Equipment damage information acquisition method and device based on radar imaging

Abstract

The invention discloses an equipment damage information acquisition method and device based on radar imaging, and relates to the field of equipment damage information acquisition. The method comprises the following steps: carrying a synthetic aperture radar on an unmanned platform, and controlling the unmanned platform to fly around damaged equipment for a circle in a circular ring type surrounding flight mode to obtain a flight motion track of the unmanned platform and an echo signal received by the synthetic aperture radar; determining a flight motion track of the unmanned platform for assisting radar positioning on the damaged equipment; weighting the two flight motion tracks to obtain a compensated flight motion track; determining a motion compensation phase item according to the compensated flight motion trajectory; according to the motion compensation phase term, carrying out translation compensation on an echo signal received by the synthetic aperture radar; and carrying out azimuth compression on the echo signal after translation compensation to obtain an outline radar image of the damaged equipment. According to the invention, the equipment damage information can be acquired in a high-resolution manner under all-weather conditions.

Description

Technical Field

[0001] The present application relates to the field of equipment damage information collection, and in particular to a method and device for collecting equipment damage information based on radar imaging. Background Art

[0002] In the field of equipment damage information collection, the current main method for collecting the contour information of damaged equipment is optical imaging. However, this collection method cannot effectively complete the collection of the contour information of damaged equipment in rainy, snowy, and foggy weather conditions, resulting in the subsequent damage assessment accuracy failing to meet the damage assessment requirements.

[0003] Therefore, the existing collection methods have the problem of being unable to collect equipment damage information under all-weather conditions. Summary of the Invention

[0004] The purpose of this application is to provide a method and device for collecting equipment damage information based on radar imaging, which can collect equipment damage information with high resolution in all weather conditions.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In the first aspect, the present application provides a method for collecting equipment damage information based on radar imaging, including: carrying a synthetic aperture radar on an unmanned platform, and controlling the unmanned platform to fly in a circular manner around the damaged equipment to obtain the flight motion trajectory of the unmanned platform itself and the echo signal of the damaged equipment received by the synthetic aperture radar; determining the flight motion trajectory of the unmanned platform for auxiliary radar positioning on the damaged equipment; weighting the flight motion trajectory of the unmanned platform itself and the flight motion trajectory of the auxiliary radar positioning to obtain a compensated flight motion trajectory; determining a motion compensation phase term based on the compensated flight motion trajectory; performing translation compensation on the echo signal of the damaged equipment received by the synthetic aperture radar based on the motion compensation phase term; performing azimuth compression on the echo signal after translation compensation to obtain a radar image of the outer contour of the damaged equipment.

[0007] In the second aspect, the present application provides an equipment damage information collection device based on radar imaging, comprising: an unmanned platform, a synthetic aperture radar, an auxiliary radar and a processing module; the unmanned platform is equipped with a synthetic aperture radar, and the auxiliary radar is arranged on the damaged equipment; the unmanned platform, the synthetic aperture radar and the auxiliary radar are all connected to the processing module; the unmanned platform is used to fly around the damaged equipment in a circular manner and transmit its own flight motion trajectory to the processing module; the synthetic aperture radar is used to emit electromagnetic pulses to the damaged equipment during the flight of the unmanned platform, receive the echo signal of the damaged equipment, and transmit it to the processing module; the auxiliary radar The radar is used to transmit electromagnetic pulses to the unmanned platform during flight, receive the echo signal of the unmanned platform, and transmit it to the processing module; the processing module is used to determine the flight motion trajectory of the unmanned platform for auxiliary radar positioning based on the echo signal of the unmanned platform; weight the flight motion trajectory of the unmanned platform itself and the flight motion trajectory of the auxiliary radar positioning to obtain a compensated flight motion trajectory; determine the motion compensation phase term based on the compensated flight motion trajectory; based on the motion compensation phase term, perform translation compensation on the echo signal of the damaged equipment; perform azimuth compression on the echo signal after translation compensation to obtain a radar image of the outer contour of the damaged equipment.

[0008] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0009] This application provides a radar imaging-based equipment damage information collection method and device. This method utilizes a synthetic aperture radar (SAR) mounted on an unmanned platform to capture outline images of damaged equipment. The SAR can capture high-precision images of the damaged equipment's outline in rain, snow, fog, and other weather conditions, enabling the collection of equipment damage information in all weather conditions. Furthermore, compared to existing methods that directly use the unmanned platform's own flight trajectory to determine the motion compensation phase term, this method weights the unmanned platform's own flight trajectory and the flight trajectory of the auxiliary radar positioning to obtain a compensated flight trajectory. The motion compensation phase term is determined based on the compensated flight trajectory, improving the accuracy of translational compensation and enhancing the resolution of SAR imaging. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0011] Figure 1 This is a flowchart of a method for collecting equipment damage information based on radar imaging in one embodiment of the present application. DETAILED DESCRIPTION

[0012] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0013] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0014] In an exemplary embodiment, Figure 1 As shown, the embodiment of the present application provides a method for collecting equipment damage information based on radar imaging, which includes the following steps 101 to 106. Among them:

[0015] Step 101: A synthetic aperture radar is mounted on an unmanned platform, and the unmanned platform is controlled to fly in a circular manner around the damaged equipment to obtain the flight trajectory of the unmanned platform itself and the echo signal of the damaged equipment received by the synthetic aperture radar.

[0016] Step 102: Determine the flight trajectory of the unmanned platform that assists radar positioning on the damaged equipment.

[0017] Step 103: Weighting the flight trajectory of the unmanned platform itself and the flight trajectory of the auxiliary radar positioning to obtain a compensated flight trajectory.

[0018] Step 104: Determine a motion compensation phase term according to the compensated flight motion trajectory.

[0019] Step 105: Perform translation compensation on the echo signal of the damaged equipment received by the synthetic aperture radar according to the motion compensation phase term.

[0020] Step 106: Perform azimuth compression on the echo signal after translation compensation to obtain a radar image of the outer contour of the damaged equipment.

[0021] By implementing steps 101 to 106 above, the damaged equipment profile information can be collected in all-weather conditions, completing the assessment of damaged equipment in all-weather conditions. Furthermore, this application also proposes a circular Synthetic Aperture Radar (SAR) imaging trajectory based on the requirements for damaged equipment profile imaging. Based on SAR imaging using a circular motion trajectory, the translation compensation method is improved, and the motion compensation phase term is determined using the compensated flight motion trajectory, thereby improving the accuracy of translation compensation and enhancing the resolution of SAR imaging.

[0022] In another exemplary embodiment of the present application, in order to meet the needs of contour imaging of damaged equipment, the specific method of controlling the unmanned platform to fly around the damaged equipment in a circular manner in the above step 101 is: controlling the flight altitude of the unmanned platform to be the same as the altitude of the damaged equipment, and flying one circle along a circle with the damaged equipment as the center and a radius of a preset length.

[0023] Taking the damaged radar as an example, a circle with a radius of about 20 meters is drawn with the damaged radar as the center, and the flight altitude is approximately the same as the altitude of the damaged radar, flying around the damaged radar.

[0024] In another exemplary embodiment of the present application, the above step 102 may be replaced by the following steps 201 to 202:

[0025] Step 201: Based on the coordinates of the auxiliary radar, use the formula z=xx / y to determine the coordinates of each flight position point of the unmanned platform located by the auxiliary radar on the damaged equipment; where z is the coordinate of the flight position point of the unmanned platform located by the auxiliary radar on the damaged equipment, x is the coordinate of the auxiliary radar, and y is the coordinate of the position point of the unmanned platform from the auxiliary radar.

[0026] In this step, x, y, and z are all two-dimensional coordinates. y can be understood as the coordinate of the unmanned platform's position relative to the auxiliary radar. Using the formula z = xx / y, we can obtain the actual coordinates of the unmanned platform as located by the auxiliary radar.

[0027] Step 202: Connect the coordinates of all flight position points of the unmanned platform positioned by the auxiliary radar to obtain the flight motion trajectory of the unmanned platform positioned by the auxiliary radar on the damaged equipment.

[0028] In another exemplary embodiment of the present application, the weighted formula mentioned in the above step 103 is:

[0029] l=0.6l1+0.4l2

[0030] Among them, l is the compensated flight trajectory, l1 is the flight trajectory of the unmanned platform itself, and l2 is the flight trajectory of the auxiliary radar positioning.

[0031] In another exemplary embodiment of the present application, the formula for determining the motion compensation phase term in step 104 is:

[0032]

[0033] in, is the motion compensation phase term, pi is the circumference of the circle, l is the compensated flight trajectory, r is the radius of the circular flight, t is the imaging accumulation time, f0 is the carrier frequency, and c is the speed of light in a vacuum.

[0034] By substituting the compensated flight trajectory l, pi, the radius r of the circular flight, the imaging accumulation time t, the carrier frequency f0 and the speed of light in vacuum c into the above formula, the motion compensation phase term can be obtained.

[0035] In the above formula, the radius r of the circular flight is measured by transmitting electromagnetic pulses to the unmanned platform through the auxiliary radar on the damaged equipment.

[0036] In another exemplary embodiment of the present application, the formula for translation compensation in step 105 is:

[0037]

[0038] Among them, s c is the echo signal after translation compensation, s is the echo signal of the damaged equipment received by the synthetic aperture radar, a c is the translation compensation amplitude information, is the motion compensation phase term.

[0039] In the above formula, the echo signal s received by the synthetic aperture radar can also be the echo signal after mixing, intermediate frequency sampling, and digital down-conversion. c The value is determined based on the prior information of the shape of the damaged equipment to be imaged. The general value range is: 0.4≤a c ≤0.6.

[0040] In another exemplary embodiment of the present application, step 106 performs azimuth compression on the translationally compensated echo signal to obtain a radar image of the damaged equipment's outline. Azimuth compression is accomplished using a classic Fourier transform. In this application, 128 pulse data points are accumulated to perform azimuth compression.

[0041] Based on the same inventive concept, embodiments of the present application also provide a device for implementing the aforementioned radar imaging-based equipment damage information collection method. The solution provided by this device is similar to the solution described in the aforementioned method. Therefore, the specific limitations of one or more embodiments of the radar imaging-based equipment damage information collection device provided below can be found in the aforementioned limitations of the radar imaging-based equipment damage information collection method and will not be further elaborated here.

[0042] In one exemplary embodiment, a radar imaging-based equipment damage information collection device is provided, comprising an unmanned platform, a synthetic aperture radar (SAR), an auxiliary radar, and a processing module. The unmanned platform is equipped with the SAR, and the auxiliary radar is located on the damaged equipment. The unmanned platform, SAR, and auxiliary radar are all connected to the processing module.

[0043] The unmanned platform is designed to fly in a circular pattern around the damaged equipment and transmit its flight trajectory to the processing module. The synthetic aperture radar is designed to emit electromagnetic pulses toward the damaged equipment during flight, receive the return signal from the damaged equipment, and transmit it to the processing module. The auxiliary radar is designed to emit electromagnetic pulses toward the unmanned platform during flight, receive the return signal from the unmanned platform, and transmit it to the processing module.

[0044] The processing module is used to determine the flight motion trajectory of the unmanned platform for auxiliary radar positioning based on the echo signal of the unmanned platform; weight the flight motion trajectory of the unmanned platform itself and the flight motion trajectory of the auxiliary radar positioning to obtain a compensated flight motion trajectory; determine the motion compensation phase term based on the compensated flight motion trajectory; perform translational compensation on the echo signal of the damaged equipment based on the motion compensation phase term; and perform azimuth compression on the echo signal after translational compensation to obtain a radar image of the outer contour of the damaged equipment.

[0045] This application primarily utilizes a high-stability unmanned platform equipped with a high-precision SAR to collect the outline of damaged equipment. SAR imaging can accurately image the outline of damaged equipment even in rain, snow, fog, and other weather conditions. High-precision SAR imaging enables damage assessment in all weather conditions.

[0046] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0047] This document uses specific examples to illustrate the principles and implementation methods of this application. The description of the above examples is only intended to help understand the method and core concept of this application. At the same time, for those skilled in the art, based on the concept of this application, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A method for collecting equipment damage information based on radar imaging, characterized in that: include: A synthetic aperture radar is installed on the unmanned platform, and the unmanned platform is controlled to fly in a circular manner around the damaged equipment to obtain the flight trajectory of the unmanned platform itself and the echo signal of the damaged equipment received by the synthetic aperture radar; Determine the flight trajectory of the unmanned platform that assists with radar positioning on the damaged equipment; The flight trajectory of the unmanned platform itself and the flight trajectory of the auxiliary radar positioning are weighted to obtain a compensated flight trajectory; Determining a motion compensation phase term according to the compensated flight motion trajectory; According to the motion compensation phase term, the synthetic aperture radar receives the echo signal of the damaged equipment and performs translation compensation; The echo signal after translation compensation is compressed in azimuth to obtain the radar image of the shape contour of the damaged equipment.

2. The equipment damage information collection method based on radar imaging according to claim 1 is characterized in that: Control the unmanned platform to fly in a circular manner around the damaged equipment, including: The flight altitude of the unmanned platform is controlled to be the same as the altitude of the damaged equipment, and the platform flies one circle with the damaged equipment as the center and a radius of a preset length.

3. The equipment damage information collection method based on radar imaging according to claim 1 is characterized in that: Determine the flight trajectory of the unmanned platform that assists with radar positioning on the damaged equipment, including: According to the coordinates of the auxiliary radar, the formula z=xx / y is used to determine the coordinates of each flight position point of the unmanned platform located by the auxiliary radar on the damaged equipment; wherein z is the coordinate of the flight position point of the unmanned platform located by the auxiliary radar on the damaged equipment, x is the coordinate of the auxiliary radar, and y is the coordinate of the position point of the unmanned platform from the auxiliary radar; The coordinates of all flight position points of the unmanned platform positioned by the auxiliary radar are connected to obtain the flight motion trajectory of the unmanned platform positioned by the auxiliary radar on the damaged equipment.

4. The equipment damage information collection method based on radar imaging according to claim 1 is characterized in that: The weighted formula for the flight trajectory of the unmanned platform itself and the flight trajectory of the auxiliary radar positioning is: l＝0.6l1+0.4l2； Among them, l is the compensated flight trajectory, l1 is the flight trajectory of the unmanned platform itself, and l2 is the flight trajectory of the auxiliary radar positioning.

5. The equipment damage information collection method based on radar imaging according to claim 1 is characterized in that: The determination formula of the motion compensation phase term is: in, is the motion compensation phase term, pi is the circumference of a circle, l is the compensated flight trajectory, r is the radius of the circular flight, t is the imaging accumulation time, f0 is the carrier frequency, and c is the speed of light in a vacuum.

6. The equipment damage information collection method based on radar imaging according to claim 5 is characterized in that: The radius r of the circular flight is measured by transmitting electromagnetic pulses to the unmanned platform through the auxiliary radar on the damaged equipment.

7. The equipment damage information collection method based on radar imaging according to claim 1 is characterized in that: The formula for translation compensation is: Among them, s c is the echo signal after translation compensation, s is the echo signal of the damaged equipment received by the synthetic aperture radar, a c is the translation compensation amplitude information, is the motion compensation phase term.

8. The equipment damage information collection method based on radar imaging according to claim 7 is characterized in that: Translation compensation amplitude information a c The value range is: 0.4≤a c ≤0.

6.

9. The equipment damage information collection method based on radar imaging according to claim 1 is characterized in that: The azimuth compression adopts Fourier transform.

10. An equipment damage information collection device based on radar imaging, characterized in that: include: Unmanned platforms, synthetic aperture radars, auxiliary radars and processing modules; The unmanned platform is equipped with a synthetic aperture radar, and the auxiliary radar is set on the damaged equipment; The unmanned platform, synthetic aperture radar, and auxiliary radar are all connected to the processing module; The unmanned platform is used to fly around the damaged equipment in a circular manner and transmit its own flight trajectory to the processing module; The synthetic aperture radar is used to transmit electromagnetic pulses to damaged equipment during the flight of the unmanned platform, receive echo signals from the damaged equipment, and transmit them to the processing module; The auxiliary radar is used to transmit electromagnetic pulses to the unmanned platform during the flight of the unmanned platform, receive the echo signal of the unmanned platform, and transmit it to the processing module; The processing module is used to determine the flight motion trajectory of the unmanned platform assisted by radar positioning according to the echo signal of the unmanned platform; weight the flight motion trajectory of the unmanned platform itself and the flight motion trajectory of the auxiliary radar positioning to obtain a compensated flight motion trajectory; determine the motion compensation phase term according to the compensated flight motion trajectory; perform translation compensation on the echo signal of the damaged equipment based on the motion compensation phase term; perform azimuth compression on the echo signal after translation compensation to obtain a radar image of the outer contour of the damaged equipment.

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