A fast three-dimensional imaging method and device based on scanning and rotating synchronous motion

Abstract

The present invention discloses a fast three-dimensional imaging method and device based on scanning and rotating synchronous motion. The method comprises the following steps: emitting a sweeping frequency signal with a linearly varying frequency and receiving an echo signal reflected by an object to be measured; wherein, while the sweeping frequency signal is emitted, the object to be measured is rotated; the sweeping frequency signal vertically scans the object to be measured, and within a preset azimuth angle range, the sweeping frequency signal repeatedly scans at least one back and forth in the vertical direction; sampling echo signals at different rotational azimuth angles and different vertical positions of the object to be measured to obtain echo data of sampling points at all azimuth angles; constructing a three-dimensional image using a three-dimensional reconstruction algorithm based on the echo data; the system comprises a pair of transmitting and receiving antennas, a vertical guide rail, a turntable and a data processing terminal; the present invention adopts a scattering measurement model with vertical scanning and azimuth rotation synchronous motion for three-dimensional imaging, which effectively shortens the measurement time, and the dynamic range of the measurement method can reach 3-12.5dB.

Description

Technical Field

[0001] The present invention relates to the field of three-dimensional imaging technology, and more particularly to a fast three-dimensional imaging method and device based on scanning and rotating synchronous motion. Background Art

[0002] Since its disclosure in the 1970s, stealth technology has received high attention from various countries. Weapons with high stealth performance can effectively hide themselves in war and become one of the powerful weapons for detecting and striking the enemy first in modern warfare. The maintenance and repair of stealth performance is a key factor affecting its actual combat effectiveness.

[0003] While aircraft may be in excellent condition upon leaving the factory, these changes can occur over time, even after a single takeoff or landing, leading to a deterioration in the aircraft's overall stealth performance. Therefore, regular maintenance is necessary to ensure that the aircraft's stealth characteristics meet stealth specifications. For aircraft currently in service, heavy training and combat missions preclude prolonged measurement, and stealth performance evaluation often requires limited field conditions. Therefore, there is an urgent need to rapidly test the stealth performance of in-service aircraft.

[0004] Currently, testing the overall stealth performance of real stealth aircraft primarily relies on dynamic flight, which results in long testing cycles and high testing costs, making it inadequate for routine aircraft maintenance and testing. To address this, countries are rapidly investing significant human and material resources in researching near-field RCS testing technologies, methods, and systems for full-scale aircraft. Planar scanning, cylindrical scanning, and cylindrical field methods are primarily used for near-field RCS testing. The cylindrical field method is difficult to establish, as cylindrical near-field scanning is essentially a one-dimensional linear scan, which is many times faster than planar scanning. Therefore, these two methods are unsuitable for routine maintenance testing of in-service fighter jets. The F-35 stealth capability near-field test laboratory uses the cylindrical scanning method, requiring approximately one working day to test a single F-35 aircraft. This method takes too long to meet the testing requirements of in-service fighter jets.

[0005] During outdoor testing, aircraft are mounted on either large foam supports or landing gear. Both of these support methods inherently scatter more than the aircraft itself. If this scattering cannot be effectively eliminated, the stealth performance evaluation of the aircraft cannot be completed with simple supports. Eliminating support scattering from 2D imaging also eliminates some of the aircraft's own scattering, affecting the accuracy of the aircraft's scattering characteristics. 3D imaging can obtain the three-dimensional spatial distribution of scattering sources, effectively isolating the scattering from the support below the aircraft while retaining the aircraft's own scattering. Therefore, the use of 3D imaging scattering measurement methods is essential for evaluating the stealth characteristics of the entire aircraft.

[0006] Therefore, how to provide a fast three-dimensional imaging method and device based on scanning and rotating synchronous motion is a problem that needs to be solved urgently by those skilled in the art. Summary of the Invention

[0007] In view of this, the present invention provides a fast three-dimensional imaging method and device based on scanning and rotation synchronous motion. A scattering measurement model with vertical scanning and azimuth rotation synchronous motion is used for three-dimensional imaging, effectively shortening the measurement time. A three-dimensional reconstruction algorithm is then used to simulate and calculate a simple scattering point target to verify the feasibility of imaging using this measurement model.

[0008] In order to achieve the above object, the present invention adopts the following technical solutions:

[0009] A fast three-dimensional imaging method based on scanning and rotating synchronous motion, comprising the following steps:

[0010] Send out a sweep signal with linear frequency change and receive the echo signal reflected by the object to be measured;

[0011] Wherein, while the frequency sweep signal is emitted, the object to be measured is rotated; the frequency sweep signal vertically scans the object to be measured, and within a preset azimuth angle range, the frequency sweep signal repeatedly scans at least one back and forth in the vertical direction;

[0012] Sampling the echo signals of the object under test at different rotation azimuth angles and different vertical positions to obtain echo data of sampling points at all azimuth angles;

[0013] A three-dimensional image is constructed based on the echo data using a three-dimensional reconstruction algorithm.

[0014] Furthermore, the frequency linear change mode of the swept frequency signal is linear step or linear frequency modulation; the frequency range of the swept frequency signal is 300MHz~110GHz, and within the frequency range, a linear change range is set, and the swept frequency signal starts to increase from the lowest frequency of the linear change range until it increases to the highest frequency point.

[0015] Furthermore, when the frequency linear variation mode of the frequency sweep signal is linear stepping, the linear variation mode includes: setting a step frequency range and a step interval, starting from the lowest frequency, and increasing at equal intervals until reaching the highest frequency point.

[0016] Furthermore, when the frequency linear variation mode of the frequency sweep signal is linear frequency modulation, the linear variation mode includes: setting the frequency sweep bandwidth and the sweep time, and continuously increasing from the lowest frequency until it reaches the highest frequency point.

[0017] Furthermore, the vertical movement range of the emission point of the sweep signal is between 0.4m and 16m. The guide rail of corresponding length is selected according to measurement requirements. For example, in the X band, when the target is 2m away from the guide rail, the guide rail length is 0.6m and the vertical scanning interval is 0.02m.

[0018] Furthermore, the rotation angle range of the rotation azimuth angle is between 2° and 190°, and the corresponding rotation angle range is selected according to measurement requirements. For example, the azimuth aperture angle is 15°, and the rotation angle interval is 0.2° or 0.035°.

[0019] Furthermore, the method further includes verifying the three-dimensional image;

[0020] Confirm the simulation parameters and input them into the pre-built simulation detection model to obtain a simulated three-dimensional image;

[0021] Calculating the electric field value of the echo signal according to the simulation parameters and generating a standard image according to the electric field value of the echo signal;

[0022] The standard image is compared with the simulated three-dimensional image, and the quality of the three-dimensional image is verified based on the image dynamic range.

[0023] Furthermore, the simulation step of the simulation detection model includes: the object to be tested is stationary, and while the sweep signal is scanning, the emission point of the sweep signal is controlled to move in a circular motion with the object to be tested as the center.

[0024] Furthermore, the calculation of the electric field value of the echo signal includes calculating the spatial distance from the point where the sweep signal is emitted to a preset scattering point in the simulation detection model; and obtaining the electric field value of the echo signal corresponding to each scattering point based on the simulation parameters and the spatial distance.

[0025] A fast three-dimensional imaging device based on scanning selection synchronization includes a transmitting and receiving antenna pair, a vertical guide rail, a turntable and a data processing terminal;

[0026] The transmitting and receiving antenna pair is used to send a frequency sweep signal with a linear frequency change and receive an echo signal reflected by the object to be measured;

[0027] The vertical guide rail is used to provide a vertical motion track for the transceiver antenna;

[0028] The turntable is used to fix the object to be tested;

[0029] The data processing terminal is used to control the sweep frequency signal to vertically scan the object under test, obtain echo signals at different vertical positions of the object under test, and control the transceiver antenna pair to repeatedly scan at least one back and forth on the vertical guide rail within a preset azimuth angle range;

[0030] used to control the rotation of the turntable while emitting the sweep frequency signal, so as to obtain echo signals of the object under test at different rotation azimuth angles;

[0031] Used to sample the echo signals of the object under test at different rotation azimuth angles and different vertical positions to obtain echo data of sampling points at all azimuth angles;

[0032] A three-dimensional image is constructed based on the echo data using a three-dimensional reconstruction algorithm.

[0033] Beneficial effects of the present invention:

[0034] The above technical solution demonstrates that, compared to existing technologies, the disclosed invention provides a rapid 3D imaging method based on synchronized scanning and rotation. This method employs a scatterometry model that combines vertical scanning with synchronized azimuth rotation. Compared to full-space cylindrical scanning, this model significantly reduces measurement time. Using a scattering point target as an example, simulations have demonstrated the feasibility of this measurement model for 3D imaging. Depending on the scanning speed, the dynamic range of the imaging can reach 3dB to 12.5dB. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0036] Figure 1 The accompanying drawing is a schematic diagram of a fast three-dimensional imaging method based on scanning and rotating synchronous motion provided by the present invention;

[0037] Figure 2 The accompanying drawings are sampling matrices of motion trajectories using two different sampling intervals according to the present invention;

[0038] Figure 3 The attached figure shows the sampling matrix under the full cylinder scanning mode;

[0039] Figure 4 The attached figure shows the position distribution of multiple scattering points;

[0040] Figure 5 The accompanying figure is a schematic diagram of the three-dimensional imaging results obtained by a cylindrical scanning method with an angle interval of 0.2°;

[0041] Figure 6 The attached figure shows the 3D imaging result obtained by scanning and rotating synchronous motion with an angle interval of 0.035°;

[0042] Figure 7 The attached figure shows the three-dimensional imaging result obtained by the scanning rotation synchronous motion mode with an angular interval of 0.2°. DETAILED DESCRIPTION

[0043] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0044] The embodiment of the present invention discloses a fast three-dimensional imaging method based on scanning and rotating synchronous motion, the steps comprising:

[0045] A fast three-dimensional imaging method based on scanning and rotating synchronous motion, comprising the following steps:

[0046] Send out a sweep signal with linear frequency change and receive the echo signal reflected by the object to be measured;

[0047] The object to be measured is rotated while the sweep signal is emitted; the sweep signal vertically scans the object to be measured, and within a preset azimuth angle range, the sweep signal repeatedly scans at least one back and forth in the vertical direction;

[0048] Sampling the echo signals of the object under test at different rotation azimuths and different vertical positions to obtain the echo data of the sampling points at all azimuths;

[0049] A three-dimensional image is constructed based on the echo data using a three-dimensional reconstruction algorithm.

[0050] In this embodiment, an external RF transceiver system generates and configures a swept frequency signal with a linearly varying frequency. The swept frequency signal is transmitted as an electromagnetic wave via an RF cable to a transmitting antenna. The signal then propagates in free space and, upon encountering the object under test, generates a scattered echo signal at a scattering point. The scattered echo signal returns to the receiving antenna, where it is collected and recorded by the RF transceiver system, completing one round of echo data acquisition. The transmitting and receiving antennas are a pair of transceiver antennas fixed at the same height. The sampling rate and sampling interval of the swept frequency signal are adjusted by adjusting the movement speed of the transceiver antenna pair and the horizontal rotation angular velocity of the turntable. Both the transmitting and receiving antennas are mounted on a fixed vertical rail. Therefore, the swept frequency signal emitted by the transmitting antenna can vertically scan the object under test. By adjusting the length of the vertical rail and the scanning interval of the transceiver antenna pair, multi-position scanning can be achieved. Furthermore, the object under test is placed on a turntable, and the rotation angle range and angular interval of the turntable are adjusted to achieve multi-angle scanning of the object under test. The rotation of the turntable and the setting of the path for the transceiver antenna pair's repeated movement up and down the vertical rail can be controlled by a computer.

[0051] The vertical movement of the frequency sweep signal is at least one round trip within the range of the imaging azimuth aperture angle. The object to be measured is placed on a turntable and rotated horizontally. At the same time, the antenna performs a height scanning movement along the vertical guide rail. The "radar" transmits electromagnetic waves and receives the scattered echoes of the target. Within the range of the imaging azimuth aperture angle, the antenna is required to scan up and down once or more to obtain more sampling data. The relative movement of the antenna and the target to be measured constitutes a synthetic motion trajectory curve, wherein the sampling matrix diagram of the synthetic motion trajectory is as follows Figure 2 , Figure 2 The figure shows the sampling matrix of the motion trajectory at two different sampling intervals. A row of sampled echo points in the matrix represents different rotation angles θ at the same vertical position z, and a column of sampled echo points represents different vertical positions at the same rotation angle θ. The black dots represent the sampling data locations. This near-field sampling data can be used for 3D imaging. The angle between the transmitting and receiving antennas is very small, less than 5°, and can be regarded as a single-station transmission and reception.

[0052] Figure 3 It represents the sampling matrix under full cylinder scanning mode, compared with Figure 2 and Figure 3 It can be seen that within the range of imaging azimuth aperture angle, the sampling intervals of the cylindrical scanning method and the scanning rotation synchronous motion method are different, that is, the angular interval and the vertical scanning interval are different. By comparing the amount of data in the sampling matrix under the two scanning methods, it can be clearly seen that Figure 2 The sampling matrix realizes downsampling scanning, which can improve the efficiency of target scattering testing.

[0053] In another embodiment, the frequency linear change mode of the sweep frequency signal is linear stepping or linear frequency modulation; the frequency range of the sweep frequency signal is 300MHz to 110GHz, and within the frequency range, a linear change range is set, and the sweep frequency signal starts to increase from the lowest frequency in the linear change range until it increases to the highest frequency point.

[0054] In this embodiment, multiple linear variation ranges can be set, and the frequency of the frequency sweep signal increases from the lowest frequency, sequentially passing through each linear variation range until it reaches the highest frequency point.

[0055] In another embodiment, when the frequency linear change mode of the sweep frequency signal is linear step, the linear change mode includes: setting the step frequency range and step interval, starting from the lowest frequency, increasing at equal intervals until it reaches the highest frequency point, for example, the starting frequency is 8 GHz, the ending frequency is 10 GHz, and the number of sweep frequency points is 201 frequency points.

[0056] In another embodiment, when the frequency linear variation mode of the frequency sweep signal is linear frequency modulation, the linear variation mode includes: setting the frequency sweep bandwidth and the sweep time, and continuously increasing from the lowest frequency until reaching the highest frequency point.

[0057] In another embodiment, the vertical movement range of the emission point of the sweep signal is between 0.4m and 16m, and the guide rail of corresponding length is selected according to the linear change range of the sweep signal and the size of the object to be measured; for example, in the X band, when the target is 2m away from the guide rail, the guide rail length is 0.6m and the vertical scanning interval is 0.02m.

[0058] In another embodiment, the rotation angle range of the rotation azimuth angle is between 2° and 190°, and the guide rail of corresponding length is selected according to the linear change range of the sweep signal and the size of the object to be measured. For example, the azimuth aperture angle is 15° and the rotation angle interval is 0.2° or 0.035°.

[0059] In another embodiment, the further step includes verifying the three-dimensional image;

[0060] Confirm the simulation parameters and input them into the pre-built simulation detection model to obtain a simulated 3D image. The simulation parameters are consistent with the parameters used for 3D imaging. The simulation parameters are shown in Table 1:

[0061] Table 1 Simulation parameters

[0062] Simulation parameters Value size and unit Linear change starting frequency 8GHz Linear change end frequency 10GHz Step frequency points / sweep frequency points 201 Vertical displacement range 0.6m Vertical scanning interval 0.02m Starting azimuth of the object to be measured 0° End azimuth of the object under test 15° Angle interval of the object to be measured 0.2°，0.035° The scattering intensity at each point 1

[0063] Calculating the electric field value of the echo signal according to the simulation parameters and generating a standard image according to the electric field value of the echo signal;

[0064] Comparing the standard image with the simulated 3D image verifies the image quality based on its dynamic range. 3D image quality is related to the coordination between the antenna scanning speed and the turntable rotation speed—that is, the resulting motion trajectory between the antenna and the target. Within the imaging azimuth aperture range, the transmitting and receiving antennas are required to perform at least one reciprocating vertical scan. Within the turntable azimuth range, the antennas can complete two passes of the one-dimensional scanning gantry to form a 3D image. A greater number of passes results in better imaging.

[0065] In another embodiment, in a simulation detection model, the object under test is stationary, and while the sweep signal is scanning, the emission point of the sweep signal performs a circular motion centered on the object under test. The specific execution steps include: fixing the turntable and the object under test on the turntable, and controlling the vertical guide rail to perform a circular motion centered on the object under test by a computer. The relative position of the transmitting and receiving antenna pair and the object under test in the simulation model does not change. The spatial distance d can be easily obtained through the simulation model. The expression of the spatial distance d is:

[0066]

[0067] Where (x, y, z) is the scanning point position of the swept frequency signal on the object under test, that is, the scattering point position; R is the horizontal distance between the current position of the transceiver antenna and the turntable; θ is the angle of rotation of the transceiver antenna pair around the turntable, which corresponds to the rotation angle of the turntable in the actual model; therefore, the coordinates of the transceiver antenna pair are expressed as (Rcosθ, Rsinθ, z′).

[0068] In this embodiment, the spatial distance d between the sweep signal emission point and each scattering point in the object to be measured is calculated according to the simulation detection model, and the electric field value of the echo signal corresponding to the scattering point is calculated according to the spatial distance d;

[0069] The calculation formula of the electric field value of the echo signal is:

[0070] E s (θ,f,z)=∫∫∫s(x,y,z)e -j2kd dxdydz;

[0071] Among them, s(x,y,z) is the preset scattering point position matrix, E s (θ, f, z) is the electric field value of the echo signal; k represents the phase period;

[0072] The antenna performs a step-by-step scan along the linear guide rail z'. At each scanning point, the antenna transmits a step-frequency wave f. Assuming the target position is (x, y, z), the phase delay generated by the signal after reflection from the target is 2kd, where k = 2πf / c and c is the speed of light. The echo signals at different rotational azimuths and vertical positions of the object to be measured are sampled to obtain echo data at all sampling points. The collected echo data is processed to obtain a three-dimensional scattering map. The imaging formula is:

[0073] σ(x,y,z)=∫∫∫E s (θ,f,z′)e j2kd dθdfdz′;

[0074] Among them, E s (θ, f, z′) is the three-dimensional scattered echo data collected by the antenna, and σ(x, y, z) is the final three-dimensional image of the simulation model. In addition, substituting the electric field value of the echo signal into the above formula, the standard image of the cylindrical scanning method can be obtained.

[0075] Figure 4 Multiple target points are selected for simulation to verify the distribution information of multiple target points in the object to be tested in the present invention; Figure 5 The three-dimensional imaging result is obtained by cylindrical scanning with an angle interval of 0.2°; Figure 6 The three-dimensional imaging results are obtained by scanning and rotating synchronous motion with an angle interval of 0.035°; Figure 7 The three-dimensional imaging result is obtained by scanning and rotating synchronous motion with an angle interval of 0.2°; Figure 5 Imaging dynamic range 12.5dB, Figure 6 Imaging dynamic range 12dB, Figure 7 The imaging dynamic range is 3dB; Figure 6 and Figure 7 It can be seen that: by simulating the scattered echoes at different scanning speeds of the sweep signal, the position of the scattering point can be reproduced, and the scattering measurement model with the vertical scanning of the antenna and the rotation of the turntable can perform three-dimensional imaging. Figure 7 There are scattered clutters in the image, and the imaging quality is better than Figure 6 Poor, indicating that at the same rotation speed of the turntable, the faster the antenna scans in the vertical direction, the more sampling points on the motion trajectory, and the better the imaging quality.

[0076] In another embodiment, when the sweep range is set to 8-10 Hz, the number of sweep points is set to 201, and the sweep time is set to 80 ms, the results of different sweep modes are compared in Table 2.

[0077] Table 2 Comparison of scanning results in different ways

[0078]

[0079] A fast three-dimensional imaging device based on scanning and rotating synchronous motion includes a transmitting and receiving antenna pair, a vertical guide rail, a turntable and a data processing terminal;

[0080] A transmitting and receiving antenna pair, used to emit a frequency sweep signal with linear frequency variation and receive an echo signal reflected by the object under test;

[0081] The vertical guide rail is used to provide a vertical motion track for the transceiver antenna. The length of the vertical guide rail determines the vertical displacement range of the transceiver antenna.

[0082] Turntable, used to fix the object to be tested;

[0083] The data processing terminal is used to control the frequency sweep signal to vertically scan the object to be tested, obtain echo signals at different vertical positions of the object to be tested, and control the transmitting and receiving antennas to repeatedly scan at least one back and forth on the vertical guide rail within a preset azimuth angle range;

[0084] It is used to control the rotation of the turntable while sending the sweep signal, so as to obtain the echo signals of the object under test at different rotation azimuth angles;

[0085] It is used to sample the echo signals of the object under test at different rotation azimuth angles and different vertical positions to obtain the echo data of the sampling points at all azimuth angles;

[0086] A three-dimensional image is constructed based on the echo data using a three-dimensional reconstruction algorithm.

[0087] The present invention theoretically deduces and simulates whether a scattering measurement model of scanning rotation synchronous motion can perform three-dimensional imaging. Based on the imaging calculation model, a formula for the distance change between the antenna and the target is derived. Then, the target's position information is solved based on distance and electromagnetic wave transmission theory. Finally, simulated imaging of the scattering point target is performed. The simulation results verify the rationality of the measurement model and the quality of the theoretical calculation.

[0088] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0089] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A fast three-dimensional imaging method based on scanning and rotating synchronous motion, characterized in that: This method is suitable for RCS testing, and the steps include: Send out a sweep signal with linear frequency change and receive the echo signal reflected by the object to be measured; Wherein, while the frequency sweep signal is emitted, the object to be measured is rotated; the frequency sweep signal vertically scans the object to be measured, and within a preset imaging azimuth aperture angle range, the frequency sweep signal repeatedly scans at least one back and forth in the vertical direction; Sampling the echo signals of the object under test at different rotation azimuth angles and different vertical positions to obtain echo data of sampling points at all azimuth angles; constructing a three-dimensional image using a three-dimensional reconstruction algorithm according to the echo data; Verify the three-dimensional image: Confirm the simulation parameters and input them into the pre-built simulation detection model to obtain a simulated three-dimensional image; Calculating the electric field value of the echo signal according to the simulation parameters and generating a standard image according to the electric field value of the echo signal; The standard image is compared with the simulated three-dimensional image, and the quality of the three-dimensional image is verified based on the image dynamic range.

2. The rapid three-dimensional imaging method based on scanning and rotational synchronous motion according to claim 1, characterized in that: The frequency linear change mode of the swept frequency signal is linear step or linear frequency modulation; the frequency range of the swept frequency signal is 300MHz~110GHz, and within the frequency range, a linear change range is set, and the swept frequency signal starts to increase from the lowest frequency of the linear change range until it increases to the highest frequency point.

3. The rapid three-dimensional imaging method based on scanning and rotational synchronous motion according to claim 2, characterized in that: When the frequency linear variation mode of the frequency sweep signal is linear stepping, the linear variation mode includes: setting a step frequency range and a step interval, starting from the lowest frequency and increasing at equal intervals until reaching the highest frequency point.

4. The rapid three-dimensional imaging method based on scanning and rotational synchronous motion according to claim 2, characterized in that: When the frequency linear variation mode of the frequency sweep signal is linear frequency modulation, the linear variation mode includes: setting the frequency sweep bandwidth and the sweep time, and continuously increasing from the lowest frequency until it reaches the highest frequency point.

5. The rapid three-dimensional imaging method based on scanning and rotational synchronous motion according to claim 1, characterized in that: The vertical movement range of the emission point of the sweep frequency signal is between 0.4m and 16m.

6. The method for rapid three-dimensional imaging based on scanning and rotational synchronous motion according to claim 1, characterized in that: The rotation angle range of the rotation azimuth angle is between 2° and 190°.

7. The method for rapid three-dimensional imaging based on scanning and rotational synchronous motion according to claim 1, characterized in that: The simulation step of the simulation detection model includes: the object to be tested is stationary, and while the sweep signal is scanning, the emission point of the sweep signal is controlled to move in a circular motion with the object to be tested as the center.

8. The method for rapid three-dimensional imaging based on scanning and rotational synchronous motion according to claim 7, characterized in that: The calculation of the electric field value of the echo signal includes calculating the spatial distance from the point where the sweep signal is emitted to the preset scattering point in the simulation detection model; and obtaining the electric field value of the echo signal corresponding to each scattering point according to the simulation parameters and the spatial distance.

9. A rapid three-dimensional imaging device based on scanning and rotating synchronous motion, which adopts the rapid three-dimensional imaging method based on scanning and rotating synchronous motion according to any one of claims 1 to 8, comprising a pair of transmitting and receiving antennas, a vertical guide rail, a turntable, and a data processing terminal; The transmitting and receiving antenna pair is used to send a frequency sweep signal with a linear frequency change and receive an echo signal reflected by the object to be measured; The vertical guide rail is used to provide a vertical motion track for the transceiver antenna; The turntable is used to fix the object to be tested; The data processing terminal is used to control the sweep frequency signal to vertically scan the object under test, obtain echo signals at different vertical positions of the object under test, and control the transceiver antenna pair to repeatedly scan at least one back and forth on the vertical guide rail within a preset azimuth angle range; used to control the rotation of the turntable while emitting the sweep frequency signal, so as to obtain echo signals of the object under test at different rotation azimuth angles; Used to sample the echo signals of the object under test at different rotation azimuth angles and different vertical positions to obtain echo data of sampling points at all azimuth angles; A three-dimensional image is constructed based on the echo data using a three-dimensional reconstruction algorithm.

Images