-dimensional imaging based on the distance domain slice as RD-TCAI; the terahertz aperture coding three-dimensional imaging based on the time domain echo is uniformly abbreviated as TD-TCAI.
Fig. 2 shows a schematic flowchart of a three-dimensional target imaging method provided in this embodiment, including:
and S21, performing conjugate transpose processing on the distance domain echo vector with the impulse response to obtain a space domain echo vector.
Wherein the range-domain echo vector with impulse response is an echo vector extracted from a range-domain echo vector. Distance domain echo vectors without impulse response are removed, namely noise is removed, and the signal-to-noise ratio is improved. Specifically, when a three-dimensional target is imaged, after a range-domain echo vector having an impulse response is obtained, in order to obtain a spatial-domain echo vector, a conjugate transpose process is performed on the range-domain echo vector having the impulse response.
And S22, performing conjugate transpose processing on the distance domain reference signal matrix corresponding to the distance domain echo vector with the impulse response to obtain a space domain reference signal matrix.
Wherein, on the basis of the known range domain echo vector with impulse response, a range domain reference signal matrix corresponding to the range domain echo vector with impulse response is constructed. And then performing conjugate transpose processing on the distance domain reference signal matrix corresponding to the distance domain echo vector with the impulse response to obtain a spatial domain reference signal matrix.
And S23, extracting the space domain echo vector with impulse response of each partition of the two-dimensional imaging plane based on the space domain echo vector.
The two-dimensional imaging plane and each partition of the two-dimensional imaging plane are shown as G in fig. 1. In the embodiment of the invention, under the condition of knowing the space domain echo vector, the space domain echo vector with impulse response of each partition of the two-dimensional imaging plane is extracted, and the space domain echo vector without impulse response is removed, namely noise is removed, so that the signal-to-noise ratio is improved.
And S24, constructing a spatial domain reference signal matrix corresponding to the spatial domain echo vector with the impulse response based on the spatial domain reference signal matrix.
In the embodiment of the present invention, specifically, in the case where the spatial-domain echo vector having the impulse response and the spatial-domain reference signal matrix are known, the spatial-domain reference signal matrix corresponding to the spatial-domain echo vector having the impulse response is constructed.
And S25, imaging each partition of the two-dimensional imaging plane according to the space domain echo vector with the impulse response and the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response.
In the embodiment of the invention, each subarea of the two-dimensional imaging plane can be parallelly and independently imaged. Each two-dimensional imaging plane is divided into four regions as shown in fig. 1. It should be noted that the partitions divided by the two-dimensional imaging plane include, but are not limited to, four partitions.
And S26, imaging the three-dimensional target according to the imaging of each subarea of the two-dimensional imaging plane.
On the basis that each partition of the two-dimensional imaging plane is imaged, a three-dimensional target can be imaged by utilizing a compressed sensing algorithm such as an orthogonal matching tracking method, a sparse Bayesian learning method and the like.
According to the embodiment of the invention, the space domain echo vector without impulse response is removed by extracting the space domain echo vector with impulse response in the space domain echo vectors, namely removing noise, so that the signal-to-noise ratio is improved. In addition, due to the division of the two-dimensional imaging plane areas, all the areas of the two-dimensional imaging plane are independently imaged in parallel, the scale of a reference signal matrix is reduced, and the calculation capacity and the calculation precision are improved.
Further, on the basis of the above embodiment of the method, before the step S21, it is necessary to determine a range-domain echo vector having an impulse response. The specific process is as follows:
the signal after passing through the array aperture coding antenna is defined as:
wherein Ai is the signal amplitude of the ith coding array element, fc is the center frequency of the terahertz wave,and at the time t, the code phase loaded at the ith code array element. The random frequency hopping signal is T from M sub-pulsespThe mth sub-pulse has a frequency fc+fm，fmFor the discrete frequency points randomly distributed in a certain bandwidth range, rect (u) is a rectangular window function, which is specifically expressed as:
the three-dimensional target imaging region is divided into K grid units, and echo signals which are scattered by the three-dimensional target imaging region and detected by the receiving array elements are expressed as follows:
wherein, betakIs the scattering coefficient of the target at the kth grid cell, ti,kTo pass through the ithAnd coding the time delay from the transmitting array element of the aperture to the k imaging grid unit and finally to the receiving array element.
And (4) discretizing the formula (3) to summarize a mathematical model of the aperture coding imaging.
Wherein Sr is a set of echo signals, beta is a set of target scattering coefficients of the three-dimensional target, and S is a reference signal matrix, and a matrix element S (t) of the matrix isnK) the expression is as follows:
in summary, according to equations (3) to (5), the echo signal and reference signal matrices are obtained.
Next, the echo signal and the local oscillator signal are subjected to frequency mixing processing, and are shifted to a baseband frequency, where the local oscillator signal is:
the baseband echo signal output after the echo signal and the local oscillator signal are mixed is as follows:
a matched filter is constructed below, and the baseband transmit signal is represented by equation (1):
the matched filter is used for performing time unwrapping on a baseband transmitting signal S (t) and then taking complex conjugate, and is specifically represented as follows:
and then, performing time domain convolution processing on the baseband echo signal and the matched filter to obtain a distance domain echo vector. The formula is as follows:
wherein,τ＝t-(m-1)Tp+(l-1)Tp-tik. Observing equation (10), the shape of the matched-filter pulse pressure output signal is mainly determined by rect (·) function and sinc (·) function, when m is l, and the sampling time t is tikA peak value of time, where ti,k＝ri,k/c，ri,kIs given asi,kThe corresponding distance delay.
It should be emphasized that the time domain convolution is equivalent to the frequency domain product, so that the distance domain echo vector of the matched filtering output can be further calculated by equation (11) in the manner of frequency domain product:
Sr′(t)＝ifft(fft(Srbase(t),Nfft)·(fft(h(t),Nfft))) (11)
where fft (-) and ifft (-) denote Fourier and inverse Fourier transforms, respectively, NfftThe length of the fourier transform is expressed and can be adjusted according to the need of computational efficiency.
Next, a range-domain echo vector having an impulse response is extracted from the range-domain echo vectors, and a range-domain reference signal matrix corresponding to the range-domain echo vector having the impulse response is constructed. Specifically, Sr' is defined as the range domain echo vector after the matched filtering pulse pressure processing, and as shown in fig. 3 as an example, two significant peaks appear in the echo after the matched filtering pulse pressure processing, the echoes at the positions of the two peaks are respectively extracted, and two new range domain echo vectors Sr with impulse response are constructed1' and Sr2′。
Knowing that target information exists at the two-dimensional imaging plane a-b, respectively constructing a time domain reference signal matrix S at the corresponding two-dimensional imaging plane a-b according to equations (4) and (5)1' and S2′。
Taking the kth column signal S (t, k) of the reference signal matrix as an example, the same matched filtering pulse pressure processing is carried out on the reference signal matrix column by column according to the formula (12) to obtain an initial pulse pressure type reference signal matrixAnd
the reference signal matrix and the echo vector have the same row number and are compared with Sr1' and Sr2' as shown in FIG. 3, the initial pulse-pressure type reference signals of the corresponding row are extracted to form the distance domain reference signal matrix S required for the final imaging1' and S2', in FIG. 3, K1And K2The grid cell numbers corresponding to the two-dimensional imaging planes a and b, respectively.
According to the embodiment of the invention, the frequency mixing processing is carried out on the echo signal and the local oscillator signal to obtain the baseband echo signal, so that the frequency of the echo signal is reduced, and the receiving end of the terahertz aperture coding transceiving antenna can receive the echo signal. In addition, the distance domain echo vector without impulse response is removed by extracting the distance domain echo vector with impulse response in the distance domain echo vectors, namely, noise is removed, and the signal-to-noise ratio is improved; target information of different distance units is respectively extracted, so that the calculation complexity is reduced, and the efficiency is improved.
Further, on the basis of the above method embodiment, the performing conjugate transpose processing on the range-domain echo vector with impulse response to obtain a spatial-domain echo vector specifically includes: using the formula: srx＝(S′x)H·Sr′xObtaining a spatial domain echo vector; wherein, SrxIs a spatial domain echo vector, Sr'xIs a range domain echo vector with impulse response (S'x)HIs a conjugate transpose matrix.
The embodiment of the invention converts the distance domain echo vector with the impulse response into the space domain echo vector through the conjugate transpose processing operation, and only performs the conjugate transpose processing on the distance domain echo vector with the impulse response, but not performs the conjugate transpose processing on the distance domain echo vector without the impulse response, thereby improving the computing capability.
Further, on the basis of the above method embodiment, the conjugate transpose processing is performed on the distance domain reference signal matrix corresponding to the distance domain echo vector with the impulse response to obtain a spatial domain reference signal matrix, which specifically includes: using the formula: s ″)x＝(S′x)HS′xObtaining a spatial domain reference signal matrix; wherein, S ″)xIs a spatial domain reference signal matrix, S'xIs a range domain reference signal matrix (S ') corresponding to a range domain echo vector with an impulse response'x)HIs a conjugate transpose matrix.
According to the embodiment of the invention, the distance domain reference signal matrix corresponding to the distance domain echo vector with the impulse response is converted into the space domain reference signal matrix through the conjugate transpose processing operation, and only the distance domain reference signal matrix corresponding to the distance domain echo vector with the impulse response is subjected to conjugate transpose processing, so that the computing capacity is improved.
Further, on the basis of the above method embodiment, the constructing a spatial domain reference signal matrix corresponding to a spatial domain echo vector having an impulse response based on the spatial domain reference signal matrix specifically includes: and extracting the row vector of the space domain reference signal matrix according to the extracted row coordinate position of the space domain echo vector with the impulse response of each partition of the two-dimensional imaging plane in the space domain echo vector to obtain the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response.
Specifically, as shown in FIG. 4, Sr ″ ", is knownxAnd S ″)xRespectively representing the space domain echo vector and the space domain reference signal matrix after conjugate transformation. Each of the two-dimensional images in fig. 1The plane contains four partitions, each numbered x1, x2, x3, and x 4. From SrxFour groups of space domain echo vectors corresponding to each partition are extracted: srx1，Sr″x2，Sr″x3And Srx4As shown in fig. 4. Due to the scattering effect of the target, four groups of space domain echo vectors are gathered together in the form of impulse response. In the actual imaging process, more than four plane partitions need to be simply and conveniently divided according to the actual scattering condition and calculation. In addition, four sets of spatial domain echo vectors Sr ″' are labeledx1，Sr″x2，Sr″x3And Srx4In the total echo vector (i.e. the spatial domain echo vector) Sr ″xThe row coordinate position in is rx1，rx2，rx3And rx4According to the above rx1，rx2，rx3And rx4And extracting the row vector of the spatial domain reference signal matrix to obtain a spatial domain reference signal matrix corresponding to the spatial domain echo vector with the impulse response.
According to the embodiment of the invention, the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response in each partition of the two-dimensional imaging plane is constructed, so that the scale of the reference signal matrix is reduced, and the calculation capacity and the calculation precision are improved.
Further, on the basis of the embodiment of the method, the imaging the partitions of the two-dimensional imaging plane according to the spatial domain echo vector with the impulse response and the spatial domain reference signal matrix corresponding to the spatial domain echo vector with the impulse response specifically includes: one of the two-dimensional imaging plane partitions of the named three-dimensional object is xa, using the model:
Sr″xa＝S″xaβxa+w″xa
parallel independent imaging is carried out on each subarea of the two-dimensional imaging plane; wherein, the two-dimensional imaging plane is divided into xa, xa epsilon { x1, x2, x3, x4}, Sr ″)xa、S″xa、βxaAnd w ″)xaRespectively corresponding echo vectors, reference signal matrixes, target scattering coefficient vectors and noise vectors of the two-dimensional imaging plane subareas xa; n is a radical ofxaEcho vector length, K, for two-dimensional imaging plane partition xaxaThe number of split grid cells for two-dimensional imaging plane partition xa.
According to the embodiment of the invention, the imaging speed is improved by independently imaging each subarea of the two-dimensional imaging plane in parallel.
Further, on the basis of the above method embodiment, the performing three-dimensional target imaging according to the imaging of each partition of the two-dimensional imaging plane specifically includes:
according to the imaging of each subarea of the two-dimensional imaging plane, the beta is solved by utilizing a compressed sensing algorithm such as an orthogonal matching tracking method, a sparse Bayesian learning method and the likexaNamely, the three-dimensional target imaging result is obtained.
The embodiment of the invention performs three-dimensional target imaging on the basis of the imaged subareas of the two-dimensional imaging plane, thereby improving the imaging speed of the synthetic three-dimensional target.
Further, on the basis of the above method embodiment, a specific process of imaging the terahertz aperture coding three-dimensional target in the embodiment of the present invention is illustrated. The specific process is as follows:
the terahertz aperture coding imaging system adopted for coding the aperture antenna array has the scale of 50 multiplied by 50 and the size of 0.5 multiplied by 0.5m as shown in figure 1; the two-dimensional imaging plane is divided into 60 multiplied by 60 grids, each two-dimensional imaging plane comprises four evenly divided plane partitions, the number of the plane partition grid units is 30 multiplied by 30, and the size of a single grid unit is 2.5mm multiplied by 2.5 mm; the bandwidth of the terahertz signal is 20GHz, the carrier frequency is 340GHz, and the pulse width is 100 ns; imaging targets are placed on two-dimensional planes at distances of 1.5m and 3m, respectively. By respectively adopting the terahertz aperture coding three-dimensional imaging method (SD-TCAI) based on the related processing, the terahertz aperture coding three-dimensional imaging method (TD-TCAI) based on the time domain echo and the terahertz aperture coding three-dimensional imaging method (RD-TCAI) based on the distance domain slice of the invention, simulation imaging comparison is carried out under different signal-to-noise ratios, and the imaging result is shown in FIG. 5. FIGS. 5(a-c) are the imaging results for TD-TCAI at-30 dB, 0dB, and 30dB, respectively; FIG. 5(d-f) is the imaging results of RD-TCAI at-30 dB, 0dB, and 30dB, respectively; FIG. 5(g-i) is the imaging results of SD-TCAI at-30 dB, 0dB and 30dB, respectively. As shown in fig. 5(c), (f) and (i), three aperture coding imaging methods are capable of accurately reconstructing a three-dimensional object when the signal-to-noise ratio is 30 dB. At 0dB, the imaging results of TD-TCAI are somewhat noisy, as shown in FIGS. 5(b), (e) and (h), while RD-TCAI and SD-TCAI are still able to reconstruct the target well. However, FIG. 5(a), which represents the result of TD-TCAI imaging, reconstructs a pool of random scatter points when the signal-to-noise ratio is-30 dB. For RD-TCAI, the target is substantially distinguishable except for a weak background noise, as shown in FIG. 5 (d). Compared with TD-TCAI and RD-TCAI, SD-TCAI can realize high-resolution imaging under all signal-to-noise ratio conditions.
Fig. 6 shows a schematic structural diagram of a three-dimensional target imaging apparatus provided in this embodiment, the apparatus including: a vector obtaining module 61, a matrix obtaining module 62, a vector extracting module 63, a matrix constructing module 64, a two-dimensional imaging module 65 and a three-dimensional imaging module 66;
the vector obtaining module 61 is configured to perform conjugate transpose processing on the range domain echo vector with the impulse response to obtain a spatial domain echo vector;
the matrix obtaining module 62 is configured to perform conjugate transpose processing on a distance domain reference signal matrix corresponding to a distance domain echo vector with an impulse response to obtain a spatial domain reference signal matrix;
the vector extraction module 63 is configured to extract, based on the spatial domain echo vector, a spatial domain echo vector with an impulse response for each partition of the two-dimensional imaging plane;
the matrix constructing module 64 is configured to construct a spatial domain reference signal matrix corresponding to a spatial domain echo vector with an impulse response based on the spatial domain reference signal matrix;
the two-dimensional imaging module 65 is configured to image each partition of the two-dimensional imaging plane according to the spatial domain echo vector with the impulse response and the spatial domain reference signal matrix corresponding to the spatial domain echo vector with the impulse response;
the three-dimensional imaging module 66 is configured to perform three-dimensional target imaging according to the imaging of each partition of the two-dimensional imaging plane.
Optionally, the vector obtaining module 61 is specifically configured to:
using the formula: srx＝(S′x)H·Sr′xObtaining a spatial domain echo vector;
wherein, SrxIs a spatial domain echo vector, Sr'xIs a range domain echo vector with impulse response (S'x)HIs a conjugate transpose matrix.
The three-dimensional target imaging device according to the embodiment of the present invention may be used to implement the above method embodiments, and the principle and technical effect are similar, which are not described herein again.
FIG. 7 is a logic block diagram of an electronic device according to an embodiment of the invention; the electronic device includes: a processor (processor)71, a memory (memory)72, and a bus 73;
wherein, the processor 71 and the memory 72 complete the communication with each other through the bus 73; the processor 71 is configured to call program instructions in the memory 72 to execute the method provided by the above method embodiment.
An embodiment of the present invention also provides a non-transitory computer-readable storage medium storing a computer program, which causes the computer to execute the above method.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
It should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A method of imaging a three-dimensional object, comprising:
performing conjugate transpose processing on the distance domain echo vector with the impulse response to obtain a space domain echo vector;
performing conjugate transpose processing on a distance domain reference signal matrix corresponding to the distance domain echo vector with the impulse response to obtain a space domain reference signal matrix;
extracting space domain echo vectors with impulse response of each subarea of the two-dimensional imaging plane based on the space domain echo vectors;
constructing a spatial domain reference signal matrix corresponding to a spatial domain echo vector with impulse response based on the spatial domain reference signal matrix;
imaging each subarea of the two-dimensional imaging plane according to the space domain echo vector with the impulse response and the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response;
and carrying out three-dimensional target imaging according to the imaging of each subarea of the two-dimensional imaging plane.
2. The three-dimensional target imaging method according to claim 1, wherein the conjugate transpose processing is performed on the range-domain echo vector with the impulse response to obtain a spatial-domain echo vector, specifically comprising:
using the formula: srx＝(S′x)H·Sr′xObtaining a spatial domain echo vector;
wherein, SrxIs a spatial domain echo vector, Sr'xIs a range domain echo vector with impulse response (S'x)HIs a conjugate transpose matrix.
3. The three-dimensional target imaging method according to claim 1, wherein the conjugate transpose processing is performed on a range domain reference signal matrix corresponding to a range domain echo vector having an impulse response to obtain a spatial domain reference signal matrix, and specifically includes:
using the formula: s ″)x＝(S′x)HS′xObtaining a spatial domain reference signal matrix;
wherein, S ″)xIs a spatial domain reference signal matrix, S'xIs a range domain reference signal matrix (S ') corresponding to a range domain echo vector with an impulse response'x)HIs a conjugate transpose matrix.
4. The three-dimensional target imaging method according to claim 1, wherein the constructing a spatial domain reference signal matrix corresponding to a spatial domain echo vector having an impulse response based on the spatial domain reference signal matrix specifically comprises:
and extracting the row vector of the space domain reference signal matrix according to the extracted row coordinate position of the space domain echo vector with the impulse response of each partition of the two-dimensional imaging plane in the space domain echo vector to obtain the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response.
5. The three-dimensional target imaging method according to claim 1, wherein the imaging the partitions of the two-dimensional imaging plane according to the spatial-domain echo vector with impulse response and the spatial-domain reference signal matrix corresponding to the spatial-domain echo vector with impulse response specifically comprises:
one of the two-dimensional imaging plane partitions of the named three-dimensional object is xa, using the model:
Sr″xa＝S″xaβxa+w″xa
parallel independent imaging is carried out on each subarea of the two-dimensional imaging plane; wherein, the two-dimensional imaging plane is divided into xa, xa epsilon { x1, x2, x3, x4}, Sr ″)xa、S″xa、βxaAnd w ″)xaRespectively corresponding echo vectors, reference signal matrixes, target scattering coefficient vectors and noise vectors of the two-dimensional imaging plane subareas xa; n is a radical ofxaEcho vector length, K, for two-dimensional imaging plane partition xaxaThe number of split grid cells for two-dimensional imaging plane partition xa.
6. The three-dimensional target imaging method according to claim 1, wherein the imaging of the three-dimensional target according to the imaging of each partition of the two-dimensional imaging plane specifically comprises:
and according to the imaging of each partition of the two-dimensional imaging plane, performing three-dimensional target imaging by adopting a compressed sensing algorithm.
7. A three-dimensional object imaging apparatus, comprising: the device comprises a vector obtaining module, a matrix obtaining module, a vector extracting module, a matrix constructing module, a two-dimensional imaging module and a three-dimensional imaging module;
the vector obtaining module is used for performing conjugate transpose processing on the distance domain echo vector with the impulse response to obtain a space domain echo vector;
the matrix obtaining module is used for performing conjugate transpose processing on a distance domain reference signal matrix corresponding to a distance domain echo vector with impulse response to obtain a spatial domain reference signal matrix;
the vector extraction module is used for extracting the space domain echo vector with the impulse response of each partition of the two-dimensional imaging plane based on the space domain echo vector;
the matrix construction module is used for constructing a spatial domain reference signal matrix corresponding to a spatial domain echo vector with an impulse response based on the spatial domain reference signal matrix;
the two-dimensional imaging module is used for imaging each subarea of the two-dimensional imaging plane according to the space domain echo vector with the impulse response and the space domain reference signal matrix corresponding to the space domain echo vector with the impulse response;
and the three-dimensional imaging module is used for imaging a three-dimensional target according to the imaging of each subarea of the two-dimensional imaging plane.
8. The three-dimensional object imaging apparatus according to claim 7, wherein the vector obtaining module is specifically configured to:
using the formula: srx＝(S′x)H·Sr′xObtaining a spatial domain echo vector;
wherein, SrxIs a spatial domain echo vector, Sr'xIs a range domain echo vector with impulse response (S'x)HIs a conjugate transpose matrix.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the method of imaging a three-dimensional object as claimed in any one of claims 1 to 6.
10. A non-transitory computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of imaging a three-dimensional object according to any one of claims 1 to 6.
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