Object Imaging Method Based on Spherical Surface Elements for Penetrating Radar Surround Detection

Abstract

This disclosure provides an object imaging method based on spherical surface elements for penetrating radar surround detection, which can be applied in the field of radar technology. The object imaging method includes: acquiring a target model; determining the centroid of triangular surface elements based on the vertices of these elements; projecting the triangular surface elements onto the surface of a corresponding curvature sphere to obtain a surface element corresponding to the triangular surface element, wherein the center of the curvature sphere is determined based on the geometric center of the target model, and the radius of the curvature sphere is determined based on the distance between the centroid and the geometric center of the triangular surface element; determining the distance information between the surface element and the penetrating radar; processing the radar parameters and distance information of the penetrating radar using a predetermined echo signal function to obtain a second echo signal; and imaging the target object based on the second echo signal to obtain an imaging result.

Description

Technical Field

[0001] This disclosure relates to the field of radar technology, and more specifically, to a method, apparatus, electronic device, and storage medium for object imaging based on spherical element-based penetrating radar surround detection. Background Technology

[0002] When an inverse synthetic aperture radar (INS) is flying alongside a rotating asteroid, the radar can transmit signals to the asteroid and receive the echoes based on the synthetic aperture effect, thus obtaining simulated data about the asteroid. Based on this simulated data, the detection capabilities of the INS can be evaluated, such as detection range, resolution, and depth. It can also be used to study the echo characteristics of different types of asteroids, perform data processing such as scanning imaging, 3D reconstruction imaging, and surface dielectric constant inversion at different locations on the asteroid, and explore the asteroid's structure and physical properties. However, the imaging methods in these technologies cannot comprehensively and accurately reflect the structural details of the asteroid. Summary of the Invention

[0003] In view of this, the present disclosure provides a method, apparatus, electronic device and storage medium for object imaging based on spherical elements using penetrating radar surround detection.

[0004] One aspect of this disclosure provides an object imaging method based on penetrating radar surround detection using spherical surface elements, comprising: acquiring a target model, wherein the target model is a triangular surface element model constructed based on a first echo signal, the first echo signal being obtained by penetrating radar surround detection of the target object; determining the centroid of the triangular surface elements based on the vertices of the triangular surface elements in the target model; projecting the triangular surface elements onto the surface of a curvature sphere corresponding to the triangular surface elements to obtain curved surface elements corresponding to the triangular surface elements, wherein the center of the curvature sphere is determined based on the geometric center of the target model, and the radius of the curvature sphere is determined based on the distance between the centroid and the geometric center of the triangular surface elements; determining the distance information between the curved surface elements and the penetrating radar; processing the radar parameters and distance information of the penetrating radar using a predetermined echo signal function to obtain a second echo signal; and imaging the target object based on the second echo signal to obtain an imaging result.

[0005] According to embodiments of this disclosure, imaging a target object based on a second echo signal to obtain an imaging result includes: convolving the second echo signal and a corresponding transmitted signal to obtain a mixed signal; performing an inverse Fourier transform on the mixed signal to obtain a time-domain signal; and processing multiple time-domain signals corresponding to the same surface element based on a predetermined compensation function to obtain an imaging result, wherein the predetermined compensation function is determined based on the conjugate of the transmitted signal corresponding to the second echo signal, and the multiple time-domain signals correspond to different angles at which the radar detects the target object.

[0006] According to embodiments of this disclosure, multiple time-domain signals corresponding to the same surface element are processed based on a predetermined compensation function to obtain an imaging result, including: processing multiple time-domain signals corresponding to the same surface element based on a predetermined compensation function to obtain multiple compensation signals corresponding to the same surface element; and obtaining an imaging result based on the multiple compensation signals corresponding to the same surface element.

[0007] According to embodiments of this disclosure, a curved surface element includes multiple pixel units, and multiple compensation signals corresponding to the same curved surface element include multiple compensation signals corresponding to each pixel unit; based on the multiple compensation signals corresponding to the same curved surface element, an imaging result is obtained, including: for each pixel unit, accumulating the signal amplitude peak values ​​of the multiple compensation signals corresponding to each pixel unit to obtain the imaging result.

[0008] According to embodiments of this disclosure, determining the distance information between a curved surface element and a penetrating radar includes: calculating the initial distance between the curved surface element and the penetrating radar based on the centroid coordinates of the curved surface element and the radar coordinates of the penetrating radar; and processing the initial distance using a predetermined integration function based on the area of ​​the curved surface element and the maximum signal wavelength of the penetrating radar to obtain the distance information.

[0009] According to embodiments of this disclosure, the predetermined integration function is as follows:

[0010]

[0011] Where R represents the initial distance; denoted by λ, where λ represents the maximum signal wavelength; S represents the area of ​​the surface element.

[0012] According to embodiments of this disclosure, the radar parameters of the penetrating radar include the number of pulses of the penetrating radar, the azimuth slow time of the penetrating radar, the amplitude of the echo signal of the penetrating radar after mixing with the transmitted signal, the maximum wavelength of the signal of the penetrating radar, and the step wavelength of the penetrating radar; the predetermined echo signal function is as follows:

[0013]

[0014] Where k represents the number of pulses that penetrate the radar; Indicates the azimuth direction of radar penetration at slower times; This represents the amplitude of the echo signal of the k-th pulse that penetrates the radar after being mixed with the transmitted signal. N is a positive integer greater than 1; Indicates when the azimuth slows down the time. At that time, the distance information between the penetrating radar and the i-th detection area of ​​the target object is obtained, and the i-th detection area corresponds to the i-th curved surface element; This indicates the maximum wavelength of the signal that can penetrate radar. This indicates the step wavelength that penetrates radar.

[0015] Another aspect of this disclosure provides an object imaging device based on spherical surface elements for penetrating radar surround detection, comprising: an acquisition module for acquiring a target model, wherein the target model is a triangular surface element model constructed based on a first echo signal, the first echo signal being obtained by penetrating radar surround detection of the target object; a first determination module for determining the centroid of the triangular surface elements based on the vertices of the triangular surface elements in the target model; a projection module for projecting the triangular surface elements onto the surface of a curvature sphere corresponding to the triangular surface elements to obtain curved surface elements corresponding to the triangular surface elements, wherein the center of the curvature sphere is determined based on the geometric center of the target model, and the radius of the curvature sphere is determined based on the distance between the centroid and the geometric center of the triangular surface elements; a second determination module for determining the distance information between the curved surface elements and the penetrating radar; a processing module for processing the radar parameters and distance information of the penetrating radar using a predetermined echo signal function to obtain a second echo signal; and an imaging module for imaging the target object based on the second echo signal to obtain an imaging result.

[0016] Another aspect of this disclosure provides an electronic device comprising:

[0017] One or more processors;

[0018] Memory, used to store one or more programs.

[0019] When the one or more programs are executed by the one or more processors, the one or more processors implement the method described above.

[0020] Another aspect of this disclosure provides a computer-readable storage medium storing computer-executable instructions that, when executed, are used to implement the method described above.

[0021] According to embodiments of this disclosure, curvature elements are obtained by projecting triangular facets of the target model onto the surface of a curvature sphere. A second echo signal, which reflects the characteristics of the target object more effectively than the first echo signal, can then be obtained based on these curvature elements. Imaging is then performed based on this second echo signal, resulting in an imaging result that comprehensively and accurately reflects the structural features of the target object. Compared to methods based on centroids as reflective elements, this method better reflects the shape features and structural details of the target object, making the imaging result closer to the actual radar detection result and improving the accuracy of the imaging result. Attached Figure Description

[0022] The above and other objects, features and advantages of this disclosure will become clearer from the following description of embodiments with reference to the accompanying drawings, in which:

[0023] Figure 1 The illustration shows an application scenario of the object imaging method according to an embodiment of the present disclosure.

[0024] Figure 2 A flowchart illustrating an object imaging method according to an embodiment of the present disclosure is shown schematically.

[0025] Figure 3 A schematic diagram of a target model according to an embodiment of the present disclosure is shown.

[0026] Figure 4 A schematic diagram of a projected triangular facet element according to an embodiment of the present disclosure is shown.

[0027] Figure 5A The diagram illustrates a one-dimensional simulation imaging result using a traditional method.

[0028] Figure 5B A schematic diagram illustrating a one-dimensional simulation imaging result of an object imaging method according to an embodiment of the present disclosure is shown.

[0029] Figure 6A The diagram illustrates a schematic representation of the two-dimensional simulation imaging results using a traditional method.

[0030] Figure 6B A schematic diagram illustrating a two-dimensional simulation imaging result of an object imaging method according to an embodiment of the present disclosure is shown.

[0031] Figure 7 A schematic diagram of an object imaging method according to another embodiment of the present disclosure is shown.

[0032] Figure 8 A schematic block diagram of an object imaging apparatus according to an embodiment of the present disclosure is shown.

[0033] Figure 9 A block diagram schematically illustrates an electronic device suitable for implementing an object imaging method according to an embodiment of the present disclosure. Detailed Implementation

[0034] The embodiments of the present disclosure will now be described with reference to the accompanying drawings. However, it should be understood that these descriptions are exemplary only and are not intended to limit the scope of the disclosure. In the following detailed description, numerous specific details are set forth to provide a thorough understanding of the embodiments of the present disclosure for ease of explanation. However, it will be apparent that one or more embodiments may be practiced without these specific details. Furthermore, descriptions of well-known structures and techniques are omitted in the following description to avoid unnecessarily obscuring the concepts of the present disclosure.

[0035] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit this disclosure. The terms “comprising,” “including,” etc., as used herein indicate the presence of the stated features, steps, operations, and / or components, but do not exclude the presence or addition of one or more other features, steps, operations, or components.

[0036] All terms used herein (including technical and scientific terms) have the meanings commonly understood by those skilled in the art, unless otherwise defined. It should be noted that the terms used herein are to be interpreted in a manner consistent with the context of this specification, and not in an idealized or overly rigid way.

[0037] When using expressions such as "at least one of A, B and C", they should generally be interpreted in accordance with the meaning that is commonly understood by those skilled in the art (e.g., "a system having at least one of A, B and C" should include, but is not limited to, a system having A alone, a system having B alone, a system having C alone, a system having A and B, a system having A and C, a system having B and C, and / or a system having A, B and C, etc.).

[0038] In realizing the inventive concept disclosed herein, the inventors discovered that related technologies primarily use the centroid of each triangular facet in a triangular facet model of an asteroid as a reflective unit to perform local imaging of the asteroid. However, this method ignores the structural details of the asteroid, resulting in a significant difference between the imaging results and the actual structure of the asteroid. Therefore, the methods in related technologies cannot accurately and comprehensively reflect the structural characteristics of an asteroid.

[0039] In view of this, this disclosure provides a simulation imaging method for penetrating radar surround detection based on spherical elements, so as to comprehensively and accurately reflect the structural characteristics of asteroids.

[0040] Figure 1 The illustration shows an application scenario of the object imaging method according to an embodiment of the present disclosure.

[0041] like Figure 1 As shown, the application scenario 100 according to this embodiment may include a penetrating radar 110, a target object 120, and a terminal device 130.

[0042] The penetrating radar 110 can be an inverse synthetic aperture radar. The flight trajectory of the penetrating radar can be a circular trajectory around the target object 120. The penetrating radar 110 can transmit signals towards the target object 120 and receive the echo signals reflected by the target object 120. The target object 120 can be an asteroid, planet, or satellite, etc.

[0043] Terminal device 130 can be various electronic devices with a display screen, including but not limited to laptops and desktop computers. Terminal device 130 can perform imaging based on echo signals to obtain the characteristics of the asteroid.

[0044] It should be noted that the object imaging method provided in this embodiment can generally be executed by the terminal device 130. Accordingly, the object imaging apparatus provided in this embodiment can generally be disposed in the terminal device 130.

[0045] It should be understood that Figure 1 The number of penetrating radars, targets, and terminal devices shown is merely illustrative. Depending on implementation needs, any number of penetrating radars, targets, and terminal devices can be included.

[0046] Figure 2 A flowchart illustrating an object imaging method according to an embodiment of the present disclosure is shown schematically.

[0047] like Figure 2 As shown, the method includes operations S210~S260.

[0048] In operation S210, a target model is acquired, wherein the target model is a triangular surface model constructed based on the first echo signal, which is obtained by circumferential detection of the target object by penetrating radar.

[0049] In operation S220, the centroid of the triangular facet is determined based on the vertices of the triangular facet in the target model.

[0050] In operation S230, the triangular facet is projected onto the surface of the curvature sphere corresponding to the triangular facet to obtain the surface facet corresponding to the triangular facet. The center of the curvature sphere is determined based on the geometric center of the target model, and the radius of the curvature sphere is determined based on the distance between the centroid and the geometric center of the triangular facet.

[0051] In operation S240, the distance information between the curved surface element and the penetrating radar is determined.

[0052] In operation S250, the radar parameters and range information of the penetrating radar are processed using a predetermined echo signal function to obtain the second echo signal.

[0053] In operation S260, the target object is imaged based on the second echo signal to obtain the imaging result.

[0054] Figure 3 A schematic diagram of a target model according to an embodiment of the present disclosure is shown.

[0055] According to embodiments of this disclosure, a penetrating radar can transmit signals to a certain area of ​​a target object and receive a first echo signal returned by the target object. This allows for simulation of the target object's structure within that area based on the first echo signal, yielding results such as... Figure 3 The diagram shows a triangular facet model. This model comprises multiple triangular facets. However, this embodiment is not limited to this. In this embodiment, the target model information also includes the number of triangular facets, the vertex coordinates of each triangular facet, and the normal direction of each triangular facet, etc. The centroid of each triangular facet can be calculated based on its vertex coordinates. Based on the centroid coordinates of each triangular facet and the geometric center coordinates of the target object, a curvature sphere corresponding to each triangular facet can be constructed.

[0056] Figure 4 A schematic diagram of a projected triangular facet element according to an embodiment of the present disclosure is shown.

[0057] like Figure 4 As shown, let the radar coordinates be... The position of a point in a triangular element is Triangular facets can be projected onto the surface of a curvature sphere corresponding to each triangular facet. That is, based on the coordinates of each point in each triangular facet, the coordinates of each point in the surface facet located on the surface of the curvature sphere are calculated, thereby obtaining the surface facet corresponding to each triangular facet.

[0058] According to embodiments of this disclosure, a spherical surface integration can be performed based on the contribution of each point in the surface element to the echo signal. For example, this could involve integrating the change in the echo phase, i.e., the azimuth modulation term, over the entire surface element to obtain the range information between each point of the surface element and the penetrating radar. The range information and the radar parameters of the penetrating radar are then processed using a predetermined echo signal processing function to obtain a second echo signal. Finally, the second echo signal is processed using a pulse compression and back projection (BP) imaging algorithm to obtain an imaging result that comprehensively and accurately reflects the structural characteristics of the target object. Figure 5A This diagram illustrates a one-dimensional simulation imaging result using a traditional method. Figure 5B This diagram schematically illustrates a one-dimensional simulation imaging result of an object imaging method according to an embodiment of the present disclosure. Figure 6A This diagram illustrates a two-dimensional simulation imaging result using a traditional method. Figure 6B A schematic diagram illustrating a two-dimensional simulation imaging result of an object imaging method according to an embodiment of the present disclosure is shown. Figure 5A , Figure 5B , Figure 6A and Figure 6BAs shown, the features obtained by this method have richer details than those obtained by traditional methods, and this method can comprehensively and accurately reflect the structural features of the target object.

[0059] According to embodiments of this disclosure, curvature elements are obtained by projecting triangular facets of the target model onto the surface of a curvature sphere. A second echo signal, which reflects the characteristics of the target object more effectively than the first echo signal, can then be obtained based on these curvature elements. Imaging is then performed based on this second echo signal, resulting in an imaging result that comprehensively and accurately reflects the structural features of the target object. Compared to methods based on centroids as reflective elements, this method better reflects the shape features and structural details of the target object, making the imaging result closer to the actual radar detection result and improving the accuracy of the imaging result.

[0060] According to embodiments of this disclosure, determining the distance information between a curved surface element and a penetrating radar includes: calculating the initial distance between the curved surface element and the penetrating radar based on the centroid coordinates of the curved surface element and the radar coordinates of the penetrating radar; and processing the initial distance using a predetermined integration function based on the area of ​​the curved surface element and the maximum signal wavelength of the penetrating radar to obtain the distance information.

[0061] According to embodiments of this disclosure, the centroid coordinates of a curved surface element can be determined based on the centroid coordinates of a triangular surface element corresponding to that curved surface element. The signal transmitted by the penetrating radar can be a stepped-frequency signal, etc. Taking a stepped-frequency signal as an example, let the radar coordinates be... The position of a point on the target object (e.g., the centroid coordinates of the surface element mentioned above). If , then the initial distance between this point and the radar is:

[0062] (1)

[0063] in The central angle can be obtained based on the Haversine formula using the following formulas (2) and (3):

[0064] (2)

[0065] (3)

[0066] According to embodiments of this disclosure, the predetermined integration function is as follows:

[0067] (4)

[0068] Where R represents the initial distance. This represents the maximum signal wavelength. S represents the area of ​​the surface element.

[0069] According to the embodiments of this disclosure, since the distance between the triangular surface element and the radar is difficult to calculate directly by integration, the distance information between the curved surface element and the penetrating radar is obtained by integrating the initial distance between the curved surface element and the penetrating radar, which improves the convenience and accuracy of obtaining the distance information.

[0070] According to embodiments of this disclosure, the radar parameters of the penetrating radar include the number of pulses of the penetrating radar, the azimuth slow time of the penetrating radar, the amplitude of the echo signal after mixing with the transmitted signal, the maximum wavelength of the penetrating radar signal, and the step wavelength of the penetrating radar. The predetermined echo signal function is as follows:

[0071] (5)

[0072] Where k represents the number of pulses that penetrate the radar. This indicates the azimuth time of radar penetration. This represents the amplitude of the echo signal of the k-th pulse that penetrates the radar after being mixed with the transmitted signal. N is a positive integer greater than 1. Indicates when the azimuth slows down the time. At that time, the distance information between the penetrating radar and the i-th detection area of ​​the target object is obtained, and the i-th detection area corresponds to the i-th surface element. This indicates the maximum wavelength of the signal that can penetrate radar. This indicates the step wavelength that penetrates radar.

[0073] For example, the flight direction of the penetrating radar is the azimuth direction, and the unit of measurement for the azimuth direction is the rotation angle. The direction in which the radar signal is emitted is the range direction, and the unit of measurement for the range direction is the time delay. The second echo signal can be a two-dimensional echo signal. The two-dimensional echo signal includes a signal strength modulation term, a range signal migration term, and an azimuth phase modulation term. Among them, the signal strength modulation term corresponds to the term in the above formula (5). The distance-to-signal migration term corresponds to the term in formula (5) above. ; Azimuth phase modulation corresponds to the above formula (5) in .

[0074] According to embodiments of this disclosure, imaging a target object based on a second echo signal to obtain an imaging result includes: convolving the second echo signal and a corresponding transmitted signal to obtain a mixed signal; performing an inverse Fourier transform on the mixed signal to obtain a time-domain signal; and processing multiple time-domain signals corresponding to the same surface element based on a predetermined compensation function to obtain the imaging result. The predetermined compensation function is determined based on the conjugate of the transmitted signal corresponding to the second echo signal, and the multiple time-domain signals correspond to different angles at which the radar detects the target object.

[0075] According to embodiments of this disclosure, there can be multiple second echo signals, which can be echo signals from penetrating radar at different azimuth angles. For multiple second echo signals corresponding to the same surface element, each second echo signal can be convolved with its corresponding transmitted signal to obtain a mixed signal, thus yielding multiple mixed signals corresponding to each surface element. By performing inverse Fourier transforms on these multiple mixed signals and processing them using a predetermined compensation function, accurate imaging results can be obtained.

[0076] According to embodiments of this disclosure, multiple time-domain signals corresponding to the same surface element are processed based on a predetermined compensation function to obtain an imaging result. This includes: processing the multiple time-domain signals corresponding to the same surface element based on the predetermined compensation function to obtain multiple compensation signals corresponding to the same surface element; and obtaining the imaging result based on the multiple compensation signals corresponding to the same surface element.

[0077] According to embodiments of this disclosure, a predetermined compensation function can be used to compensate for time-domain signals at multiple azimuth angles corresponding to the same surface element, making the signals more accurate. This allows for imaging of the target object based on the compensated signals, resulting in accurate imaging results.

[0078] According to embodiments of this disclosure, a curved surface element includes multiple pixel units, and multiple compensation signals corresponding to the same curved surface element include multiple compensation signals corresponding to each pixel unit. Based on the multiple compensation signals corresponding to the same curved surface element, an imaging result is obtained, including: for each pixel unit, accumulating the peak values ​​of the signal amplitudes of the multiple compensation signals corresponding to each pixel unit to obtain the imaging result.

[0079] According to embodiments of this disclosure, for the target area of ​​the target object that needs to be imaged, the surface elements of the target model can be meshed to obtain multiple pixel units. Each pixel unit can be labeled with an index number in the x-coordinate and y-coordinate directions, such as (1,1), (1,2), etc. Multiple compensation signals corresponding to the same surface element can include multiple compensation signals corresponding to a certain pixel unit in the same surface element. The peak values ​​of the signal amplitudes of the multiple compensation signals can be accumulated. After accumulating the peak values ​​of the signal amplitudes of the compensation signals corresponding to each pixel unit, an accurate imaging result can be obtained.

[0080] Figure 7 A schematic diagram of an object imaging method according to another embodiment of the present disclosure is shown.

[0081] like Figure 7 As shown, the object imaging method of this embodiment includes S710~S760.

[0082] Using S710, obtain the target model.

[0083] When operating the S720, the centroid of the triangular facet is determined based on the vertices of the triangular facet in the target model.

[0084] In operation S730, the triangular element is projected onto the curvature sphere surface corresponding to the triangular element to obtain the curved surface element corresponding to the triangular element.

[0085] The S740 is used to determine the distance information between the curved surface element and the penetrating radar.

[0086] In operation of S750, a second echo signal is obtained by using a predetermined echo signal function, combined with signal strength modulation and range migration processing to penetrate radar parameters and range information.

[0087] When operating the S760, the second echo signal is processed using pulse compression and back projection imaging algorithms to obtain the imaging result.

[0088] Based on the above-described object imaging method using penetrating radar surround detection based on spherical elements, this disclosure also provides an object imaging device using penetrating radar surround detection based on spherical elements. The following will be combined with... Figure 8 The device is described in detail.

[0089] Figure 8 A schematic block diagram of an object imaging apparatus according to an embodiment of the present disclosure is shown.

[0090] like Figure 8 As shown, the object imaging device 800 of this embodiment includes an acquisition module 810, a first determination module 820, a projection module 830, a second determination module 840, a processing module 850, and an imaging module 860.

[0091] The acquisition module 810 is used to acquire a target model, wherein the target model is a triangular surface model constructed based on a first echo signal, and the first echo signal is obtained by circumferential detection of the target object using penetrating radar. In one embodiment, the acquisition module 810 can be used to perform the operation S210 described above, which will not be repeated here.

[0092] The first determining module 820 is used to determine the centroid of the triangular facets based on the vertices of the facets in the target model. In one embodiment, the first determining module 820 can be used to perform the operation S220 described above, which will not be repeated here.

[0093] The projection module 830 projects a triangular facet onto a surface of a curvature sphere corresponding to the triangular facet, resulting in a curved facet corresponding to the triangular facet. The center of the curvature sphere is determined based on the geometric center of the target model, and the radius of the curvature sphere is determined based on the distance between the centroid and the geometric center of the triangular facet. In one embodiment, the projection module 830 can be used to perform the operation S230 described above, which will not be repeated here.

[0094] The second determining module 840 is used to determine the distance information between the curved surface element and the penetrating radar. In one embodiment, the second determining module 840 can be used to perform the operation S240 described above, which will not be repeated here.

[0095] The processing module 850 is used to process the radar parameters and range information of the penetrating radar using a predetermined echo signal function to obtain a second echo signal. In one embodiment, the processing module 850 can be used to perform the operation S250 described above, which will not be repeated here.

[0096] The imaging module 860 is used to image the target object based on the second echo signal to obtain an imaging result. In one embodiment, the imaging module 860 can be used to perform the operation S260 described above, which will not be repeated here.

[0097] According to embodiments of this disclosure, the imaging module 860 includes a convolution submodule, an inverse Fourier transform submodule, and a first processing submodule. The convolution submodule convolves the second echo signal and the corresponding transmitted signal to obtain a mixed signal. The inverse Fourier transform submodule performs an inverse Fourier transform on the mixed signal to obtain a time-domain signal. The first processing submodule processes multiple time-domain signals corresponding to the same surface element based on a predetermined compensation function to obtain an imaging result. The predetermined compensation function is determined based on the conjugate of the transmitted signal corresponding to the second echo signal, and the multiple time-domain signals correspond to different angles at which the radar detects the target object.

[0098] According to embodiments of this disclosure, the first processing submodule includes a processing unit and an acquisition unit. The processing unit processes multiple time-domain signals corresponding to the same surface element based on a predetermined compensation function to obtain multiple compensated signals corresponding to the same surface element; the acquisition unit obtains an imaging result based on the multiple compensated signals corresponding to the same surface element.

[0099] According to embodiments of this disclosure, the obtaining unit includes an accumulation subunit. The accumulation subunit is used to accumulate the peak signal amplitudes of multiple compensation signals corresponding to each pixel unit to obtain an imaging result.

[0100] According to embodiments of this disclosure, the second determining module 840 includes a calculation submodule and a second processing submodule. The calculation submodule calculates the initial distance between the curved surface element and the penetrating radar based on the centroid coordinates of the curved surface element and the radar coordinates of the penetrating radar. The second processing submodule processes the initial distance using a predetermined integration function based on the area of ​​the curved surface element and the maximum signal wavelength of the penetrating radar to obtain distance information.

[0101] According to embodiments of this disclosure, any plurality of modules among the acquisition module 810, the first determination module 820, the projection module 830, the second determination module 840, the processing module 850, and the imaging module 860 can be combined into one module, or any one of these modules can be split into multiple modules. Alternatively, at least part of the functionality of one or more of these modules can be combined with at least part of the functionality of other modules and implemented in one module. According to embodiments of this disclosure, at least one of the acquisition module 810, the first determination module 820, the projection module 830, the second determination module 840, the processing module 850, and the imaging module 860 can be at least partially implemented as hardware circuitry, such as a field-programmable gate array (FPGA), a programmable logic array (PLA), a system-on-a-chip, a system-on-a-substrate, a system-on-package, an application-specific integrated circuit (ASIC), or any other reasonable means of integrating or packaging circuitry, or implemented in any one of software, hardware, and firmware methods, or in a suitable combination of any of these methods. Alternatively, at least one of the acquisition module 810, the first determination module 820, the projection module 830, the second determination module 840, the processing module 850, and the imaging module 860 may be at least partially implemented as a computer program module, which can perform corresponding functions when the computer program module is run.

[0102] Figure 9 A block diagram schematically illustrates an electronic device suitable for implementing an object imaging method according to an embodiment of the present disclosure.

[0103] like Figure 9 As shown, an electronic device 900 according to an embodiment of the present disclosure includes a processor 901, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 902 or a program loaded from a storage portion 908 into a random access memory (RAM) 903. The processor 901 may include, for example, a general-purpose microprocessor (e.g., a CPU), an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor (e.g., an application-specific integrated circuit (ASIC)), etc. The processor 901 may also include onboard memory for caching purposes. The processor 901 may include a single processing unit or multiple processing units for performing different actions of the method flow according to an embodiment of the present disclosure.

[0104] RAM 903 stores various programs and data required for the operation of electronic device 900. Processor 901, ROM 902, and RAM 903 are interconnected via bus 904. Processor 901 performs various operations of the method flow according to embodiments of the present disclosure by executing programs in ROM 902 and / or RAM 903. It should be noted that the programs may also be stored in one or more memories other than ROM 902 and RAM 903. Processor 901 may also perform various operations of the method flow according to embodiments of the present disclosure by executing programs stored in said one or more memories.

[0105] According to embodiments of this disclosure, the electronic device 900 may further include an input / output (I / O) interface 905, which is also connected to a bus 904. The electronic device 900 may also include one or more of the following components connected to the input / output (I / O) interface 905: an input section 906 including a keyboard, mouse, etc.; an output section 907 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 908 including a hard disk, etc.; and a communication section 909 including a network interface card such as a LAN card, modem, etc. The communication section 909 performs communication processing via a network such as the Internet. A drive 910 is also connected to the input / output (I / O) interface 905 as needed. A removable medium 911, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on the drive 910 as needed so that computer programs read from it can be installed into the storage section 908 as needed.

[0106] This disclosure also provides a computer-readable storage medium, which may be included in the device / apparatus / system described in the above embodiments; or it may exist independently and not assembled into the device / apparatus / system. The computer-readable storage medium carries one or more programs that, when executed, implement the method according to the embodiments of this disclosure.

[0107] According to embodiments of this disclosure, the computer-readable storage medium may be a non-volatile computer-readable storage medium, such as including, but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this disclosure, the computer-readable storage medium may be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device. For example, according to embodiments of this disclosure, the computer-readable storage medium may include ROM 902 and / or RAM 903 and / or one or more memories other than ROM 902 and RAM 903 described above.

[0108] Embodiments of this disclosure also include a computer program product comprising a computer program containing program code for performing the methods shown in the flowchart. When the computer program product is run on a computer system, the program code is used to cause the computer system to implement the object imaging method provided in the embodiments of this disclosure.

[0109] When the computer program is executed by the processor 901, it performs the functions defined in the system / apparatus of this disclosure embodiments. According to embodiments of this disclosure, the systems, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0110] In one embodiment, the computer program may rely on a tangible storage medium such as an optical storage device or a magnetic storage device. In another embodiment, the computer program may also be transmitted and distributed in the form of signals over a network medium, and downloaded and installed via the communication section 909, and / or installed from a removable medium 911. The program code contained in the computer program can be transmitted using any suitable network medium, including but not limited to: wireless, wired, etc., or any suitable combination thereof.

[0111] In such an embodiment, the computer program can be downloaded and installed from a network via the communication section 909, and / or installed from the removable medium 911. When the computer program is executed by the processor 901, it performs the functions defined in the system of this disclosure embodiment. According to embodiments of this disclosure, the systems, devices, apparatuses, modules, units, etc., described above can be implemented by computer program modules.

[0112] According to embodiments of this disclosure, program code for executing the computer programs provided in embodiments of this disclosure can be written in any combination of one or more programming languages. Specifically, these computational programs can be implemented using high-level procedural and / or object-oriented programming languages, and / or assembly / machine languages. Programming languages ​​include, but are not limited to, languages ​​such as Java, C++, Python, "C", or similar programming languages. The program code can execute entirely on a user's computing device, partially on a user's device, partially on a remote computing device, or entirely on a remote computing device or server. In cases involving remote computing devices, the remote computing device can be connected to the user's computing device via any type of network, including a local area network (LAN) or a wide area network (WAN), or it can be connected to an external computing device (e.g., via the Internet using an Internet service provider).

[0113] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0114] Those skilled in the art will understand that the features described in the various embodiments of this disclosure can be combined and / or combined in various ways, even if such combinations or combinations are not explicitly described in this disclosure. In particular, the features described in the various embodiments of this disclosure can be combined and / or combined in various ways without departing from the spirit and teachings of this disclosure. All such combinations and / or combinations fall within the scope of this disclosure.

[0115] The embodiments of this disclosure have been described above. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of this disclosure. Although various embodiments have been described above, this does not mean that the measures in the various embodiments cannot be used advantageously in combination. Various substitutions and modifications can be made by those skilled in the art without departing from the scope of this disclosure, and all such substitutions and modifications should fall within the scope of this disclosure.

Claims

1. A method for object imaging using penetrating radar surround detection based on spherical elements, comprising: Obtain a target model, wherein the target model is a triangular surface element model constructed based on a first echo signal, the first echo signal being obtained by circumferential detection of the target object using penetrating radar; Based on the vertices of the triangular facets in the target model, determine the centroid of the triangular facets; The triangular facet is projected onto the surface of a curvature sphere corresponding to the triangular facet to obtain a curved facet corresponding to the triangular facet. The center of the curvature sphere is determined based on the geometric center of the target model, and the radius of the curvature sphere is determined based on the distance between the centroid of the triangular facet and the geometric center. Determine the distance information between the curved surface element and the penetrating radar; The radar parameters of the penetrating radar and the range information are processed using a predetermined echo signal function to obtain a second echo signal; The target object is imaged based on the second echo signal to obtain the imaging result.

2. The method according to claim 1, wherein, The imaging of the target object based on the second echo signal to obtain the imaging result includes: The second echo signal and the corresponding transmitted signal are convolved to obtain the mixed signal; Perform an inverse Fourier transform on the mixed signal to obtain a time-domain signal; Based on a predetermined compensation function, multiple time-domain signals corresponding to the same surface element are processed to obtain an imaging result. The predetermined compensation function is determined based on the conjugate of the transmitted signal corresponding to the second echo signal. The multiple time-domain signals correspond to different angles at which the radar detects the target object.

3. The method according to claim 2, wherein, The process of processing multiple time-domain signals corresponding to the same surface element based on a predetermined compensation function to obtain imaging results includes: Based on a predetermined compensation function, multiple time-domain signals corresponding to the same surface element are processed to obtain multiple compensation signals corresponding to the same surface element. The imaging result is obtained based on multiple compensation signals corresponding to the same surface element.

4. The method according to claim 3, wherein, The curved surface element includes multiple pixel units, and the multiple compensation signals corresponding to the same curved surface element include multiple compensation signals corresponding to each pixel unit; The imaging result is obtained based on multiple compensation signals corresponding to the same surface element, including: For each pixel unit, the peak values ​​of the signal amplitudes of the multiple compensation signals corresponding to each pixel unit are accumulated to obtain the imaging result.

5. The method according to any one of claims 1 to 4, wherein, Determining the distance information between the curved surface element and the penetrating radar includes: Based on the centroid coordinates of the surface element and the radar coordinates of the penetrating radar, the initial distance between the surface element and the penetrating radar is calculated. Based on the area of ​​the surface element and the maximum signal wavelength of the penetrating radar, the initial distance is processed using a predetermined integration function to obtain the distance information.

6. The method according to claim 5, wherein, The predetermined integral function is as follows: Wherein, R represents the initial distance; S represents the maximum signal wavelength; S represents the area of ​​the surface element.

7. The method according to any one of claims 1 to 4, wherein, The radar parameters of the penetrating radar include the number of pulses of the penetrating radar, the azimuth slow time of the penetrating radar, the amplitude of the echo signal of the penetrating radar after mixing with the transmitted signal, the maximum wavelength of the signal of the penetrating radar, and the step wavelength of the penetrating radar. The predetermined echo signal function is as follows: Where k represents the number of pulses of the penetrating radar; This indicates the azimuth slow time of the penetrating radar; This represents the amplitude of the echo signal of the k-th pulse of the penetrating radar after mixing with the transmitted signal. N is a positive integer greater than 1; Indicates when the direction slows down the time. At that time, the distance information between the penetrating radar and the i-th detection area of ​​the target object, wherein the i-th detection area corresponds to the i-th curved surface element; This indicates the maximum wavelength of the signal that penetrates the radar; This indicates the step wavelength of the penetrating radar.

8. An object imaging device based on spherical elements for penetrating radar surround detection, comprising: The acquisition module is used to acquire the target model, wherein the target model is a triangular surface model constructed based on the first echo signal, and the first echo signal is obtained by circumferential detection of the target object by penetrating radar; The first determining module is used to determine the centroid of the triangular facet based on the vertices of the triangular facet in the target model. A projection module is used to project the triangular facet onto the surface of a curvature sphere corresponding to the triangular facet, thereby obtaining a curved facet corresponding to the triangular facet. The center of the curvature sphere is determined based on the geometric center of the target model, and the radius of the curvature sphere is determined based on the distance between the centroid of the triangular facet and the geometric center. The second determining module is used to determine the distance information between the curved surface element and the penetrating radar; The processing module is used to process the radar parameters of the penetrating radar and the range information using a predetermined echo signal function to obtain a second echo signal; An imaging module is used to image the target object based on the second echo signal to obtain an imaging result.

9. An electronic device, comprising: One or more processors; Memory, used to store one or more programs. Wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the method of any one of claims 1 to 7.

10. A computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, cause the processor to perform the method of any one of claims 1 to 7.

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