干涉合成孔径声纳系统设计和成像算法研究
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摘要
干涉合成孔径声纳(Interferometric Synthetic Aperture Sonar,INSAS)是一种用于水下三维成像的声纳系统,其具有二维成像分辨率高且分辨率与距离无关,能够进行干涉测高的特点。本论文研究主要针对INSAS的系统设计、成像算法及仿真、运动补偿等方面的问题展开研究。
本文在分析INSAS系统成像原理的基础上,对INSAS系统设计中的各个主要参数进行了分析,推导出了各参数误差对于系统性能的影响,对于某些参数如基线长度、基阵倾斜角度等给出了最优的取值。并根据实际设计了INSAS系统参数,并对其性能和误差做了理论分析,为未来的实验提供了理论依据。
在INSAS算法的研究中,仿真方法是一个非常重要的部分,更有效的仿真方法可以为实验的进行打下良好的基础。本文对传统的回波仿真算法进行了改进,给出了一种基于延时表的仿真算法,能够有效的减少仿真算法的计算量,提高计算效率。另外介绍了直接进行INSAS图像仿真的方法,可以直接根据目标高度模型生成INSAS干涉图像对,相对于原始回波信号的仿真方法,本算法更有效率。从仿真结果上看,可以较为真实地显示目标场景特性,为实际实验提供理论参考。最后,在图像仿真的基础上,给出了通过逆向法由仿真的SAS复图像解算原始回波信号的方法,相对传统的信号仿真算法,这种方法可以在损失图像精度的条件下,达到较快的速度,可以作为图像仿真算法的一个补充。
由于声纳基阵安装于拖体上,其运动误差对成像结果影响较大。本文分析拖体运动误差对于成像结果的影响,对于传统的SAS系统的运动补偿方法,DPC方法和DPIA方法进行了综述,并在此基础上提出了一种新的适用于强点目标的运动补偿方法,通过湖上实验的数据对本方法进行了验证,结果表明,这一方法可以较好的提高点目标的成像结果,并且有着较高的计算效率,适合实时系统的实现。另外,INSAS系统不同于普通的SAS系统,其在运动补偿方面的要求更高,本文针对INSAS系统的主要误差Roll,给出了一种基于DPC的估计方法,并通过仿真数据进行了验证。
INSAS系统的主要算法包括图像配准、去除平地效应、干涉相位图滤波和二维相位展开等部分,本文使用MATLAB软件建立一个完整的INSAS信号仿真和成像处理平台。在此平台基础上,对INSAS各部分算法进行了深入研究和改进。对于图像配准方法,分析了常用的配准算法,并通过INSAR数据进行了验证。介绍了去水平地形效应的原理及方法。分析了干涉相位图噪声对于最终成像结果的影响,提出了一种新的自适应干涉相位图滤波方法,并用仿真数据和干涉合成孔径雷达数据进行了验证,结果表面本方法可以在去除残余点的基础上较好的保持图像细节,有利于下一步相位展开的进行。对于相位展开算法,通过实际数据的处理,分析比较了路径跟随算法和基于全局最优模型算法两大类方法的异同,比较了各种相位展开算法的优缺点和适用范围。最后通过实际的SAS实验成像结果进行了双过次的INSAS成像的尝试。
Interferometric Synthetic Aperture Sonar(INSAS) is a kind of sonar system which provides three dimensional images of underwater scene. INSAS has high resolution independent of the target distance. In this thesis the key aspects of INSAS are discussed, such as system design, INSAS imaging algorithms, simulation and motion compensation.
The thesis firstly introduces the basic principle of INSAS and analyzes the parameters effect on the system error. Then the optimal baseline length and angle was provided. The author also gives the performance analysis of an INSAS system with probable parameters. It can be used to prompt the future experiment.
The simulation algorithm is an important part of INSAS research. Efficient simulation algorithm is the fundament of the experiment. The thesis improves the traditional algorithm instead of a delay-table based algorithm. It can reduce the without accuracy loss. And a complex images simulation algorithm is also provided. It can directly simulate the SAS images instead of the raw signal data. The results show that it can reflect the actual scene well. Last the author gives an additional reverse algorithm. It calculates the raw signal data from the simulated images with loss of accuracy.
The sonar array is placed on the towfish so that the motion error can affect the image quality. After the introduction of traditional motion compensation algorithms, DPC and DPIA, a more efficient algorithm used for the powerful point target condition is proposed. Last, the roll error estimation is discussed.
INSAS imaging algorithms contain image registration, flat terrain phase effect removal, phase filter and phase unwrapping. In this thesis an INSAS signal simulation and processing platform based MATLAB is established. Based on this platform INSAS imaging algorithms are discussed. The common image registration and flat terrain phase effect removal algorithms are analyzed with radar data. A new adaptive phase filter is proposed. It can suppress noise and keep the image details. The main phase unwrapping algorithms performance is compared. Last the SAS image experiment data is used to computer interferometry images with 2-pass mode algorithm.
本文在分析INSAS系统成像原理的基础上,对INSAS系统设计中的各个主要参数进行了分析,推导出了各参数误差对于系统性能的影响,对于某些参数如基线长度、基阵倾斜角度等给出了最优的取值。并根据实际设计了INSAS系统参数,并对其性能和误差做了理论分析,为未来的实验提供了理论依据。
在INSAS算法的研究中,仿真方法是一个非常重要的部分,更有效的仿真方法可以为实验的进行打下良好的基础。本文对传统的回波仿真算法进行了改进,给出了一种基于延时表的仿真算法,能够有效的减少仿真算法的计算量,提高计算效率。另外介绍了直接进行INSAS图像仿真的方法,可以直接根据目标高度模型生成INSAS干涉图像对,相对于原始回波信号的仿真方法,本算法更有效率。从仿真结果上看,可以较为真实地显示目标场景特性,为实际实验提供理论参考。最后,在图像仿真的基础上,给出了通过逆向法由仿真的SAS复图像解算原始回波信号的方法,相对传统的信号仿真算法,这种方法可以在损失图像精度的条件下,达到较快的速度,可以作为图像仿真算法的一个补充。
由于声纳基阵安装于拖体上,其运动误差对成像结果影响较大。本文分析拖体运动误差对于成像结果的影响,对于传统的SAS系统的运动补偿方法,DPC方法和DPIA方法进行了综述,并在此基础上提出了一种新的适用于强点目标的运动补偿方法,通过湖上实验的数据对本方法进行了验证,结果表明,这一方法可以较好的提高点目标的成像结果,并且有着较高的计算效率,适合实时系统的实现。另外,INSAS系统不同于普通的SAS系统,其在运动补偿方面的要求更高,本文针对INSAS系统的主要误差Roll,给出了一种基于DPC的估计方法,并通过仿真数据进行了验证。
INSAS系统的主要算法包括图像配准、去除平地效应、干涉相位图滤波和二维相位展开等部分,本文使用MATLAB软件建立一个完整的INSAS信号仿真和成像处理平台。在此平台基础上,对INSAS各部分算法进行了深入研究和改进。对于图像配准方法,分析了常用的配准算法,并通过INSAR数据进行了验证。介绍了去水平地形效应的原理及方法。分析了干涉相位图噪声对于最终成像结果的影响,提出了一种新的自适应干涉相位图滤波方法,并用仿真数据和干涉合成孔径雷达数据进行了验证,结果表面本方法可以在去除残余点的基础上较好的保持图像细节,有利于下一步相位展开的进行。对于相位展开算法,通过实际数据的处理,分析比较了路径跟随算法和基于全局最优模型算法两大类方法的异同,比较了各种相位展开算法的优缺点和适用范围。最后通过实际的SAS实验成像结果进行了双过次的INSAS成像的尝试。
Interferometric Synthetic Aperture Sonar(INSAS) is a kind of sonar system which provides three dimensional images of underwater scene. INSAS has high resolution independent of the target distance. In this thesis the key aspects of INSAS are discussed, such as system design, INSAS imaging algorithms, simulation and motion compensation.
The thesis firstly introduces the basic principle of INSAS and analyzes the parameters effect on the system error. Then the optimal baseline length and angle was provided. The author also gives the performance analysis of an INSAS system with probable parameters. It can be used to prompt the future experiment.
The simulation algorithm is an important part of INSAS research. Efficient simulation algorithm is the fundament of the experiment. The thesis improves the traditional algorithm instead of a delay-table based algorithm. It can reduce the without accuracy loss. And a complex images simulation algorithm is also provided. It can directly simulate the SAS images instead of the raw signal data. The results show that it can reflect the actual scene well. Last the author gives an additional reverse algorithm. It calculates the raw signal data from the simulated images with loss of accuracy.
The sonar array is placed on the towfish so that the motion error can affect the image quality. After the introduction of traditional motion compensation algorithms, DPC and DPIA, a more efficient algorithm used for the powerful point target condition is proposed. Last, the roll error estimation is discussed.
INSAS imaging algorithms contain image registration, flat terrain phase effect removal, phase filter and phase unwrapping. In this thesis an INSAS signal simulation and processing platform based MATLAB is established. Based on this platform INSAS imaging algorithms are discussed. The common image registration and flat terrain phase effect removal algorithms are analyzed with radar data. A new adaptive phase filter is proposed. It can suppress noise and keep the image details. The main phase unwrapping algorithms performance is compared. Last the SAS image experiment data is used to computer interferometry images with 2-pass mode algorithm.
引文
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