An emergency registration algorithm for synthetic aperture radar

Abstract

The invention discloses a synthetic aperture radar emergency registration algorithm, and relates to the technical field of synthetic aperture radar data registration. According to the coordinates of parameters G1 and G2 of the synthetic aperture radar track, the synthetic aperture radar track center coordinate point G is calculated, and then the coordinate offset coefficient is calculated. According to the emergency three-dimensional plane terrain, one of the coordinate points is obtained, and registration and calibration are performed. The angle (N) and distance (M) of the current point are calculated. Through the synthetic aperture radar emergency registration algorithm, the data scanned by the synthetic aperture radar are matched to the emergency three-dimensional plane terrain, and the xyz and the angle (N) and distance (M) of the current point are registered. After the registration is completed, other algorithms are used to predict whether a landslide will occur in the area. If a landslide occurs, the time of the landslide can be used for emergency rescue after the predicted time, so that the rescue time is effectively advanced and the rescue is better performed.

Description

Technical Field

[0001] The invention relates to the technical field of synthetic aperture radar data registration, in particular to a synthetic aperture radar emergency registration algorithm. Background Art

[0002] Synthetic aperture radar is mainly used to detect the status of slopes. After the synthetic aperture radar scans the data, it is manually integrated and aligned to a three-dimensional model. A certain position in the three-dimensional model is composed of xyz coordinates, but the radar has no way to scan this coordinate. It can only scan the data based on the angle and distance of the current point. When a landslide or land collapse occurs and the shape of the slope changes, the data scanned by the synthetic aperture radar will be aligned to the three-dimensional model, which will not correspond. Therefore, we have introduced an emergency alignment algorithm to match xyz with the angle and distance of the current point. Summary of the invention

[0003] In view of the shortcomings and defects in the prior art, the present invention provides a synthetic aperture radar emergency registration algorithm, which converts xyz into the angle and distance values ​​of the current point that can be scanned by the radar through a mathematical algorithm.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions: a synthetic aperture radar emergency registration algorithm, through which the synthetic aperture radar scanned data is matched to the emergency three-dimensional plane terrain, the steps of the synthetic aperture radar emergency registration algorithm are:

[0005] Step 1, according to the coordinates of the parameters G1 and G2 of the synthetic aperture radar orbit, calculate the coordinate point G of the center of the synthetic aperture radar orbit: G(x, y, z) = (G1(x, y, z) + G2(x, y, z)) / 2;

[0006] Step 2, calculate the coordinate offset coefficient alpha: alpha = atan (Gy / Gx) * 180 / π;

[0007] Step 3: According to the emergency 3D plane terrain, obtain one of the coordinate points, perform registration and calibration, and calculate the angle (N) and distance (M) of the current point:

[0008] N=(atan((Gy-Py) / (Gx-Px))*180 / π+90)*(-1)+alpha

[0009] M=√((Gx-Px)^2+(Gy-Py)^2+(Gz-Pz)^2)

[0010] in:

[0011] G represents the radar track coordinates, which are composed of x, y, and z. x, y, and z represent 54 coordinate points.

[0012] P represents the terrain single coordinate, which is composed of x, y, and z. x, y, and z represent 54 coordinate points.

[0013] Gx, Px represent the coordinate x value,

[0014] Gy, Py represent the coordinate y value,

[0015] Gz, Pz represent the coordinate z value.

[0016] As a further improvement of the present invention, if N is less than 0, then N=N+180.

[0017] Compared with the prior art, the present invention has the following beneficial effects: a synthetic aperture radar emergency registration algorithm of the present invention effectively converts coordinate data that cannot be scanned by the radar into data that can be scanned, and applies these data to the slope radar emergency system, so that the system can effectively predict whether a landslide will occur in the area based on these data. If a landslide occurs, the time of the landslide is predicted, and emergency rescue can be carried out after the predicted time, thereby buying time for emergency rescue. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0019] Figure 1 A schematic diagram of a three-dimensional model of a slope.

[0020] It is worth noting that in the description of the present invention, the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operate in a specific position, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. DETAILED DESCRIPTION

[0022] In order to make the technical scheme and beneficial effects of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific implementation methods described herein are only used to understand the present invention and are not used to limit the present invention. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0023] like Figure 1 As shown in the figure, the white part is a 3D model of a slope. A synthetic aperture radar is installed opposite the physical slope to collect data. The radar will run from point G1 to point G2 to collect data. The radar has two parameters, one is the angle (A) and the other is the distance (D). If A is -36 and D is 1000, it means that the radar turns 36 degrees to the left and collects data at a distance of 1000 meters. The general setting is to collect data once every 20 minutes, and more than 100,000 points at a time.

[0024] The terrain is a three-dimensional model. This three-dimensional model uses real 54-degree geodetic coordinates and has three key parameters: x, y, and z. Through the synthetic aperture radar emergency registration algorithm, the synthetic aperture radar scanned data is matched to the emergency three-dimensional plane terrain. The steps of the synthetic aperture radar emergency registration algorithm are as follows:

[0025] Step 1, according to the coordinates of the parameters G1 and G2 of the synthetic aperture radar orbit, calculate the coordinate point G of the center of the synthetic aperture radar orbit: G(x, y, z) = (G1(x, y, z) + G2(x, y, z)) / 2;

[0026] Step 2, calculate the coordinate offset coefficient alpha: alpha = atan (Gy / Gx) * 180 / π;

[0027] Step 3: According to the emergency 3D plane terrain, obtain one of the coordinate points, perform registration and calibration, and calculate the angle (N) and distance (M) of the current point:

[0028] N=(atan((Gy-Py) / (Gx-Px))*180 / π+90)*(-1)+alpha

[0029] M=√((Gx-Px)^2+(Gy-Py)^2+(Gz-Pz)^2)

[0030] If N is not in the range and M is not in the range, both N and M will be converted to 1, that is, N = 1, M = 1, which means that no match is successful;

[0031] in:

[0032] G represents the radar track coordinates, which are composed of x, y, and z. x, y, and z represent 54 coordinate points.

[0033] P represents the terrain single coordinate, which is composed of x, y, and z. x, y, and z represent 54 coordinate points.

[0034] Gx, Px represent the coordinate x value,

[0035] Gy, Py represent the coordinate y value,

[0036] Gz, Pz represent the coordinate z value.

[0037] The range of x is Dmin*Sin(Amin)*I to Dmax*Sin(Amax)*I;

[0038] The range of y is Dmin*Cos(Amin)*J to Dmax*Cos(Amin)*J; z is 0,

[0039] I and J are manually uploaded. I represents the length of the generated terrain, and J represents the width of the generated terrain.

[0040] A represents the angle term, which consists of multiple values. Amin represents the minimum angle term, and Amax represents the maximum angle term.

[0041] D represents the distance term, which consists of multiple values. Dmin represents the minimum distance term, and Dmax represents the maximum distance term.

[0042] Both A and D are obtained from the radar. A represents the number of radar rotation angle divisions. For example, if the radar is from -30 to 30, with each rotation of 0.1, A=(30-(-30) / 0.1)=600 in the radar record data. D represents the radar scanning distance. For example, if the radar is from 800 to 1600, it means that the closest distance of the radar scan is 800m and the farthest distance is 1600m.

[0043] Example 1

[0044] enter:

[0045] A=240

[0046] D=800~1600

[0047] G1=414522.56,4629959.476,176.1805

[0048] G2=414524.35,4629957.923,176.1794

[0049] P=413733.599,4629072.998,225.833

[0050] Add each data into the formula for calculation:

[0051] Gx=(414522.56+414524.35) / 2=414523.45499999996

[0052] Gy=(4629959.476+4629957.923) / 2=4629958.6995

[0053] Gz=(176.1805+176.1794) / 2=176.17995

[0054] alpha=atan(4629958.6995 / 414523.45499999996)*180 / π=84.8839092737533

[0055] N=(atan((4629958.6995-4629072.998) / (414523.45499999996-413733.599))*180 / π+90)*( -1)+84.8839092737533=-53.389965103043025=-53

[0056] N<0, N=-53+180=127

[0057] M=√((414523.45499999996-413733.599)^2+(4629958.6995-4629072.998)^2+(176.17995-225.833)^2)=1187.7731573045721=1184

[0058] The result is: N = 127, M = 1187;

[0059] Example 2

[0060] enter:

[0061] A=240

[0062] D=800~1600

[0063] G1=414522.56,4629959.476,176.1805

[0064] G2=414524.35,4629957.923,176.1794

[0065] P=413736.600,4629073.998,225.720

[0066] Add each data into the formula for calculation:

[0067] Gx=(414522.56+414524.35) / 2=414523.45499999996

[0068] Gy=(4629959.476+4629957.923) / 2=4629958.6995

[0069] Gz=(176.1805+176.1794) / 2=176.17995

[0070] alpha=atan(4629958.6995 / 414523.45499999996)*180 / π=84.8839092737533

[0071] N=(atan((4629958.6995-4629073.998) / (414523.45499999996-413736.6))*180 / π+90)*(-1 )+84.8839092737533=-53.46614287859829=-53

[0072] N<0, N=-53+180=127

[0073] M=√((414523.45499999996-413736.6)^2+(4629958.6995-4629073.998)^2+(176.17995-225.72)^2)=1185.0281649319513=1185

[0074] The result is: N = 127, M = 1185;

[0075] Example 3

[0076] enter:

[0077] A=240

[0078] D=800~1600

[0079] G1=414522.56,4629959.476,176.1805

[0080] G2=414524.35,4629957.923,176.1794

[0081] P=414115.631,4629669.053,-20.442

[0082] Add each data into the formula for calculation:

[0083] Gx=(414522.56+414524.35) / 2=414523.45499999996

[0084] Gy=(4629959.476+4629957.923) / 2=4629958.6995

[0085] Gz=(176.1805+176.1794) / 2=176.17995

[0086] alpha=atan(4629958.6995 / 414523.45499999996)*180 / π=84.8839092737533

[0087] N=(atan((4629958.6995-4629669.053) / (414523.45499999996-414115.631))*180 / π+90)*( -1)+84.8839092737533=-40.499384546407384=-40

[0088] N<0, N=-40+180=140

[0089] M=√((414523.45499999996-414115.631)^2+(4629958.6995-4629669.053)^2+(176.17995--20.442)^2)=537.4715817230775=537

[0090] Because D = 800 ~ 1600, M < 800, so N = 1, M = 1

[0091] Output:

[0092] N=1, M=1;

[0093] Example 4

[0094] enter:

[0095] A=240

[0096] D=400~1600

[0097] G1=414522.56,4629959.476,176.1805

[0098] G2=414524.35,4629957.923,176.1794

[0099] P=413705.597,4629426.030,78.191

[0100] Add each data into the formula for calculation:

[0101] Gx=(414522.56+414524.35) / 2=414523.45499999996

[0102] Gy=(4629959.476+4629957.923) / 2=4629958.6995

[0103] Gz=(176.1805+176.1794) / 2=176.17995

[0104] alpha=atan(4629958.6995 / 414523.45499999996)*180 / π=84.8839092737533

[0105] N=(atan((4629958.6995-4629426.03) / (414523.45499999996-413705.597))*180 / π+90)*(- 1)+84.8839092737533=-38.19221925488894=-38

[0106] N<0,N=-38+180=142

[0107] M=√((414523.45499999996-413705.597)^2+(4629958.6995-4629426.03)^2+(176.17995-78.191)^2)=980.9334017740974=980

[0108] The results are: N = 142, M = 980;

[0109] Example 5

[0110] enter:

[0111] A=180

[0112] D=600~1200

[0113] G1=467269.004,2906380.308,1233.054

[0114] G2=467267.643,2906380.786,1233.078

[0115] P=466941.643,2905729.308,1233.066

[0116] Add each data into the formula for calculation:

[0117] Gx=(467269.004+467267.643) / 2=467268.3235

[0118] Gy=(2906380.308+2906380.786) / 2=2906380.5470000003

[0119] Gz=(1233.054+1233.078) / 2=1233.066

[0120] alpha=atan(2906380.5470000003 / 467268.3235)*180 / π=80.86652872342042

[0121] N=(atan((2906380.5470000003-2905729.308) / (467268.3235-466941.643))*180 / π+90)*(- 1)+80.86652872342042=-72.49379164845199=-72

[0122] N<0, N=-72+180=108

[0123] M=√((467268.3235-466941.643)^2+(2906380.5470000003-2905729.308)^2+(1233.066-1233.066)^2)=728.5824484581951=728

[0124] The results are: N=108, M=728.

[0125] The results obtained in the above five embodiments are all data that can be scanned by the synthetic aperture radar after matching. The following content is understood by technicians in this field and will not be repeated here. A registration file is generated according to the three-dimensional terrain coordinates, and the file format is N, M, x, y, z. When displaying data, we match the diffimage file generated by the radar based on this file, calculate the color corresponding to each point based on N and M, and then display it on the slope radar emergency system. Other algorithms (such as Saito algorithm, golden section algorithm, tangent angle algorithm) are used on the system to predict whether a landslide will occur in the area. If a landslide occurs, the time of the landslide is predicted, and emergency rescue can be carried out after the predicted time.

Claims

1. A synthetic aperture radar emergency registration algorithm, characterized in that: Through the synthetic aperture radar emergency registration algorithm, the synthetic aperture radar scanned data is matched to the emergency three-dimensional plane terrain. The steps of the synthetic aperture radar emergency registration algorithm are as follows: Step 1, according to the coordinates of the synthetic aperture radar orbit parameters G1 and G2, calculate the synthetic aperture radar orbit center coordinate point G: G(x, y, z) = (G1(x, y, z) + G2(x, y, z)) / 2; Step 2, calculate the coordinate offset coefficient alpha: alpha = atan(Gy / Gx)*180 / π; Step 3: According to the emergency 3D plane terrain, obtain one of the coordinate points, perform registration and calibration, and calculate the angle (N) and distance (M) of the current point: N=(atan((Gy-Py) / (Gx-Px))*180 / π+90)*(-1)+ alpha M=√((Gx-Px)^2+(Gy-Py)^2+(Gz-Pz)^2) in: G represents the radar track coordinates, which are composed of x, y, and z. x, y, and z represent 54 coordinate points. P represents the terrain single coordinate, which is composed of x, y, and z. x, y, and z represent 54 coordinate points. Gx, Px represent the coordinate x value, Gy, Py represent the coordinate y value, Gz, Pz represent the coordinate z value; If N is less than 0, then N=N+180; By converting the coordinate data that cannot be scanned by radar into data that can be scanned, and applying the data to the slope radar emergency system, the system can effectively predict whether a landslide will occur in the area based on this data. If a landslide occurs, the time of the landslide can be predicted, and emergency rescue can be carried out after the predicted time, thus buying time for emergency rescue.

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