Millimeter wave synthetic aperture radar imaging method and system based on quadruped robot

By adjusting the quadruped robot's scanning trajectory to a vertical path and combining pose graph optimization and generative adversarial network processing, the problems of synthetic aperture construction and motion error compensation in high-resolution millimeter-wave SAR imaging of quadruped robot platforms are solved, improving imaging accuracy and clarity, and making it suitable for high-quality imaging in complex environments.

CN121934082APending Publication Date: 2026-04-28SHANGHAI UNIV
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Patent Information

Application Number
CN202610395434.9
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2026-03-30
Publication Date
2026-04-28

AI Technical Summary

Technical Problem

Existing technologies for achieving high-resolution millimeter-wave SAR imaging using quadruped robot platforms face challenges in synthetic aperture construction, motion error compensation, and image quality improvement, especially in complex environments where high-precision imaging is difficult to achieve.

Method used

A millimeter-wave synthetic aperture radar imaging method based on a quadruped robot is adopted. By adjusting the scanning trajectory to a vertical scanning path, a pose map is constructed by combining the robot's own sensor data to estimate the motion trajectory and perform phase compensation. Frequency domain filtering and generative adversarial networks are applied for image processing to reconstruct the target contour and repair missing areas.

Benefits of technology

It achieves high-resolution perception and robust imaging in complex scenarios, improves imaging accuracy and practicality, overcomes the limitations of quadruped robot motion characteristics, significantly reduces the negative impact of motion errors on imaging quality, and outputs clear and accurate SAR images.

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Abstract

The invention relates to the technical field of mobile robot platform radar imaging, in particular to a millimeter wave synthetic aperture radar imaging method and system based on a quadruped robot. The method comprises the steps that a traditional horizontal scanning track is adjusted into a vertical scanning path, and the quadruped robot is controlled to execute cyclic vertical and horizontal compound motion so as to construct a virtual antenna array; constructing a pose map by using sensor data of the robot, estimating a motion track through a pose map optimization algorithm, and compensating a phase error; and sequentially applying a frequency domain filtering fringe removing method and a generative adversarial network image restoration method taking an optical image as a reference to the initial SAR image to reconstruct a target contour and restore a missing region. According to the method, the influence of non-rigid motion of the quadruped robot on imaging is overcome, robust high-resolution imaging under shielding and non-line-of-sight scenes is realized, and the complex environment sensing capability of a mobile robot platform is expanded.
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