SAR image automatic detection device and detection method

Abstract

The invention discloses an SAR image automatic detection device and detection method, relates to the technical field of radar detection, and solves the problem that the height and angle of an existing radar imager are inconvenient to adjust. The device comprises a base, a supporting seat, a movable seat and a control module, two-stage lifting and double-shaft angle adjustment (pitch angle and horizontal azimuth angle) of the radar imager are achieved through a lifting mechanism, a displacement mechanism and a rotating mechanism, and a signal transmission assembly and the imager move cooperatively. The detection method comprises the steps of parameter setting, multi-round scanning, data processing, dynamic adjustment and image fusion, and a high-resolution fusion image is generated by utilizing spatial-temporal feature alignment and a weighted least square method. The method can flexibly adapt to complex terrains, improves the signal-to-noise ratio and the resolution ratio, is suitable for scenes such as urban surveying and mapping, disaster monitoring and the like, and has the advantages of rapid deployment, multi-dimensional detection and high data fusion capability.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of SAR automatic detection, and particularly relates to a SAR image automatic detection device and a detection method. BACKGROUND

[0002] SAR is an active side-looking radar system, and a SAR image is an image information formed by backscattering of ground targets, which is obtained by using radar imaging, that is, radar emits electromagnetic waves, targets reflect electromagnetic waves, and target echoes are processed to obtain target images.

[0003] According to the patent literature with the publication number CN220061376U, a radar imaging instrument with high stability is disclosed, which comprises a radar imaging instrument body, a fixing frame is threadedly connected to the bottom of the radar imaging instrument body, an installation plate is fixedly connected to the bottom of the fixing frame, a receiving groove is formed in the side surface of the fixing frame, an expandable adjusting installation mechanism is arranged in the inner cavity of the receiving groove, and an installation platform is arranged at the lower part of the installation plate. When the technical solution is used, the installation plate and the installation platform are fixed through clamping, which can reduce the punching cost and the cost of using bolts, and after use, the upper ring buckle can be slid out of the lower ring buckle for disassembly. Compared with the bolt fixing method, the use is more convenient after use. For the above technical solution, the scheme realizes quick installation or disassembly, but the height and the installation angle of the imaging instrument cannot be adjusted during use, which is inconvenient during use.

[0004] Therefore, a SAR image automatic detection device and a detection method are needed. SUMMARY

[0005] In view of the problem in the prior art that the height and the installation angle of the imaging instrument cannot be adjusted during use, the present application provides a SAR image automatic detection device and a detection method, which can adaptively adjust the height and the installation angle of the imaging instrument according to the scanning result during use. The specific technical solutions are as follows: The utility model relates to a kind of SAR image automatic detection device, including base;Base is equipped with by two side plates Support seat;Two side plates between movable mounting movable seat;Side plate is equipped with slot;Slot is movably mounted with mounting seat in inside;Mounting seat is fixedly installed with rotating mechanism;Movable seat is equipped with limit slot on the side surface close to slot;Limit slot is movably mounted with limit block in inside;Limit block is connected with rotating mechanism by output shaft;Side plate is equipped with lifting mechanism to push mounting seat and move up and down in slot;Movable seat is equipped with displacement mechanism to push limit block and move in limit slot;Movable seat is equipped with rotating disc on top;Rotating disc is equipped with radar imaging instrument;Movable seat is equipped with extendable signal transmission component on the side away from the side plate of support seat;Further including control module, control module is electrically connected with rotating mechanism, lifting mechanism, displacement mechanism, rotating disc, radar imaging instrument, signal transmission component.

[0006] Further, movable seat is equipped with fixed slot on the side away from the side plate of support seat;Fixed slot is movably mounted with connecting seat in inside;The inner wall of fixed slot is opened with sliding slot, sliding slot is fixed with support mechanism in inside, and the upper end of support mechanism is equipped with sliding block;Sliding block is installed with rotating shaft, and one end of rotating shaft is fixed in connecting seat;Signal transmission component is equipped at the top of connecting seat;Connecting seat is equipped with fixing frame on the side away from sliding slot.

[0007] Further, the inner wall of fixed slot is fixed with limit plate, and limit plate is movably contacted with signal transmission component.

[0008] Further, lifting mechanism and displacement mechanism are all linear reciprocating electric push rod, and lifting mechanism and displacement mechanism are matched to realize secondary lifting of movable seat, and the height of radar imaging instrument is adjusted.

[0009] Further, rotating disc is evenly equipped with limit post;The bottom of radar imaging instrument is fixedly equipped with fixed disc;Fixed disc is equipped with opening hole in position corresponding with limit post;Opening hole is installed on limit post;The bottom of rotating disc is installed with rotating motor.

[0010] Further, limit post is equipped with snap ring;The inner wall of opening hole is fixed with limit ring;Limit ring is matched with snap ring to separate limit to opening hole.

[0011] Further, fixed hole is movably mounted with ground plug in inside on the base.

[0012] Further, base is equipped with opening in position corresponding with movable seat;The size of opening can contain movable seat.

[0013] A kind of SAR image automatic detection method is applied to the SAR image automatic detection device described above, specifically including the following steps: S1: Fix the device on the target area, and the control module loads the default scanning initial parameters or sets the initial parameters according to the task requirements; S2: Perform scanning and data collection according to the parameters to generate SAR image data; S3: Perform real-time processing on the SAR image data, and generate adaptive adjustment parameters; S4: Perform dynamic adjustment of the height and angle according to the adjustment parameters and return to step S2 until dynamic adjustment of the height and angle is not required; S5: Fuse the images obtained through multiple rounds of scanning to generate a new fused image.

[0014] Further, in step S5, fusing the images obtained through multiple rounds of scanning to generate a new fused image includes the following steps: S51: Extract the space-time features of the images obtained through each round of scanning; S52: Map the features of different rounds to a unified coordinate system for spatial alignment, temporal alignment and modal alignment; S53: Assign weights to various features of the image obtained through each round of scanning in the unified coordinate system, and regenerate the comprehensive weight of the scanning image of this round; S54: Fuse the images obtained through each round of scanning to generate a new fused image according to the respective comprehensive weights by using the weighted least squares method.

[0015] Compared with the prior art, the present application has the following advantages: 1. Hardware structure innovation: double-stage lifting + double-axis rotation, realizing flexible adjustment in multi-dimensional space Double-stage lifting mechanism: one-stage lifting (overall height adjustment): the mounting seat is moved in the slot by the lifting mechanism (electric push rod), driving the movable seat and the radar imager to lift as a whole, covering low-altitude (close to the target) to high-altitude (wide coverage) scenarios, with a vertical adjustment range of several meters, solving the limitations of traditional single-stage lifting.

[0016] Two-stage lifting (fine tuning): the displacement mechanism moves the limiting block in the limiting slot, and the movable seat is lifted twice by using the reaction force, with a minimum adjustment accuracy of centimeter level, suitable for imaging low-altitude targets (such as vehicles and building details) that require high resolution.

[0017] Double-axis angle adjustment: Pitch angle adjustment (0°~60° inclination): the rotation mechanism drives the movable seat to tilt, changing the radar beam incidence angle, highlighting the target edge features at small incidence angles and capturing the top details at large incidence angles, supporting three-dimensional terrain inversion and geometric distortion suppression.

[0018] Horizontal angle adjustment (360° rotation): rotating the disc drives the radar imager to scan omnidirectionally, filling in the fixed-angle blind area, suitable for dynamic target tracking (such as moving vehicles, ships) and multi-faceted feature extraction.

[0019] Signal transmission coordination: the signal transmission component is linked with the active seat and can be expanded or retracted synchronously with height and angle adjustment, avoiding signal obstruction and ensuring real-time transmission of multi-scan data.

[0020] 2. Data processing optimization: multi-scan + intelligent fusion, improving image accuracy and reliability Adaptive dynamic adjustment: Real-time analysis of SAR image data, extracting target height, obstruction distribution, signal-to-noise ratio, and other features, automatically generating height and angle adjustment instructions. For example, when the obstruction rate > 20%, trigger the lift, and when the signal-to-noise ratio < 10 dB, shorten the detection distance.

[0021] Supporting "general survey mode" (high-altitude wide coverage) and "detailed survey mode" (low-altitude high-resolution) automatic switching, reducing the scanning range to improve resolution when the target density is high, and expanding the range to improve efficiency when the density is low.

[0022] Multi-scan and spatio-temporal fusion: Spatio-temporal feature alignment: mapping different rounds of images to a unified coordinate system through the range-Doppler equation, eliminating geometric distortion (such as overlap, shadow), and compensating for dynamic target displacement, ensuring consistent spatial position and time reference of multi-source data.

[0023] Weighted least squares fusion: assigning weights according to signal-to-noise ratio, resolution, geometric distortion rate, and time correlation (formula in file step S53), high-reliability data (such as low-distortion, high-resolution images) dominates in the fusion result, combined with TV regularization to suppress noise, generating high-quality images with signal-to-noise ratio improvement ≥10% and resolution up to 0.5 meters.

[0024] 3. Engineering advantages: rapid deployment, anti-interference design, and scene generalization ability Rapid deployment and retraction: The base is quickly fixed through the fixed hole and ground insert, completing equipment deployment within 5 minutes; after the work is completed, the active seat is lowered into the opening of the base, and the base is pushed off the ground insert to be recycled, reducing the transportation volume by 30%, suitable for emergency rescue, field survey, and other rapid response scenarios.

[0025] Physical protection and anti-interference: In the storage state, the support base and the limiting plate form physical protection for the core components to avoid external impact; when the inclination angle of the movable seat is greater than 45°, the signal transmission assembly automatically activates the anti-interference mode, the radar imager increases the transmission power, and the signal is stable under complex angles.

[0026] Modular design: The radar imager is quickly disassembled and assembled with the fixed disc and the rotating disc, the maintenance plate can conveniently maintain the internal motor, the replacement of components does not require overall disassembly, and the maintenance time is shortened by 50%; the core components such as the electric push rod have high standardization, and the later maintenance cost is reduced.

[0027] Scene adaptability: It is suitable for urban fine mapping (such as building facade modeling), disaster monitoring (such as terrain deformation after an earthquake), mobile target tracking (such as traffic flow monitoring), and the like, and especially has stronger anti-shielding ability and multi-dimensional data acquisition ability in complex terrain (mountainous areas, high-rise dense areas). BRIEF DESCRIPTION OF DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the specific embodiments or the prior art will be briefly introduced below. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, each element or part is not necessarily drawn according to the actual scale.

[0029] Figure 1 It is a structural schematic view of a SAR image automatic detection device; Figure 2 It is a structural schematic view of a movable seat; Figure 3 It is a structural schematic view of a movable seat; Figure 2 It is a structural schematic view of point A of the movable seat after magnification; Figure 4 It is a connection structure schematic view of a rotating disc and a radar imager; Figure 5 It is an installation structure schematic view of a signal transmission assembly; Figure 6 It is a support base side view cross-sectional structural schematic view of a SAR image automatic detection device; Figure 7 It is a flowchart of a SAR image automatic detection method.

[0030] Label: 1, base; 2, opening; 3, fixing hole; 4, support seat; 5, slot; 6, mounting seat; 7, rotating mechanism; 8, lifting mechanism; 9, movable seat; 10, fixed groove; 11, sliding groove; 12, connecting seat; 13, fixed frame; 14, limiting plate; 15, fixed disc; 16, radar imager; 17, maintenance plate; 18, air inlet hole; 19, limiting groove; 20, limiting block; 21, output shaft; 22, displacement mechanism; 23, rotating disc; 24, opening; 25, limiting column; 26, snap ring; 27, signal transmission assembly; 28, sliding block; 29, rotating shaft; 30, supporting mechanism. DETAILED DESCRIPTION

[0031] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0032] It should be understood that when used in the specification and the appended claims, the terms "comprise" and "include" indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not exclude one or more additional features, integers, steps, operations, elements, components, and / or groups thereof.

[0033] It should also be understood that the terms used in the present application specification are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the present application specification and the appended claims, unless otherwise clearly indicated by the context, the singular forms "a", "an" and "the" are intended to include the plural forms.

[0034] It should be further understood that the term "and / or" used in the present application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations thereof, and includes these combinations.

[0035] Embodiment one As Figures 1 to 6The application discloses a kind of SAR image automatic detection device structure schematic diagram, including: including base (1);The base (1) is equipped with by two side plates Support seat (4);Two side plates between movable mounting movable seat (9);The side plate is equipped with slot (5);Slot (5) is movably mounted with mounting seat (6);Mounting seat (6) is fixedly installed with rotating mechanism (7);Movable seat (9) is equipped with limit groove (19) on the side of slot (5) close side;Limit groove (19) is movably mounted with limit block (20);Limit block (20) is connected with rotating mechanism (7) by output shaft (21);Lifting mechanism (8) is equipped in the side plate to push mounting seat (6) moves up and down in slot (5);Displacement mechanism (22) is equipped in movable seat (9) to push limit block (20) moves in limit groove (19);Rotary disc (23) is equipped on the top of movable seat (9);Radar imaging instrument (16) is equipped on rotary disc (23);Movable seat (9) is equipped with extendable signal transmission assembly (27) on the side plate of support seat (4) away;Further including control module, rotating mechanism (7), lifting mechanism (8), displacement mechanism (22), rotary disc (23), radar imaging instrument (16), signal transmission assembly (27) are electrically connected with control module.

[0036] In the above scheme, lifting mechanism (8) pushes mounting seat (6) to move up and down in slot (5), and mounting seat (6) drives movable seat (9) to complete the first stage of lifting or lowering through rotating mechanism 7, output shaft (21), limit block (20) and displacement mechanism (22). Then, displacement mechanism (22) moves limit block (20) in limit groove (19) by pushing, and movable seat (9) completes the second stage of lifting or lowering under the pushing of reaction force, realizing the adjustability of height. At the same time, rotating mechanism 7 drives limit block 20 to rotate, and limit block 20 drives movable seat 9 to tilt, which can complete the first stage of angle adjustment. Then, radar imaging instrument (16) is rotated by rotary disc (23), to complete the second stage of angle adjustment.

[0037] Further, the support seat 4 is fixed on the base 1 by welding.

[0038] Further, the rotating mechanism 7 can adopt a servo motor or a stepping motor.

[0039] Furthermore, the movable seat (9) has a fixing groove (10) on the side away from the support seat (4); a connecting seat (12) is movably installed inside the fixing groove (10); a sliding groove (11) is opened on the inner wall of the fixing groove (10), and a support mechanism (30) is fixed inside the sliding groove (11), and a slider (28) is provided at the upper end of the support mechanism (30); a rotating shaft (29) is installed on the slider (28), and one end of the rotating shaft (29) is fixed on the connecting seat (12); the signal transmission component (27) is located on the top of the connecting seat (12); a fixing frame (13) is provided on the side away from the sliding groove (11) of the connecting seat (12); the fixing frame (13) has an L-shaped structure, which can realize that the connecting seat (12) can be rotated by a certain angle after being pressed.

[0040] Furthermore, a limiting plate (14) is fixed on the inner wall of the fixing groove (10), and the limiting plate (14) is in contact with the signal transmission component (27). The support mechanism 30 is a support spring, which can push the slider 28 upward under the action of the restoring elastic force. After the slider 28 moves upward, it pushes the connecting seat 12 upward and stores it inside the fixing groove 10. This allows the signal transmission component (27) to contact the limiting plate (14) in the stored state, limiting the signal transmission component (27) to prevent it from coming out of the fixing groove (10) when vibrating.

[0041] Furthermore, both the lifting mechanism 8 and the displacement mechanism 22 are linear reciprocating electric push rods. The lifting mechanism 8 and the displacement mechanism 22 work together to achieve secondary lifting of the movable seat 9, thereby adjusting the height of the radar imager 16.

[0042] Furthermore, the rotating disk (23) is uniformly provided with limiting posts (25); the bottom of the radar imager (16) is fixedly provided with a fixed disk (15); the fixed disk (15) is provided with an opening (24) at a position corresponding to the limiting post (25); the opening (24) is installed on the limiting post (25); a rotating motor is installed at the bottom of the rotating disk (23); the rotating motor is installed inside the movable seat 9.

[0043] Furthermore, the limiting post (25) is provided with a retaining ring (26); a limiting ring is fixed on the inner wall of the opening (24); the limiting ring and the retaining ring (26) cooperate to disengage the opening (24) from the limiting position.

[0044] Furthermore, a maintenance plate 17 is movably installed on the side of the movable seat 9. An air inlet 18 is opened on the maintenance plate 17. The air inlet 18 cooperates with the rotating motor. The limiting ring and the retaining ring 26 cooperate to achieve the fixed installation of the fixed plate 15 without the action of external force. Later, when the fixed plate 15 is pulled upward by external force, the fixed plate 15 can be quickly removed from the limiting post 25.

[0045] Furthermore, the base (1) is provided with uniformly spaced fixing holes (3); a ground plug is movably installed inside the fixing holes (3).

[0046] Furthermore, the base (1) has an opening (2) at a position corresponding to the movable seat (9); the size of the opening (2) is such that the movable seat (9) can pass through.

[0047] In use, the device involves installing a grounding plug inside the fixing hole 3 on the base 1, which limits and fixes the base 1. The radar imager 16 is then mounted on the limiting post 25 through the opening 24 on the fixing plate 15. Pressing down on the limiting ring on the inner wall of the opening 24 forces it through the retaining ring 26, which engages with the limiting ring to limit and fix the fixing plate 15. When adjusting the height of the radar imager 16, the lifting mechanism 8 is activated to move the mounting base 6 up and down inside the slot 5. As the mounting base 6 moves up and down, the output shaft 21 drives the limiting block 20 to move. The limiting block 20 then pushes the movable seat 9 up and down inside the support base 4 for adjustment. When the mounting base 6 reaches one end of the slot 5, it stops moving. The displacement mechanism 22 is then activated to push the limiting block 20 downwards, generating a counterforce on the movable seat 9. The movable seat 9 completes a secondary height adjustment under the push of the displacement mechanism 22, satisfying different usage conditions. When the installation angle of the radar imager 16 needs to be adjusted, the rotating mechanism 7 is activated to drive the limit block 20 to rotate. As the limit block 20 rotates, the movable seat 9 rotates accordingly, changing the installation angle of the radar imager 16. Before the movable seat 9 tilts, the fixing bracket (13) is pressed to move the connecting seat 12 downward. The slider 28 descends inside the slide groove 11. The descent of the slider 28 presses against the support mechanism 30, and the connecting seat 12 moves downward to separate one end of the limit plate 14 from the signal transmission component 27. Then, the fixing bracket (13) is engaged, and the connecting seat 12 is rotated through the rotating shaft 29. After rotation, the connecting seat 12 opens outward to expose the signal transmission component 27 for use. When not in use, the signal transmission component 27 is retracted according to the above reverse steps, the angle of the movable seat 9 is adjusted, and the movable seat 9 descends after being parallel to the support seat 4. The movable seat 9 descends downward so that the height of the radar imager 16 is lower than the height of the support seat 4, and the support seat 4 shields and protects the radar imager 16 from the side. Later, the movable seat 9 descends into the opening 2. The opening 2 serves as a left and right limit for the movable seat 9. Later, the movable seat 9 contacts the ground through the opening 2. The movable seat 9 pushes the base 1 upward, pulling the ground plug on the base 1 out of the ground, making it convenient for personnel to retrieve the device.

[0048] The following is an analysis of how the radar imager (16) and the signal transmission component (27) transmit electromagnetic waves to acquire SAR images under the coordination of altitude and angle: I. High-level adjustment mechanism 1. Height adjustment of the radar imager Level 1 lifting (overall height) The lifting mechanism (8, linear reciprocating electric push rod) pushes the mounting base (6) to move up and down in the slot (5) of the side plate, and drives the limit block (20) and the movable seat (9) to lift up and down as a whole through the output shaft (21), so as to realize the initial height adjustment of the radar imager (16).

[0049] For example, when the mounting base (6) moves to the top of the slot (5), the movable base (9) rises, and the height of the radar imager increases.

[0050] Level 2 elevation adjustment (fine-tuning) The displacement mechanism (22, linear reciprocating electric push rod) pushes the limit block (20) to move within the limit groove (19), and uses the reaction force to make the movable seat (9) rise and fall again, so as to achieve fine adjustment of height.

[0051] For example: when the first-stage lifting reaches the limit position, the displacement mechanism (22) pushes the limit block (20) downward, and the movable seat (9) moves upward due to the reaction force, completing the second height adjustment.

[0052] 2. High degree of coordination among signal transmission components The signal transmission component (27) is mounted on the connector (12), which is connected to the fixed groove (10) of the movable seat (9) via a slider (28) and a support mechanism (30, spring).

[0053] Storage state: The elastic force of the support mechanism (30) pushes the slider (28) to move upward, and the signal transmission component (27) is put into the fixed groove (10) and contacts the limiting plate (14) for limitation.

[0054] Working state: Press the fixed frame (13) to lower the connecting seat (12), compress the spring, and after the limit is released, the signal transmission component (27) can be rotated and unfolded. Its height changes synchronously with the overall lifting and lowering of the movable seat (9).

[0055] II. Angle Adjustment Mechanism 1. Radar imager angle adjustment Level 1 Angle Adjustment (Tilting Angle) The rotating mechanism (7, servo motor or stepper motor) drives the limit block (20) to rotate through the output shaft (21), causing the movable seat (9) to tilt and change the pitch angle of the radar imager (16).

[0056] For example, when the limit block (20) rotates 30°, the movable seat (9) tilts, and the direction of the electromagnetic wave emitted by the radar imager forms a corresponding angle with the horizontal plane.

[0057] Secondary angle adjustment (horizontal rotation) The rotating motor at the bottom of the rotating disk (23) drives the radar imager (16) to rotate horizontally (the fixed disk (15) is fitted onto the limiting post (25) through the opening (24), and the retaining ring (26) is fixed in conjunction with the limiting ring), thus achieving 360° azimuth adjustment.

[0058] For example, when the rotating disk (23) rotates 90°, the scanning direction of the radar imager changes from due north to due east.

[0059] 2. Angle coordination of signal transmission components The connecting seat (12) is connected to the slider (28) via a rotating shaft (29) and can rotate around the rotating shaft (29): When unfolded: Rotate the connecting seat (12) to orient the signal transmission component (27) toward the target direction (e.g., consistent with the scanning direction of the radar imager) to ensure that the signal transmission direction matches the electromagnetic wave emission direction.

[0060] When tilted: When the movable seat (9) is tilted, the signal transmission component (27) tilts synchronously with the connecting seat (12) to maintain the angle coordination with the radar imager (16).

[0061] III. Work Process and Coordination Logic Initial positioning The movable seat (9) is housed in the support seat (4) through the fixing hole (3) and the ground plug fixing base (1), and the radar imager (16) is lower than the support seat (4).

[0062] Height and angle adjustment Lifting: Activate the lifting mechanism (8) and the displacement mechanism (22) to lift the movable seat (9) to the target height in two stages.

[0063] Angle setting: The rotating mechanism (7) adjusts the tilt angle of the movable seat (9) to determine the pitch angle of the electromagnetic wave emission; Rotating disk (23) adjusts the horizontal azimuth angle of radar imager (16); Unfold the signal transmission component (27) and rotate it to the corresponding angle to ensure that the signal transmission path is unobstructed.

[0064] Data collection The control module synchronously activates the radar imager (16) and the signal transmission component (27): The radar imager emits electromagnetic waves and receives backscattered signals from the target. The signal transmission component transmits the collected data to external devices (such as computers) in real time for processing and to generate SAR images.

[0065] Storage and Relocation Adjust the movable seat (9) to a horizontal position, lower it into the opening (2) of the base (1), use the opening to limit and push the base to detach from the ground plug, so that the equipment can be easily recycled.

[0066] IV. Technological Advantages Flexible and adjustable The dual-stage lifting and dual-axis angle adjustment (pitch + horizontal) enable the equipment to adapt to complex terrains (such as mountains and gaps between buildings) and cover a wider detection range.

[0067] Structural synergy The signal transmission components are linked to the height and angle of the radar imager to avoid signal blockage or transmission delay due to positional deviations.

[0068] Rapid Deployment and Protection In the stowed state, the support base (4) and the limiting plate (14) provide physical protection for the core components, making it suitable for outdoor operations; when unfolded, it can be quickly positioned through a mechanical structure, shortening the preparation time.

[0069] Through the cooperation of the above mechanical structure and control logic, the radar imager (16) and the signal transmission component (27) can accurately adjust their position and direction in multi-dimensional space to ensure efficient coordination between electromagnetic wave transmission and signal transmission, and realize the acquisition of high-resolution SAR images of the target area.

[0070] Example 2 like Figure 7 The diagram shows a flowchart of an automatic SAR image detection and imaging method, used to control an automatic SAR image detection device in Embodiment 1. The method specifically includes the following steps: S1: Install the ground plug through the fixing hole (3) of the base (1) to fix the device in the target area (such as urban building area, mountain area, etc.), and load the default scanning parameters (such as initial height, angle range) in the control module, or manually set the parameters according to the task requirements (such as fine mapping, rapid survey).

[0071] S2: Perform scanning and data acquisition based on parameters to generate SAR image data.

[0072] S21: Initial height and angle adjustment.

[0073] First-level lifting start: The control module drives the lifting mechanism (8, electric push rod) to push the mounting base (6) to rise in the slot (5), and drives the movable base (9) to be lifted as a whole through the output shaft (21), so that the radar imager (16) reaches the initial working height.

[0074] Horizontal angle initialization: The rotating motor at the bottom of the rotating disk (23) drives the radar imager to rotate horizontally to the initial azimuth angle (e.g., 0°, due north).

[0075] S22: Perform initial scanning and data acquisition to generate SAR image data.

[0076] The radar imager (16) emits electromagnetic waves and receives the target backscattered signal. The control module transmits the initial data to the external data center in real time through the signal transmission component (27) to generate SAR image data.

[0077] S3: Performs real-time processing of SAR image data and generates adaptive adjustment parameters.

[0078] S31: The data center performs feature extraction and analysis on SAR image data.

[0079] S311: Quantify and extract vertical features, including target height (such as building floor number, terrain elevation) and occlusion height (such as trees, overpasses).

[0080] 1. Target / Obstruction Height Inversion: Based on interferometric SAR (InSAR) techniques or shadow length method, calculate the relative height of the target or obstruction.

[0081] The formula for the shadow length method is as follows: ; In the above formula, For target height; The length of the shadow; This is the radar elevation angle.

[0082] The formula for the interferometric phase method is as follows: ; In the above formula, The radar wavelength; This represents the interference phase difference.

[0083] Threshold determination: like The radar altitude was determined to be "severely obstructed" at a height of meters, necessitating a forced increase in radar altitude.

[0084] like If a target is identified as a "low-altitude target" (such as a low-altitude vehicle), the radar altitude needs to be lowered to below 10 meters to improve resolution.

[0085] 2. Radar Altitude Adaptability Assessment Current height coverage ratio: Coverage ratio = If coverage ratio Trigger height adjustment; if First, implement the first-level adjustment (coarse adjustment).

[0086] S312: Quantify and extract horizontal features, including target distribution density (such as building layout) and dynamic target location (such as moving vehicles and ships).

[0087] 1. Target distribution density analysis The formula for the density index is as follows: Target density = (units / square kilometer); High-density scenes (such as city centers): Density > 500 units / square kilometer, the scanning range needs to be reduced and the resolution increased (height reduced).

[0088] Low-density scenes (such as mountainous areas): density <100 units / square kilometer, the scanning range can be expanded (by increasing the altitude). 2. Dynamic target tracking accuracy Displacement rate: The target's moving speed V (unit: m / s) is obtained by cross-correlation calculation of two consecutive frames. Angle deviation: The angle between the current radar azimuth and the target's direction of movement. . Triggering condition: If V > 5 m / s and If the angle is greater than 60°, it is determined to be a "rapidly moving horizontal target", and horizontal angle tracking needs to be activated (rotary disk 23 speed increased to 10° / second).

[0089] S313: Feature calculation and extraction of imaging quality, including signal-to-noise ratio (SNR), geometric distortion (such as overlay, shadows), and resolution (such as whether it meets the 0.5-meter accuracy requirement).

[0090] 1. Signal-to-noise ratio (SNR) Calculation method: SNR = ; Threshold: If SNR < 10dB, it is judged as "low signal-to-noise ratio", and the distance between the radar and the target needs to be shortened (lower altitude) or the transmission power needs to be increased.

[0091] 2. Geometric distortion rate Overlay / Shadow Ratio: Distortion Rate = ; Threshold: If the distortion rate is >20% (such as in mountainous scenes), trigger pitch angle adjustment (adjust the pitch angle by 5° for every 10% distortion rate).

[0092] 3. Resolution Evaluation Azimuth resolution: calculated using the 3dB width of the point target response function (PSF), using the following formula: ( : Slope distance Synthetic aperture length) Range resolution: (c: speed of light, B: signal bandwidth) Triggering condition: If rice or The task requires a resolution of 0.5 meters, which needs to be optimized by reducing the height (shortening R) or increasing the synthetic aperture (horizontal angle scanning).

[0093] S32: Generate adaptive adjustment parameters based on the analysis results.

[0094] 1. Height adjustment parameters If the vertical coverage ratio is less than 50% and there is severe occlusion, a level 1 lift / lower command will be generated: .

[0095] If SNR < 10dB and target density is high, generate a level 2 elevation / reduction command: (The maximum drop shall not exceed 5 meters).

[0096] 2. Angle adjustment parameters If the geometric distortion rate is >30%, generate a pitch angle adjustment command: (Negative values ​​increase the pitch angle, positive values ​​decrease it) If the dynamic target displacement rate is >10m / s, generate a horizontal angle tracking command: Rotate the disk at 23 rotation speeds. (Maximum rotation speed is limited to 20° / second) 3. Scanning mode switching If the target density is <100 targets / square kilometer and the coverage ratio is >80%, switch to "census mode": keep the current height, increase the horizontal scanning interval to 60°, and shorten the scanning time per round by 50%.

[0097] S4: Dynamically adjust the height and angle according to the adjustment parameters and return to step S2 until no further dynamic adjustment of the height and angle is needed.

[0098] When the tilt angle of the movable seat (9) is greater than 45°, the signal transmission component (27) automatically activates the anti-interference mode, and the radar imager (16) increases the transmission power by 3dB to avoid signal attenuation caused by the tilt angle.

[0099] Based on the real-time analysis results, the control module repeats "S2~S4" to dynamically adjust the height and angle, performing multiple scans.

[0100] For example: if the initial scan detects trees obstructing a certain area, the radar altitude is increased and the elevation angle is raised to avoid the obstruction and then the area is rescanned.

[0101] For example, for moving vessels, continuously track their azimuth and fine-tune their altitude to maintain stable radar beam illumination.

[0102] S5: Fuse the images obtained from multiple scans to generate a new fused image.

[0103] Differences in height, angle, time, and modality are uniformly regarded as spatiotemporal feature dimensions. Through a four-step process of feature extraction, dimension alignment, weight allocation, and reconstruction optimization, dynamic fusion of multiple images is achieved.

[0104] S51: Extract spatiotemporal features from the images obtained in each round of scanning.

[0105] 1. Definition of Spatiotemporal Feature Dimensions Let the set of images acquired through multiple scans be . Each image corresponds to: Spatial dimension: height Pitch angle Horizontal azimuth ; Time dimension: Scan time ; Modal dimension: signal strength polarization mode (If any); 2. For each image Extracting feature vectors : ; Signal-to-noise ratio (see formula in S313) Includes directional direction and distance (See formula in S313) Overlay / shadow ratio (see formula in S313) Target feature vector (e.g., target height) ,density (See formulas in S311-S312) S52: Map features from different rounds to a unified coordinate system for spatial alignment, temporal alignment, and modal alignment.

[0106] 1. Geometric distortion in SAR images primarily originates from altitude. Pitch angle Horizontal azimuth The differences need to be addressed by mapping images from different rounds to a unified geographic coordinate system through coordinate transformation.

[0107] The mapping between pixels and geographic coordinates is established using the distance-Doppler equation, and the mapping formula is as follows: The geographic coordinates of the target can be represented as: ; in For azimuth pixels The corresponding sampling time, This is the equivalent moving speed of the antenna; The radar wavelength; The frequency is the Doppler frequency. This refers to the Doppler frequency corresponding to a specific pixel. X represents the target's azimuth coordinate in the global coordinate system (usually corresponding to the radar platform's movement direction, such as the horizontal axis), in meters. Y represents the target's range coordinate in the global coordinate system (the horizontal axis perpendicular to the platform's movement direction), in meters. Z represents the target's altitude coordinate (perpendicular to the horizontal plane, Z=0 is the reference ground), in meters. azimuth velocity is the speed of the radar platform in the azimuth direction (such as the moving speed of a UAV or vehicle-mounted radar), in meters per second. It determines the spatial sampling interval of the azimuth pixels and affects the azimuth resolution. H is the height of the radar antenna phase center (vertical distance from the reference ground), in meters, and is used together with the slant range and elevation angle to calculate the target height Z. The wavelength of radar transmitted signals, measured in meters. is the radar's elevation angle (the angle between the line of sight and the horizontal plane), in radians or degrees. u is the pixel's azimuth coordinate in the image (column number, counted from left to right), dimensionless. v is the pixel's range coordinate in the image (row number, counted from top to bottom), dimensionless. The Doppler frequency sampling interval in the azimuth direction is expressed in Hz per pixel. The pulse repetition frequency, (Number of pixels in the azimuth direction). The pixel resolution in the distance direction (the increment of slant distance represented by each pixel), in meters per pixel. . This represents the horizontal coordinate of the radar platform in the range direction at the initial moment (usually 0, depending on the coordinate system origin setting), in meters. The sampling time corresponding to the azimuth pixel u is expressed in seconds. . This is the horizontal azimuth angle.

[0108] For each pixel (u,v) in the image, calculate its coordinates (X,Y,Z) in the global coordinate system and fill them into the reference grid using interpolation (such as bilinear interpolation).

[0109] 2. There may be time intervals between different scan cycles (such as dynamic target displacement or scene changes), which need to be eliminated by time registration.

[0110] 2.1 Dynamic Target Compensation Set the target at The displacement during the period is: ; in ; These are three-dimensional velocity components.

[0111] Compensation methods: In the global coordinate system, the first Target coordinates of the wheel image are translated in reverse. : 3. Modal dimension alignment (core: data standardization; this step is only necessary when there are modal differences) If different scanning cycles use different polarization methods (such as W, VH) or bands (such as C band, X band), they need to be unified to the same mode space.

[0112] 3.1 Polarization scattering matrix Convert to covariance matrix Furthermore, polarization mode normalization is achieved by eliminating inter-polarization correlations through Gram-Schmidt orthogonalization. The polarization scattering matrix is ​​determined by the target's geographic coordinates (X, Y, Z) and describes the target's scattering characteristics to electromagnetic waves with different polarizations. It is typically... Complex matrices: ; The vertical transmit / vertical receive polarization signal strength; The vertical transmit / horizontal receive polarization signal strength; The intensity of the horizontally transmitted / vertically received polarized signal; This represents the horizontally transmitted / received polarized signal strength. Matrix element values ​​are determined by radar altitude. Pitch angle Horizontal azimuth and target geographic coordinates The decision is made (via the distance-Doppler equation mapping in 3.1).

[0113] ; for The conjugate transpose of the matrix (first take the complex conjugate, then transpose); To perform a statistical average of pixels within a spatial neighborhood (determined by the geographic coordinates in 3.1), the formula is as follows: ;in For spatially aligned local neighborhoods; The number of pixels in the neighborhood; Let be the covariance matrix.

[0114] ; It is the polarization covariance matrix The eigenvector matrix of has column vectors . The unit orthogonal eigenvectors are arranged in descending order of their corresponding eigenvalues. It is by A diagonal matrix composed of eigenvalues, with diagonal elements of . , which correspond to the largest and second largest eigenvalues, respectively. The energy of the dominant polarization channel (such as the scattering energy of VV polarization). This refers to the energy of the secondary polarization channel (such as the scattering energy of VH polarization).

[0115] ; Let be the normalized polarization covariance matrix of the kth round. The eigenvector matrix; It is a diagonal matrix of eigenvalues; eigenvector matrix The conjugate transpose of .

[0116] 3.2 Strength Modal Standardization Signal strength in different frequency bands Logarithmic transformation and standardization are employed: ; In the above formula, The signal strength after standardization in the k-th round; The original signal strength (with spatial coordinates (X,Y,Z) and time) (Related) The first The mean and standard deviation of each round. It is a very small constant; S53: In a unified coordinate system, assign weights to various features of the image obtained in each round of scanning, and regenerate the comprehensive weights of the image in that round of scanning.

[0117] Signal-to-noise ratio (SNR) weighting: The higher the SNR, the more reliable the signal quality of the data in that round.

[0118] Signal-to-noise ratio (SNR) weighting formula: ; Example: If the first If the total signal-to-noise ratio is 50 dB, then its weight is 0.3.

[0119] Resolution weight: The higher the resolution (the smaller the pixel size), the stronger the ability to represent details, and the higher the weight should be.

[0120] Resolution weighting formula: ; in, For azimuth resolution, This refers to the distance resolution. Example: If the resolution for a given round is 0.5 meters... If the product of the reciprocals of a meter is 4 and the sum of the reciprocals is 10, then the weight is 0.4.

[0121] Geometric distortion rate weight: The lower the distortion rate (less overlay / shadow), the higher the geometric accuracy of the data, and the higher the weight should be.

[0122] Geometric distortion rate weighting formula: in, For the first Wheel geometric distortion rate (range: Example: If the distortion rate in a certain round is... (i.e., 0.1), then If the sum is 3.6, then the weight is 0.25.

[0123] Time-related weight (for dynamic scenarios): The closer the scanning time is to the reference time (such as the current time), the more accurate the data representation of the dynamic target is, and the higher the weight is.

[0124] Time-related correlation weighting formula: Time-related weighting (for dynamic scenarios): The closer the scan time is to the reference time (e.g., the current time), the more accurate the data representation of the dynamic target, and the higher the weight. Here, λ is the time decay factor. For the first Round scan time, This is a reference time. Example: If the interval between a scan time and the reference time is 1 minute, Then the exponent term is If the total index is 2, then the weight is 0.303.

[0125] Overall weight calculation: The final weight of each round of data is the normalized product (or weighted sum) of the weights of the above dimensions, which needs to be adjusted according to the scenario: S54: The weighted least squares method is used to fuse the scan images from each round according to their respective comprehensive weights to generate a new fused image. .

[0126] ; Represents the scan images from each round. With fused images The sum of weighted squared differences, weights The weight allocation rules in step S53 (such as signal-to-noise ratio, resolution, etc.) ensure that high-reliability data contributes more to the fusion result. Noise is suppressed by minimizing the gradient sparsity of the fused image while preserving edge details. This is the regularization parameter, which balances the strength of data fitting and noise suppression.

[0127] Solution methods: The calculation can be accelerated by alternating direction multiplier method (ADMM) or fast Fourier transform (FFT); S55: The fused image must meet the following requirements: If the conditions are not met, a rescan mechanism is triggered (return to S3).

[0128] S6: Scanning Completed and Equipment Storage S61: Status Reset The control module drives the movable seat (9) to descend to the initial horizontal state, and the radar imager (16) is lower than the support seat (4) to avoid external impact.

[0129] The signal transmission component (27) is inserted into the fixed groove (10), limited by the limiting plate (14), and the support mechanism (30, spring) is reset.

[0130] S62: Equipment Recycling The movable seat (9) descends into the opening (2) of the base (1), using the opening to limit and push the base away from the ground plug, making it easy to transport and store.

[0131] Advantages compared to existing technologies: I. The Core Value of High-Level Regulation 1. Expand vertical coverage Flexible adaptation between high and low altitudes: Through a primary lifting mechanism (lifting mechanism 8) and a secondary lifting mechanism (displacement mechanism 22), the radar imager can operate at different altitudes (such as low altitude close to the target or high altitude overlooking the entire situation): In low-altitude scenarios (such as urban building detection): reducing the altitude can shorten the distance between the radar and the target, increase the echo signal strength, and improve the detail resolution (such as wall texture and vehicle outline).

[0132] High-altitude scenarios (such as topographic mapping): Increasing the altitude can expand the coverage area of ​​a single scan, reduce the number of repeated scans, and improve work efficiency.

[0133] Avoiding obstruction: When there are obstacles (such as trees or buildings) in the target area, the radar beam is adjusted to be higher than the obstruction by adjusting the height, so as to avoid signal blockage and imaging blind spots.

[0134] 2. Optimize signal-to-noise ratio and image quality Distance-Energy Relationship: Radar signal strength is inversely proportional to the square of the distance. By adjusting the altitude to shorten the vertical distance between the radar and the target, echo energy can be enhanced and noise interference reduced, especially improving image clarity in low signal-to-noise ratio environments (such as fog, haze, and complex terrain).

[0135] Multi-height data fusion: Scanning the same area at different altitudes can acquire multi-scale data (such as high-resolution details at low altitudes + global contours at high altitudes), and a more complete SAR image can be generated through data fusion.

[0136] II. The Core Value of Angle Adjustment 1. Pitch (Tilt) Adjustment Multi-angle imaging enhances the sense of depth: The pitch angle of the movable seat 9 can be adjusted by rotating mechanism 7 (e.g., tilting from 0° to 60°), allowing the radar beam to illuminate the target at different incident angles. Small incident angle (near horizontal illumination): suitable for observing planar targets (such as roads and sea surfaces), highlighting the edge features of the target (such as bridge structures and ship outlines).

[0137] Large angle of incidence (near vertical illumination): suitable for obtaining top details of the target (such as vegetation canopy structure, building roof texture).

[0138] Multi-angle data synthesis: By combining echo data from different pitch angles, the three-dimensional terrain or deformation information of the target (such as ground subsidence monitoring) can be retrieved through interferometric measurement technology (InSAR).

[0139] Suppressing overlay and shadow effects: In mountainous or high-altitude environments, fixed-angle scanning can easily produce "overlap" (overlapping echoes from steep terrain) or "shadows" (areas that cannot be illuminated by radar beams). By dynamically adjusting the elevation angle, such geometric distortions can be reduced, improving the accuracy of image interpretation.

[0140] 2. Horizontal angle (azimuth) adjustment 360° omnidirectional scanning coverage: Rotating disk 23 drives the radar imager to rotate horizontally (0°~360°), enabling all-around scanning of the target: Multi-faceted feature acquisition of targets: For moving objects such as airplanes and vehicles, multi-view features such as side and front views can be extracted by imaging from different azimuth angles to assist in target recognition and classification.

[0141] Scene blind spot filling: When there are blind spots in a fixed azimuth angle scan (such as building obstruction), rotating to other azimuth angles can fill in the missing data.

[0142] Synthetic aperture length optimization: SAR imaging uses a platform to move and synthesize an equivalent large-aperture antenna. Adjusting the horizontal angle can simulate different "flight trajectories," extend the synthetic aperture length, and improve azimuth resolution (e.g., from 1 meter resolution to 0.5 meters).

[0143] III. The combined advantages of coordinated adjustment of height and angle 1. Adaptive capability in complex scenarios Coping with the urban canyon effect: In densely populated areas of high-rise buildings, by increasing the altitude and adjusting the elevation angle, the radar beam can penetrate the "canyon" in an oblique incidence manner, avoiding multiple reflection interference (such as multipath effect) when vertically illuminating, and improving the imaging quality of building facades.

[0144] Dynamic target tracking: For moving targets (such as ships and vehicles), the height and angle can be adjusted synchronously in real time to keep the radar beam locked on the target and avoid imaging blur caused by target displacement.

[0145] 2. Efficient operation and data diversity Multiple mode switching: By pre-setting the height-angle combination, it can quickly switch between "detailed survey mode" (low altitude + small angle, high resolution) and "general survey mode" (high altitude + large angle, wide coverage) to meet different task requirements (such as rapid screening and accurate positioning in emergency rescue and disaster relief).

[0146] Four-dimensional data acquisition: By combining the time dimension (such as scanning on different dates), height and angle adjustments can acquire multidimensional data of "space + time" for monitoring dynamic changes of targets (such as glacier movement and crop growth).

[0147] Through mechanical structural innovation (dual-stage lifting + dual-axis rotation), "in-situ multi-dimensional scanning" of the SAR imaging system is achieved without relying on carrier movement, reducing dependence on platforms (such as drones and satellites) and improving the equipment's environmental adaptability and operational flexibility.

[0148] The height and angle adjustment functions upgrade the SAR imaging system from "passive reception" to "active detection". By dynamically optimizing the spatial pointing and energy distribution of the radar beam, it solves the limitations of traditional fixed platforms in terms of coverage, resolution, and geometric accuracy. It is especially suitable for scenarios with high requirements for real-time and multi-dimensional data, such as urban fine mapping, disaster emergency monitoring, and moving target tracking.

[0149] This application discloses an automatic SAR image detection device and method, relating to the field of radar detection technology, and solves the problem of inconvenient height and angle adjustment of existing radar imagers. The device includes a base, a support, a movable base, and a control module. It achieves two-stage lifting and two-axis angle adjustment (elevation angle and horizontal azimuth angle) of the radar imager through a lifting mechanism, a displacement mechanism, and a rotation mechanism. The signal transmission component moves in coordination with the imager. The detection method includes parameter setting, multi-round scanning, data processing, dynamic adjustment, and image fusion. It generates a high-resolution fused image using spatiotemporal feature alignment and weighted least squares. This invention can flexibly adapt to complex terrain, improve signal-to-noise ratio and resolution, and is suitable for scenarios such as urban mapping and disaster monitoring. It has the advantages of rapid deployment, multi-dimensional detection, and strong data fusion capabilities.

[0150] Those skilled in the art will recognize that the units of the various examples described in connection with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of the invention.

[0151] In the embodiments provided by the present invention, it should be understood that the division of units is only a logical functional division. In actual implementation, there may be other division methods, such as multiple units can be combined into one unit, one unit can be split into multiple units, or some features can be ignored.

[0152] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0153] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0154] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be covered within the scope of the claims and specification of the present invention.

Claims

1. An automatic SAR image detection device, characterized in that, include: Includes a base (1); the base (1) is provided with a support seat (4) composed of two side plates; a movable seat (9) is movably installed between the two side plates; the side plates are provided with slots (5); a mounting seat (6) is movably installed inside the slots (5); a rotating mechanism (7) is fixedly installed on the mounting seat (6); a limiting groove (19) is provided on the side of the movable seat (9) near the slots (5); a limiting block (20) is movably installed inside the limiting grooves (19); the limiting block (20) is connected to the rotating mechanism (7) through an output shaft (21); a lifting mechanism (8) is provided inside the side plates to push the mounting seat. (6) Move up and down in the slot (5); the movable seat (9) is provided with a displacement mechanism (22) to push the limiting block (20) to move in the limiting groove (19); the top of the movable seat (9) is provided with a rotating disk (23); the rotating disk (23) is provided with a radar imager (16); the movable seat (9) is provided with an extendable signal transmission component (27) on the side plate away from the support seat (4); it also includes a control module, which is electrically connected to the rotating mechanism (7), the lifting mechanism (8), the displacement mechanism (22), the rotating disk (23), the radar imager (16), and the signal transmission component (27).

2. The SAR image automatic detection device according to claim 1, characterized in that, The movable seat (9) has a fixing groove (10) on the side away from the side plate of the support seat (4); a connecting seat (12) is movably installed inside the fixing groove (10); a sliding groove (11) is opened on the inner wall of the fixing groove (10), and a support mechanism (30) is fixed inside the sliding groove (11). A slider (28) is provided at the upper end of the support mechanism (30); a rotating shaft (29) is installed on the slider (28), and one end of the rotating shaft (29) is fixed on the connecting seat (12); the signal transmission component (27) is located on the top of the connecting seat (12); a fixing frame (13) is provided on the side away from the sliding groove (11) of the connecting seat (12).

3. The SAR image automatic detection device according to claim 2, characterized in that, A limiting plate (14) is fixed on the inner wall of the fixing groove (10), and the limiting plate (14) is in contact with the signal transmission component (27).

4. The SAR image automatic detection device according to claim 1, characterized in that, Both the lifting mechanism (8) and the displacement mechanism (22) are linear reciprocating electric push rods. The lifting mechanism (8) and the displacement mechanism (22) work together to achieve the secondary lifting of the movable seat (9) and adjust the height of the radar imager (16).

5. The SAR image automatic detection device according to claim 1, characterized in that, The rotating disk (23) is uniformly provided with limiting posts (25); the bottom of the radar imager (16) is fixedly provided with a fixed disk (15); the fixed disk (15) is provided with an opening (24) at a position corresponding to the limiting post (25); the opening (24) is installed on the limiting post (25); the bottom of the rotating disk (23) is provided with a rotating motor.

6. The SAR image automatic detection device according to claim 5, characterized in that, The limiting post (25) is provided with a retaining ring (26); a limiting ring is fixed on the inner wall of the opening (24); the limiting ring and the retaining ring (26) cooperate to disengage the opening (24) from the limiting position.

7. The SAR image automatic detection device according to claim 1, characterized in that, The base (1) has evenly spaced fixing holes (3); a ground plug is movably installed inside the fixing holes (3).

8. The SAR image automatic detection device according to claim 7, characterized in that, The base (1) has an opening (2) at a position corresponding to the movable seat (9); the size of the opening (2) is such that the movable seat (9) can pass through.

9. An automatic detection method for SAR images, characterized in that, The automatic SAR image detection device according to any one of claims 1 to 8 specifically includes the following steps: S1: Fix the device in the target area, and the control module loads the default initial scan parameters or sets the initial parameters according to the task requirements; S2: Perform scanning and data acquisition based on parameters to generate SAR image data; S3: Performs real-time processing of SAR image data and generates adaptive adjustment parameters; S4: Dynamically adjust the height and angle according to the adjustment parameters and return to step S2 until no further dynamic adjustment of the height and angle is needed; S5: Fuse the images obtained from multiple scans to generate a new fused image.

10. The SAR image automatic detection method according to claim 9, characterized in that, In step S5, fusing the images obtained from multiple rounds of scanning to generate a new fused image includes the following steps: S51: Extract spatiotemporal features from the images obtained in each round of scanning; S52: Map features from different rounds to a unified coordinate system for spatial alignment, temporal alignment, and modal alignment; S53: In a unified coordinate system, assign weights to various features of the image obtained in each round of scanning, and regenerate the comprehensive weights of the image in that round of scanning; S54: The weighted least squares method is used to fuse the scan images from each round according to their respective comprehensive weights to generate a new fused image.

Images