Consistency imaging method and system based on Fourier series high-order fitting

Abstract

The invention discloses a consistency imaging method and system based on Fourier series high-order fitting, and belongs to the technical field of optical and radar imaging. The method comprises the following steps: according to an overlapped view field of an optical camera and an SAR sensor, converting an SAR wave number domain imaging result under the overlapped view field into a pixel coordinate system where an optical photo is located, and establishing a theoretical relationship between pixel deviations of the optical photo and the SAR wave number domain imaging result in a distance direction and an azimuth direction and position deviations of the SAR wave number domain imaging result in all directions; according to the method, nonlinear azimuth pixel deviation between an optical camera and an SAR sensor under a common aperture system is fitted into a Fourier high-order series form related to azimuth positions, and nonlinear imaging position deviation in any azimuth is compensated in an SAR wavenumber domain imaging process according to a theoretical relationship, so that consistent imaging registration of optics and SAR is realized. According to the method, the situation that traditional imaging and registration are separated is broken through, and the processing efficiency is higher.

Description

Technical Field

[0001] The present invention belongs to the field of optical and radar imaging technology, and in particular relates to a consistency imaging method and system based on Fourier series high-order fitting. Background Art

[0002] Combining high-resolution optical cameras with synthetic aperture radar (SAR) sensors for all-day and all-weather imaging and using the advantages of both for complementary imaging is a current research trend in the field of remote sensing images. Multi-source images can be used in target recognition, detection and other fields after analysis and interpretation. Existing remote sensing systems mostly obtain optical and SAR images under non-common aperture systems. The images processed by the registration and fusion of the two are widely used in military and civilian fields. Image domain registration methods are mostly used in the remote sensing field. Image domain registration methods based on feature points, regions, deep learning, etc. are complex to operate. The heterogeneous payload imaging data obtained by non-common aperture systems at multiple angles, multiple regions, and multiple times require the image domain registration accuracy and efficiency to be improved.

[0003] Optical cameras and SAR sensors have differences in imaging mechanism and radiation. The acquisition of heterogeneous data by non-common aperture systems has inconsistencies in time, angle, and region, which will complicate the registration process of optical and SAR image domains and make it difficult to achieve online real-time processing. Therefore, solving the fundamental problems of heterogeneous image registration and studying a consistent imaging method under a common aperture system to compensate for the imaging deviation between optical photos during SAR imaging has important research significance and value, which can improve the efficiency and accuracy of heterogeneous image processing. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a consistency imaging method and system based on Fourier series high-order fitting. The common aperture system used can obtain consistent heterogeneous payload imaging data, combining active and passive remote sensing means, and can not only obtain synchronous phase consistency imaging data across optoelectronic frequency domain remote sensing information, but also compensate for the imaging position deviation that causes optical / SAR pixel deviation during SAR imaging, so as to achieve the purpose of SAR imaging and optical photo sub-pixel registration, which can avoid many problems in the heterogeneous image registration process, and the efficiency of image registration is also improved. At the same time, the wave number domain ( ) imaging algorithm can avoid the problems of large computational complexity and low computational efficiency of the time-domain BP imaging algorithm.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A consistency imaging method based on Fourier series high-order fitting, the method comprising:

[0007] Step 1: According to the coaxial geometric configuration of the optical camera and the SAR sensor under the common aperture system, the overlapping field of view of the optical camera and the SAR sensor is obtained, the SAR wave number domain imaging result under the overlapping field of view is converted to the pixel coordinate system where the optical photo is located, and the theoretical relationship between the pixel deviation of the optical photo and the SAR wave number domain imaging result in the range and azimuth directions and the position deviation of the SAR wave number domain imaging result in each direction is established;

[0008] Step 2: Fit the nonlinear azimuth pixel deviation between the optical camera and the SAR sensor in the common aperture system into the form of a Fourier high-order number related to the azimuth position. According to the theoretical relationship, compensate for the nonlinear imaging position deviation in any azimuth direction during SAR wavenumber domain imaging to achieve consistent imaging registration in the optical and SAR common aperture system.

[0009] On the other hand, the present invention also provides a consistency imaging system based on Fourier series high-order fitting, comprising:

[0010] A relationship acquisition unit is used to obtain the overlapping fields of view of the optical camera and the SAR sensor according to the coaxial geometric configuration of the optical camera and the SAR sensor under the common aperture system, convert the SAR wave number domain imaging results under the overlapping fields of view into the pixel coordinate system where the optical photograph is located, and establish a theoretical relationship between the pixel deviations of the optical photograph and the SAR wave number domain imaging results in the range and azimuth directions and the position deviations of the SAR wave number domain imaging results in each direction;

[0011] The compensation registration unit is used to fit the nonlinear azimuth pixel deviation between the optical camera and the SAR sensor in the common aperture system into the form of a Fourier high-order number related to the azimuth position, and according to the theoretical relationship, compensate for the nonlinear imaging position deviation in any azimuth in the SAR wave number domain imaging process, so as to achieve consistent imaging registration in the optical and SAR common aperture system.

[0012] In a third aspect, the present invention provides an electronic device, comprising: one or more processors; a memory for storing 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 aforementioned consistency imaging method based on high-order fitting of Fourier series.

[0013] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned consistency imaging method based on high-order Fourier series fitting.

[0014] The beneficial effects of the present invention are:

[0015] The present invention adopts the more accurate frequency domain algorithm The imaging method has a higher computational efficiency than the time-domain BP imaging algorithm and can be used for real-time processing in engineering to reduce the amount of calculation. It uses accurate optical photos as a reference to construct pixel deviations and Theoretical relationship between imaging position deviations; imaging of multi-point targets on flat ground under long-distance imaging, the distance pixel deviation does not need to be compensated directly at the sub-pixel level; Fourier high-order fitting is performed on the nonlinear azimuth pixel deviation, and the pixel deviation and The theoretical relationship between the imaging position deviations, During the imaging process, consistent imaging compensation is performed in any azimuth to achieve the purpose of SAR imaging and optical photo registration, and realize sub-pixel co-aperture consistent imaging processing of optical / SAR in range and azimuth, breaking through the traditional situation of separate imaging and registration, and having higher processing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a flow chart of a consistent imaging method based on Fourier series high-order fitting according to the present invention;

[0017] Figure 2 A schematic diagram of the geometric configuration of the overlapping fields of view of the optical camera and the SAR sensor provided by the present invention in an airborne common aperture system. DETAILED DESCRIPTION

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

[0019] The present invention proposes a consistency imaging method based on Fourier series high-order fitting. Starting from the respective imaging mechanisms of optical / SAR, the light path and microwave pass through the same aperture at the same time, and heterogeneous data of optical / SAR common aperture consistency imaging processing in the same area are obtained. A theoretical relationship between the pixel deviation between the optical photo and the SAR imaging result under the common aperture and the imaging position deviation in each direction is constructed in the pixel coordinate system where the optical photo is located, so that the SAR imaging result and the optical photo under the common aperture system are directly and automatically registered, breaking through the traditional separation of imaging and registration, avoiding the complex processing flow of image domain registration, and achieving the purpose of efficient processing.

[0020] like Figure 1 As shown, a flow chart of the consistent imaging method based on Fourier series high-order fitting of the present invention is given, which specifically includes:

[0021] Step 1: According to the coaxial geometric configuration of the optical camera and the SAR sensor under the common aperture system, the overlapping field of view of the optical camera and the SAR sensor is obtained, the SAR wave number domain imaging result under the overlapping field of view is converted to the pixel coordinate system where the optical photo is located, and the theoretical relationship between the pixel deviation of the optical photo and the SAR imaging result in the range and azimuth directions and the imaging position deviation in each direction of the SAR wave number domain is established;

[0022] Step 2, perform imaging simulation on multi-point targets in the overlapping field of view of the optical camera and SAR. Both simulation and theoretical calculation show that the pixel deviation in the range direction does not need to be compensated and is directly at the sub-pixel level. The nonlinear pixel deviation in the azimuth direction between the optical camera and SAR in the common aperture system is fitted into the form of a high-order Fourier function related to the azimuth position. According to the theoretical relationship between the pixel deviation and the imaging position deviation in step 1, the nonlinear imaging position deviation in any azimuth direction is compensated in the SAR wave number domain imaging process to achieve consistent imaging registration in the common aperture system of the optical and SAR, so that the pixel deviations in the range and azimuth directions are both at the sub-pixel level.

[0023] The principle of the method is as follows:

[0024] The optical / SAR common aperture consistent imaging method requires the construction of a heterogeneous data consistent imaging model. The optical remote sensing frame camera obtains the optical image by instantaneous exposure. The central projection imaging principle is adopted. Ideally, the object point, the camera optical center, and the image point are collinear. The SAR sensor obtains the SAR image through signal processing within the synthetic aperture time. It can only actively image in a side-view mode. Therefore, in the common aperture system, the optical camera needs to be tilted for imaging. With the precise photos taken by the optical camera tilted as a reference and combined with the system parameters of the SAR sensor, the overlapping field of view of the optical camera and the SAR sensor in the common aperture system is calculated.

[0025] Through the optical center projection imaging principle, the SAR wave number domain imaging results under the overlapping field of view are converted to the pixel coordinate system where the optical photo is located by the principles of collinear equations and coordinate transformation, and the relationship between the pixel deviation between the optical camera / SAR imaging results and the imaging position deviation in each direction of the SAR wave number domain is constructed. Multi-point target imaging simulation is carried out under the overlapping field of view and combined with theoretical calculation. The pixel deviation in the range direction is already at the sub-pixel level and does not need to be compensated; some azimuth pixel deviations exceed the sub-pixel level, and the nonlinear azimuth pixel deviation is fitted into the form of a high-order Fourier series related to the azimuth position. According to the theoretical relationship between pixel deviation and imaging position deviation, the imaging position deviation in each azimuth direction is effectively compensated in the SAR wave number domain imaging process, so that the range and azimuth directions can reach the sub-pixel level of registration, and the purpose of matching SAR imaging with optical photos is achieved, that is, the realization of the optical / SAR consistent imaging method based on high-order Fourier series fitting.

[0026] Specifically, under the airborne common aperture system, the optical camera adopts the array push-scan imaging method, and multiple accurate optical photos are obtained by instantaneous exposure. At the moment of shooting by the array CCD aerial camera, all pixels in the optical photo are formed at the same time, and each optical photo conforms to the central projection law. The image point, the camera optical center, and the object point are on the same straight line. One image corresponds to a set of attitude parameters. The imaging equation is established according to the optical central projection principle, and then the mutual conversion between three-dimensional object points and two-dimensional image points is performed.

[0027] According to the relationship between the exposure rate of the optical camera and the SAR synthetic aperture time, the optical photo corresponding to the most central moment of each synthetic aperture of the SAR sensor is used as the reference benchmark. According to the field of view of the optical camera, the beam width of the SAR sensor, the flight altitude of the aircraft, the minimum slant range and other system parameters, the overlapping field of view of the optical camera and the SAR sensor is calculated. The imaging results are converted to the pixel coordinate system of the optical photo, and a theoretical relationship between the pixel deviation of the two and the imaging position deviation of SAR in each direction is constructed.

[0028] SAR imaging results are converted from the northeastern coordinate system ( ) is converted to the camera coordinate system ( ) and then converted to pixel coordinate system ( ), Figure 2 This is a schematic diagram of the overlapping field of view geometry of the optical camera and SAR sensor in an airborne common aperture system. is the flight altitude of the aircraft. There are corresponding conversion relationships between different coordinate systems. The coordinates of an ideal flat ground target in the north-east coordinate system are Image point coordinates in pixel coordinate system The following relationship exists:

[0029] ,

[0030] In the formula, is the amount of translation between the origin of the north-east coordinate system and the origin of the camera coordinate system, where is the amount of translation to be made in azimuth, is the flight altitude of the aircraft, and the superscript ′ represents the matrix transpose expression in mathematics. is the camera internal parameter matrix, is the camera extrinsic parameter matrix, is the object point in the camera coordinate system The projection size under the axis, It is the homogeneous coordinate expression of the image point in the pixel coordinate system. The specific form is: .

[0031] is the camera focal length, is the pixel size of the imaging system, is the pixel coordinate of the image principal point.

[0032] The specific form is as follows: It is a coordinate system around the north-east The rotation matrix of the axis, is the roll angle of rotation, It is a coordinate system around the north-east The rotation matrix of the axis, with a rotation angle of 90°.

[0033] ,

[0034] Get the ideal flat ground target To the pixel coordinates :

[0035] ,

[0036] Similarly, we get the SAR imaging results Convert the pixel coordinates to the pixel coordinate system ,in , is the imaging position deviation of the SAR imaging result in the range and azimuth directions:

[0037] ,

[0038] Subtracting the above two equations, we can get the pixel deviation formula of the optical camera and SAR sensor in the range and azimuth directions in the airborne common aperture system:

[0039] ,

[0040] ,

[0041] It can be seen that the distance to pixel deviation The imaging position deviation only in the range direction from the SAR imaging result Regarding the azimuth pixel deviation Imaging position deviation in range and azimuth from SAR imaging results , Are relevant.

[0042] Qualitative analysis shows that the distance coordinates of multi-point targets Much larger than the imaging position deviation of SAR imaging results in the range direction , that is: ;

[0043] Therefore, the pixel deviations of optics and SAR in the range and azimuth directions under the common aperture system are approximated to obtain the theoretical relationship between the pixel deviation and the imaging position deviation of SAR in each direction. The pixel deviations in the range and azimuth directions are only related to the imaging position deviations in their respective directions:

[0044] ,

[0045] ,

[0046] At present, SAR imaging algorithms are becoming more mature. The imaging method is a more accurate imaging algorithm in the frequency domain algorithm, with high imaging efficiency and accuracy. The SAR imaging system performs imaging processing on the received echo data. The basic steps are to perform two-dimensional FFT on the echo signal, perform consistent compression and Stolt interpolation at the reference distance, and IFFT the two-dimensional signal in the frequency domain to the time domain to obtain the target imaging result. According to the relationship between the aforementioned optical and SAR pixel deviations and the imaging position deviations, as well as the Fourier transform time-shift characteristics, after Stolt interpolation, the imaging position deviations in the range and azimuth directions are compensated in the frequency domain respectively to achieve pixel deviation compensation between optics and SAR.

[0047] Taking into account the requirements of SAR long-distance imaging as well as high bandwidth, high penetration, and strong anti-interference ability, long-distance simulated imaging of multi-point targets in the overlapping field of view of the optical camera and SAR is performed. The pixel deviations of the optical photos and SAR imaging results in the range direction are both at the sub-pixel level, which can also be calculated through the aforementioned theoretical relationship. The range imaging position deviation corresponding to the sub-pixel deviation in the range direction is close to the high resolution in the range direction. Therefore, there is no need for range compensation, and sub-pixel range alignment can be directly achieved. The fluctuation trend of the azimuth position deviation and azimuth pixel deviation of the imaging is the same, showing an irregular, nonlinear trend with a small oscillation amplitude. The imaging deviation in the same azimuth is the same. The azimuth pixel deviation of some target points exceeds the sub-pixel unit and needs to be compensated. Fitting to the azimuth position The relevant Fourier higher order form is:

[0048] ,

[0049] in, is the position of each point in the azimuth direction, is the order of the Fourier series, , , , are all constant parameters of the fitting formula. The coefficient between the optical / SAR azimuth pixel deviation and the SAR imaging position deviation is: , the distance to the target position coordinates Quantitative calculation, under the overlapping field of view of optical / SAR, , the differences between the maximum, minimum and mean are all in magnitude, so The mean of is regarded as an approximate constant coefficient to simplify the compensation process.

[0050] According to the theoretical relationship between pixel deviation and imaging position deviation in step 1, During the imaging process, the nonlinear imaging position deviation in any azimuth is compensated to achieve optical and SAR common aperture consistent imaging registration, so that the pixel deviation in the range and azimuth directions are at the sub-pixel level. The SAR imaging azimuth imaging position deviation compensation factor is expressed as:

[0051] ,

[0052] in, is the azimuth frequency, is the speed of the aircraft.

[0053] Based on the difference and connection between the imaging geometric configurations of optical cameras and SAR sensors, the present invention uses the precise optical photos taken at the corresponding moments of the centers of each synthetic aperture of SAR as reference datums to accurately obtain the images of the optical camera and SAR sensor in the overlapping field of view. The imaging result is converted to the pixel coordinate system of the optical photo. The distance pixel deviation is directly at the sub-pixel level. According to the theoretically derived pixel deviation and The relationship between the imaging position deviation and During the imaging process, the azimuth nonlinear pixel deviation obtained by fitting is used to obtain the azimuth imaging position deviation of any azimuth nonlinearity, and then Compensation is performed during the imaging process to achieve azimuth-consistent imaging processing. This method can obtain the azimuth nonlinear pixel deviation in any azimuth under overlapping fields of view based on the azimuth nonlinear pixel deviation in the form of Fourier high-order fitted. Imaging position deviation, the imaging position deviation in the same azimuth is the same, which can simplify the calculation amount of consistent imaging compensation processing. This method does not require complex registration processing in the image domain, which improves the efficiency of image processing.

[0054] On the other hand, the present invention provides a consistency imaging system based on Fourier series high-order fitting, and the modules included in the system can implement the steps of the above method, specifically including:

[0055] A relationship acquisition unit is used to obtain the overlapping fields of view of the optical camera and the SAR sensor according to the coaxial geometric configuration of the optical camera and the SAR sensor under the common aperture system, convert the SAR wave number domain imaging results under the overlapping fields of view into the pixel coordinate system where the optical photograph is located, and establish a theoretical relationship between the pixel deviations of the optical photograph and the SAR wave number domain imaging results in the range and azimuth directions and the position deviations of the SAR wave number domain imaging results in each direction;

[0056] The compensation registration unit is used to fit the nonlinear azimuth pixel deviation between the optical camera and the SAR sensor in the common aperture system into the form of a Fourier high-order number related to the azimuth position, and according to the theoretical relationship, compensate for the nonlinear imaging position deviation in any azimuth in the SAR wave number domain imaging process, so as to achieve consistent imaging registration in the optical and SAR common aperture system.

[0057] In a third aspect, the present invention provides an electronic device, comprising: one or more processors; a memory for storing 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 aforementioned consistency imaging method based on high-order fitting of Fourier series.

[0058] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned consistency imaging method based on high-order Fourier series fitting.

[0059] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A consistency imaging method based on Fourier series high-order fitting, characterized in that: The method comprises: Step 1: According to the coaxial geometric configuration of the optical camera and the SAR sensor under the common aperture system, the overlapping field of view of the optical camera and the SAR sensor is obtained, the SAR wave number domain imaging result under the overlapping field of view is converted to the pixel coordinate system where the optical photo is located, and the theoretical relationship between the pixel deviation of the optical photo and the SAR wave number domain imaging result in the range and azimuth directions and the position deviation of the SAR wave number domain imaging result in each direction is established; Step 2: Fit the nonlinear azimuth pixel deviation between the optical camera and the SAR sensor in the common aperture system into the form of a Fourier high-order number related to the azimuth position. According to the theoretical relationship, compensate for the nonlinear imaging position deviation in any azimuth direction during SAR wavenumber domain imaging to achieve consistent imaging registration in the optical and SAR common aperture system.

2. The consistent imaging method based on Fourier series high-order fitting according to claim 1, characterized in that: Obtaining the overlapping field of view of the optical camera and the SAR sensor in the common aperture system in step 1 includes: using the central projection imaging principle, based on the collinearity of the object point, the camera optical center, and the image point, taking the tilted imaging optical photograph as a reference, and combining the system parameters of the SAR sensor to calculate the overlapping field of view area of ​​the optical camera and the SAR sensor in the common aperture system.

3. The consistent imaging method based on Fourier series high-order fitting according to claim 1, characterized in that: The step 1 of converting the SAR wavenumber domain imaging result under the overlapping field of view into the pixel coordinate system where the optical photo is located includes: Coordinates of the target based on an ideal flat ground in the north-east coordinate system Image point coordinates in pixel coordinate system The following relationship exists: ， In the formula, is the amount of translation between the origin of the north-east coordinate system and the origin of the camera coordinate system, where is the amount of translation to be made in azimuth, is the flight altitude of the aircraft, and the superscript ' represents the matrix transpose expression in mathematics. is the camera internal parameter matrix, is the camera extrinsic parameter matrix, is the object point in the camera coordinate system The projection size under the axis, It is the homogeneous coordinate expression of the image point in the pixel coordinate system; Calculate ideal flat ground target Convert the pixel coordinates to the pixel coordinate system : ， In the formula, is the camera focal length, is the pixel size of the imaging system, is the pixel coordinate of the image principal point, is the roll angle of rotation; Computing SAR imaging results Convert the pixel coordinates to the pixel coordinate system ,in , is the imaging position deviation of the SAR imaging result in the range and azimuth directions: 。 4. The consistent imaging method based on Fourier series high-order fitting according to claim 3, characterized in that: The camera intrinsic parameter matrix The specific form is: , the camera extrinsic parameter matrix The specific form is: , It is a coordinate system around the north east The rotation matrix of the axis, It is a coordinate system around the north east The rotation matrix of the axis, with a rotation angle of 90°.

5. The consistent imaging method based on Fourier series high-order fitting according to claim 3, characterized in that: The theoretical relationship between the pixel deviations of the optical photograph and the SAR wavenumber domain imaging results in the range and azimuth directions and the position deviations of the SAR wavenumber domain imaging results in each direction established in step 1 includes: The formula for calculating the pixel deviation of the optical camera and SAR sensor in the range and azimuth directions in the common aperture system is: ， ， The pixel deviation formulas of optics and SAR in the range and azimuth directions under the common aperture system are approximated, and the theoretical relationship between the pixel deviation and the SAR imaging position deviation in each direction is obtained: ， 。 6. The consistent imaging method based on Fourier series high-order fitting according to claim 5, characterized in that: The pixel deviation formulas for the optical and SAR in the range and azimuth directions under the common aperture system are approximated by: Much larger than the imaging position deviation of SAR imaging results in the range direction ,Right now: Make an approximation.

7. The consistent imaging method based on Fourier series high-order fitting according to claim 1, characterized in that: The step 2 comprises: Direction to nonlinear pixel deviation Fitting to the azimuth position The relevant Fourier higher order form is: ， in, is the position of each point in the azimuth direction, is the order of the Fourier series, , , , is the constant parameter of the fitting formula; The SAR imaging azimuth imaging position deviation compensation factor is expressed as: , is the azimuth frequency, is the aircraft's flying speed, is the coefficient between the optical SAR azimuth pixel deviation and the SAR imaging position deviation; According to the theoretical relationship, During the imaging process, the nonlinear imaging position deviation in any azimuth is compensated based on the compensation factor to achieve consistent imaging registration of optical and SAR common apertures.

8. A consistency imaging system based on Fourier series high-order fitting, characterized in that: include: A relationship acquisition unit is used to obtain the overlapping fields of view of the optical camera and the SAR sensor according to the coaxial geometric configuration of the optical camera and the SAR sensor under the common aperture system, convert the SAR wave number domain imaging results under the overlapping fields of view into the pixel coordinate system where the optical photograph is located, and establish a theoretical relationship between the pixel deviations of the optical photograph and the SAR wave number domain imaging results in the range and azimuth directions and the position deviations of the SAR wave number domain imaging results in each direction; The compensation registration unit is used to fit the nonlinear azimuth pixel deviation between the optical camera and the SAR sensor in the common aperture system into the form of a Fourier high-order number related to the azimuth position, and according to the theoretical relationship, compensate for the nonlinear imaging position deviation in any azimuth in the SAR wave number domain imaging process, so as to achieve consistent imaging registration in the optical and SAR common aperture system.

9. An electronic device, characterized in that: include: one or more processors; A memory for storing one or more programs; Wherein, when one or more programs are executed by the one or more processors, the one or more processors implement the consistency imaging method based on Fourier series high-order fitting as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: Executable instructions are stored thereon, and when the instructions are executed by the processor, the processor can implement the consistency imaging method based on Fourier series high-order fitting as described in any one of claims 1-7.

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