143 results about "Slant range" patented technology

The invention provides a three-dimensional positioning method and system for a satellite-borne multi-base radar system based on weighted linear iteration, and the method comprises the steps: obtaining radar echo data of a plurality of receivers, carrying out the effective detection of a target, and carrying out the searching of a pitch angle and a space taper angle of a target signal through a two-dimensional adaptive filtering technology, obtaining two-dimensional angle estimation information of the target at different bases and different visual angles; constructing a nonlinear equation set according to two-dimensional angle information and slope distance information of the target under different visual angles, and performing first-order Taylor expansion on the nonlinear equation set to obtain a corresponding linear overdetermined equation set; and forming a precision matrix according to the known measurement precision of the radar system, and carrying out normalization operation and iterative solution on the linear overdetermined equation to obtain the three-dimensional coordinate of the target in the earth-centered earth-fixed coordinate system, thereby obtaining the latitude, longitude and height information of the target, and realizing the high-precision three-dimensional positioning of the multi-static radar system.

The invention belongs to the technical field of meteorological radars, and particularly relates to an airship-borne meteorological radar three-dimensional wind field inversion method based on multi-angle asymmetric coplanar analysis, and the method specifically comprises the steps: enabling an airship to fly linearly in a certain direction, and carrying out the volume scanning, doppler radial velocity and radar scanning information of a target observed at each parking position of the airship-borne meteorological radar are acquired, and the position and slant distance of the target are calculated; dividing every two parking position observation results into one group, and selecting a combination meeting performance optimization conditions based on the performance optimization conditions of the MA-ASCAT model; on the basis of an inversion formula of an MA-ASCAT model, first two dimensions under a cylindrical coordinate system are obtained through inversion by utilizing the screened combination, and a third dimension is solved according to the wind speeds of the first two dimensions on the basis of an incompressible mass continuity equation; and converting the three-dimensional wind speed under the cylindrical coordinate system into a Cartesian coordinate system, so that the three-dimensional wind field inversion method is completed.

On the basis of tight coupling of the SINS and the USBL, a dual-hydrophone differential model is provided, constant errors in USBL measurement are eliminated, and the influence of slant range noise on navigation precision is relieved; a measurement equation of a dual-hydrophone differential model is established, so that the precision and reliability of the integrated navigation system are improved; a robust iterative Kalman filtering algorithm based on approximate least-square estimation is introduced, measurement dimensions are comprehensively evaluated, measurement noise covariance is dynamically adjusted, and the numerical stability and robustness of the algorithm are improved. According to the method, whether the measured data at the current moment is an abnormal value or not is judged according to previous data, the robust weight is reasonably distributed to the measured data, the adverse effects of subsequent steps such as state estimation are reduced through a method of reducing the weight of the abnormal value, and normalization operation is carried out on the measured residual error according to the adverse effects, so that the residual error distribution is more regular, and the accuracy is improved. And the updating result of the measurement noise covariance is further optimized, so that the precision of the whole Kalman filtering algorithm is improved.

The invention provides a distributed MIMO clutter echo simulation method based on GIS information, and the method comprises the steps: obtaining the GIS information of a geographic information system, and dividing a surface scatterer irradiated by an MIMO radar into a plurality of basic scattering units based on the GIS information; calculating slope distances, Doppler frequencies, terrain elevation values and land cover types of the plurality of basic scattering units to form a scene model element set; mapping a plurality of basic scattering units to a radar resolution unit by combining a backscattering coefficient empirical model and a resolution adaptive grid mapping method according to the scene model element set; dividing the radar resolution unit into a permanent scattering area and a dynamic scattering area according to GIS information; performing clutter statistical characteristic simulation processing on the permanent scattering region and the dynamic scattering region to obtain a clutter amplitude sequence; and performing echo analysis processing on the clutter amplitude sequence in a time-frequency domain to obtain clutter echo simulation data. And the simulation precision of clutter echo simulation data is integrally improved.

The application discloses a fusion positioning algorithm based on low-orbit satellite Doppler measurement, DME and VOR, relates to the technical field of satellite navigation, and comprises the following steps: acquiring the Doppler frequency shift of a low-orbit satellite, the slant range information of a DME and the azimuth angle data of a VOR, constructing a combined observation equation, and obtaining a corresponding Jacobian matrix; based on a geometric dilution of precision, selecting stations and stars through a genetic algorithm, optimizing the selection of the DME, the VOR and the low-orbit satellite, and obtaining an optimal navigation source combination; constructing a motion model under different flight modes, and dynamically estimating the state of an aircraft by using an interactive multiple model Kalman filter, and updating the position information in real time. Therefore, the real-time positioning of the aircraft under complex conditions is realized, the anti-interference capability of the system is improved, and the overall positioning precision and stability of the system are improved.

The method for estimating the area of an irregular-shaped fire scene using an optoelectronic pod in the present invention belongs to the technical fields of navigation control algorithms and infrared image processing, and includes: S101: Preprocessing and background suppression are performed on the infrared thermal image, and the fire scene area in the image is identified according to the gray value of the image and the set temperature threshold; S102: Determine the slant range information of the fire scene area aligned with the optical axis of the pod; S103: Place the infrared thermal image in a rectangular coordinate system with the alignment point of the pod optical axis as the origin, and the fire scene area forms an irregular area in the rectangular coordinate system; S104: Calculate the area projected onto the actual ground for each pixel in the fire scene area according to the optical axis attitude, geographical location information, and slant range information, and add up the projected areas of each pixel to obtain the fire scene area on the actual ground. It can greatly improve the efficiency of forest fire prevention emergency rescue and the accuracy and real-time nature of fire situation reports, thereby achieving rapid analysis of forest fire situations and providing strong information support for forest fire fighting and emergency command.

The present invention provides a method for satellite system beam position scheduling planning for a designated area, comprising the following steps: Step 1: inputting information related to the satellite system beam position scheduling plan; Step 2: dividing the area into sub-areas based on the input information; Step 3: calculating the maximum slant range based on the input information; Step 4: performing beam position scheduling planning using the maximum slant range and the divided sub-areas; and Step 5: outputting the optimal beam position scheduling plan. By dividing the designated area into a union of a finite number of non-overlapping sub-areas and measuring the coverage size using the number of beam position coverage sub-areas, the present invention addresses the problem of irregular beam position coverage and difficulty in effective selection. Furthermore, the present invention can solve the beam position scheduling problem for information acquisition and transmission tasks in a designated area, achieving efficient scheduling of satellite antenna beam positions and improving mission performance.

The invention discloses a time domain point-by-point imaging method, system and device for receiving and transmitting synthetic aperture sonar, and the method comprises the steps: calculating the synthetic aperture length and synthetic aperture time for any pixel in an imaging region; calculating the distance between the sonar and the pixel at the moment of transmitting the signal, and calculating the distance between the sonar and the pixel at the moment of receiving the signal to obtain an accurate two-way slant range process; calculating a reference echo signal corresponding to the pixel according to a two-way slant range process and related parameters of the signal; carrying out range-to-frequency domain conversion on the actually measured echo signal, carrying out range-to-frequency domain conversion on the reference echo signal, and carrying out conjugate multiplication processing on a conversion result; coherent accumulation is carried out on all conjugate multiplication results, and the result is used as an imaging result of the pixel; and for other pixels in the imaging area, repeatedly executing the steps to obtain imaging results of all pixels in the whole imaging area.

The invention relates to the technical field of synthetic aperture radar signal processing, and discloses a CS imaging method based on an ultrahigh-resolution slip SAR high-order slope distance model, and the method comprises the steps: building a high-order slope distance model based on the ephemeris parameters of a synthetic aperture radar satellite and the position information of an imaging target; determining a first expression of an original echo signal of a synthetic aperture radar satellite in a two-dimensional frequency domain and a second expression of the original echo signal in a distance Doppler domain based on a high-order slant-range model, and constructing a phase compensation function based on the first expression and the second expression; and performing range compression, range migration correction, secondary range compression and azimuth compression based on the phase compensation function to generate a focused synthetic aperture radar image. According to the method, universality description can be carried out on the slant range process of the SAR satellites running in different eccentricity rate orbits, and high precision can be kept.

The invention discloses a receiving and transmitting combined synthetic aperture sonar distance stack imaging method, system and device, and relates to the technical field of image processing, and the distance stack imaging method comprises the steps: calculating a two-way slant range course for a reference point target in an imaging region; calculating a reference echo signal of a reference point target based on the two-way slant range course and the parameters of the transmitted signal, and performing two-dimensional frequency domain transformation to obtain a reference frequency spectrum; two-dimensional frequency domain transformation is carried out on an original actually-measured echo signal of the receiving and transmitting combined synthetic aperture sonar to obtain an echo frequency spectrum, and conjugate multiplication is carried out on the echo frequency spectrum and a reference frequency spectrum in a two-dimensional frequency domain; coherent accumulation is carried out in a range direction frequency domain according to a conjugate multiplication result, and inverse Fourier transform is carried out in an azimuth direction; and processing the pixels at other distances in the imaging area according to the steps to obtain processing results of all the pixels in the whole imaging area, and carrying out carrier frequency removal on the basis to obtain an imaging result of the whole imaging area.

The invention discloses a squint synthetic aperture sonar imaging method based on a dynamic slant-range space-variant model, and relates to the technical field of synthetic aperture sonar imaging, and the method comprises the steps: constructing a dynamic slant-range model; inputting the converted data into the dynamic oblique variation model to obtain a residual space-variant distance bending amount, and compensating the space-variant distance bending amount by using a first filter; according to the dynamic slope distance model, expanding the azimuth time offset into an azimuth frequency modulation factor; based on the azimuth frequency modulation factor and the azimuth time offset, designing a second filter by using an improved extended nonlinear frequency modulation scaling algorithm, and filtering the corrected data by using the second filter; and carrying out Fourier transform on the filtered data, compressing the transformed data by using a third filter, and then carrying out inverse Fourier transform to obtain a focused synthetic aperture sonar image. According to the invention, the imaging performance and stability of the imaging algorithm in a low signal-to-noise ratio and strong multipath interference environment can be improved.

The invention belongs to the technical field of inverse synthetic aperture radars, and particularly relates to a tidal deformation dynamic modeling and parameter inversion method based on hybrid GRFT. The specific process is as follows: dynamic slope distance and echo modeling: aiming at each scattering point of a target celestial body, combining a radar position and introducing three-dimensional rotation correction caused by rotation to calculate a dynamic slope distance, and simulating a radar echo signal based on the dynamic slope distance; echo processing based on mixed GRFT: performing pulse compression on echo signals, compensating phase errors caused by rotation and deformation in sub-apertures by using the mixed GRFT, and performing non-coherent superposition on GRFT output of each sub-aperture; searching parameters: setting a search range of initial height and dynamic viscosity of each scattering point, setting a fitness function as non-coherent superposition energy synthesis of each scattering point, and searching in the search range until a termination condition is met; and tide deformation quantity calculation: calculating the tide deformation quantity according to the estimated values of the initial height and the dynamic viscosity of the searched scattering points.

An underwater tightly-coupled navigation method for SINS / DVL / USBL based on centralized filtering, the method comprising the following steps: (1) Select the state variables of the SINS / DVL / USBL navigation algorithm and construct the state equation of centralized filtering; (2) Convert and calculate the original beam frequency shift information in the DVL coordinate system according to the carrier velocity information output by the SINS, and convert and calculate the angle measurement information and slant range information in the USBL acoustic array coordinate system according to the carrier position information and the position information of the transponder; (3) Construct the SINS / DVL tightly-coupled measurement equation based on frequency shift measurement and the SINS / USBL tightly-coupled measurement equation based on relative measurement information; (4) Design the DVL and USBL fault detection and processing mechanisms, and design to isolate the DVL and USBL fault data. The present invention provides an underwater navigation algorithm for SINS / DVL / USBL based on centralized filtering, which can effectively solve the accuracy loss caused by the failure of DVL or USBL data during the navigation and positioning process, and improve the underwater positioning accuracy.

The invention relates to an interferometric synthetic aperture radar (InSAR)-based measurement method and system, and the method comprises the steps: determining the prior positions of a plurality of targets, and providing the prior positions to a ground processing unit; shooting an area where a plurality of targets are located by using an SAR satellite, and sending the obtained data to a ground processing unit; determining a phase difference between the targets for a single shot of the target; according to the determined phase difference and the SAR load wavelength, the slope distance between the targets is calculated through a ground processing unit; according to the slope distance and the satellite orbit information, the position relation between the targets is determined through a ground processing unit. The measuring system at least comprises a ground processing unit and an acquisition unit. According to the invention, shooting at the same track inclination angle and different track inclination angles can be realized, the limitation of heavy track shooting conditions in the prior art is broken through, and high-frequency and high-precision surface micro deformation measurement can be realized for different application scenes.

The invention discloses a side-scan sonar echo simulation method, system and device fusing the influence of translation errors, and the method comprises the steps: carrying out the simulation of the echo of a side-scan sonar according to the motion speed and time of the side-scan sonar and the three-dimensional space position error information of the side-scan sonar deviating from ideal linear motion; calculating three-dimensional space coordinates when the side-scan sonar receives and transmits signals; respectively calculating a two-way slant range process between the side-scan sonar and each target in the space; performing corresponding time delay processing on the broadband signal transmitted by the transmitting array element; calculating a Doppler phase brought by the movement of the side-scan sonar relative to the target in a time domain, and adding a corresponding Doppler phase for the delayed signal; coherent accumulation is carried out on the echo signals of all the targets in the time domain to obtain simulation echo signals; and demodulating the simulation echo signal in the time domain to obtain a baseband echo signal. According to the side-scan sonar echo simulation method, the echo signal of the side-scan sonar can be simulated with high precision when the system has translation errors.

This invention discloses a method for characterizing the imaging resolution of arbitrary trajectory cooperative detection synthetic aperture radar (SAR) based on fuzzy functions. The method includes: constructing an arbitrary trajectory cooperative detection SAR synthetic aperture radar imaging geometric model and a target plane geometric model; acquiring the slant range history of the arbitrary trajectory cooperative detection SAR and the echo signal after range-direction matched filtering in the two-dimensional time domain; constructing a SAR generalized fuzzy function based on the slant range history and the echo signal after range-direction matched filtering in the two-dimensional time domain; acquiring a normalized SAR generalized fuzzy function; acquiring the range resolution based on range resolution information; acquiring the azimuth resolution based on azimuth resolution information; and constructing a complete arbitrary trajectory cooperative detection SAR imaging resolution model based on the range resolution and azimuth resolution. This invention can effectively characterize the resolution performance in any direction.

The application discloses an aircraft landing interval five-edge slant distance automatic calculation method and system, relates to the field of aviation, and comprises the following steps: acquiring a data set of incoming flights, and sorting the flights in the data set of incoming flights to obtain an ordered flight sequence; for each flight in the ordered flight sequence, determining whether the flight can be used as a preceding aircraft; if yes, acquiring an original track point set of the flight; screening track points meeting preset requirements from the original track point set of the flight, and taking the track points as an effective track point set of the flight; obtaining a runway and an actual landing site of the flight according to the effective track point set of the flight; according to the actual landing site of the flight, finding out a following aircraft of the flight, and determining a spatial distance between the flight and the following aircraft and an interval type between the flight and the following aircraft. The application can accurately calculate the spatial distance between the preceding aircraft and the following aircraft, automatically determine the interval type, and does not need manual intervention.

The application provides a kind of InSAR deformation monitoring point high-precision geometric positioning method combined with three-dimensional model data, belongs to synthetic aperture radar technical field, comprising: converting three-dimensional model data into space rectangular coordinates, combined with satellite orbit parameter iteration to solve row and column coordinates in SAR image, calculate the slant range projection distance of satellite-observation vector, screen and eliminate invalid data in shadow area;With the screening result as a mask, obtain a subset of three-dimensional model data, calculate the row and column coordinates of the InSAR deformation monitoring point of the subset of three-dimensional model data, and search for candidate points based on plane geometric constraints, match the accurate elevation of the monitoring point by height system deviation;Based on the determined accurate elevation, construct the RD positioning model of distance constraint, Doppler frequency constraint and ellipsoid constraint, and solve the high-precision geometric position of InSAR deformation monitoring point. It can realize the high-precision geometric positioning of infrastructure InSAR deformation monitoring point, and improve the applicability in infrastructure fine deformation monitoring.

The invention discloses a distributed radar target detection method and device based on space-time unified compensation, and the method comprises the steps: determining a slope distance process expression between each radar in a distributed radar and a target object for each echo signal group; based on the slant range process expression, respectively constructing an envelope range walking correction function and a frequency domain phase compensation function between radars; according to the to-be-solved parameters of the target object and the parameters of the target radar corresponding to the echo signal group, respectively constructing a range walk correction function and a time domain phase compensation function in each radar; constructing a space-time two-dimensional compensation function according to the envelope range walk correction function, the frequency domain phase compensation function, the range walk correction function and the time domain phase compensation function; the phase-coherent accumulation echo signal expression constructed according to the space-time two-dimensional compensation function and the to-be-solved parameters of the target object is solved, the parameter target value of the target object can be obtained, and the target detection accuracy of the distributed radar is improved.

The application provides a kind of based on quasi-cone scanning's airborne depth laser radar system structure error's calibration method and device, comprising: establishing structure error calibration field;Global control coordinate system is established, and the coordinates of global control point, survey station, local control point and airborne depth laser radar mirror center are obtained using total station;Based on laser radar, the slant range from mirror center to laser reflection is obtained, and the laser foot point is pasted, and the laser foot point coordinates are obtained using total station;Based on the displacement and rotation geometric relationship between laser scanning reference coordinate system and global control coordinate system, error equation is constructed according to slant range, drive motor rotation angle and laser foot point coordinates;Based on the least square indirect adjustment principle, error equation is solved iteratively, and the structure error value of airborne depth laser radar system is obtained.The application can accurately obtain the structure error value of quasi-cone scanning airborne depth laser radar, and significantly improve the measurement quality and reliability of the whole depth measurement system.

The application relates to a space target joint imaging and attitude inversion method based on a spaceborne platform, and relates to the field of inverse synthetic aperture radar imaging, in particular to a space target joint imaging and attitude inversion method based on a spaceborne platform. The application aims to solve the problems that in the existing space target imaging process of a spaceborne platform, three-dimensional high-order space-variable range migration and phase errors caused by complex relative motion between the target and the platform are difficult to realize high-precision imaging, and the existing attitude estimation algorithm needs to be completely compensated for the rectangular component segmentation and orbit error before the attitude inversion can be realized. The process is as follows: one, a narrowband tracking system of a radar obtains target slant range and a radar line-of-sight unit vector; two, a wedge-shaped transformed signal is obtained; three, spatial Doppler parameter distribution of a special point is obtained; four, an imaging result is obtained; and five, accurate estimation of target attitude parameters is completed through plane coefficient fitting.

The present invention discloses a radar altitude estimation method based on forward-looking squint SAR echo signals, comprising the following steps: acquiring forward-looking squint SAR echo signals and performing range-direction pulse compression; performing frequency-domain range-direction segmentation on the pulse compression signals; transforming the range-direction sub-band signals back into the time domain; estimating the first baseband Doppler frequency of range unit data in the range-azimuth data in the time domain using a time-domain correlation method; resolving fuzzy numbers based on the first baseband Doppler frequency; performing time-domain range-direction segmentation on the pulse compression signals; estimating the second baseband Doppler frequency of the range-direction sub-block signals using a time-domain correlation method; and inferring the Doppler center frequency based on the second baseband Doppler frequency and the fuzzy numbers; calculating the radar altitude based on the Doppler center frequency and slant range by fitting a straight line; and determining a final estimated radar altitude based on the radar altitudes resolved for each range-direction sub-block signal. The present invention achieves accurate radar altitude estimation for high-speed platforms.

The present invention relates to an underwater acoustic image reconstruction method based on angle error compensation, comprising the following steps: (1) For each subsystem composed of a receiving array element and a transmitting array element, calculate the spatial coordinate information of the transmitting array element and the receiving array element and the two-way slant range history; (2) Calculate the two-way slant range history after phase center approximation; (3) Calculate the system function in the range-Doppler domain; (4) Calculate the Doppler phase error; (5) Divide the data into non-overlapping data blocks and compensate for the micro range migration error caused by the range error; (6) Obtain the signal after range delay error compensation; (7) Perform differential range migration correction processing, range direction pulse compression, secondary range pulse compression, and consistent range migration correction processing; (8) Perform azimuth focusing processing, residual phase error compensation operation, and azimuth walk correction processing; (9) Perform coherent fusion processing and inverse Fourier transform to obtain the final high-resolution image. The present invention can quickly reconstruct images and meet the requirements of real-time processing.

The application discloses a time-domain point-by-point imaging method, system and device of a transceiver combined synthetic aperture sonar, and the time-domain point-by-point imaging method comprises the following steps: for any pixel in an imaging area, calculating a synthetic aperture length and a synthetic aperture time; calculating a distance between a sonar at a signal transmitting time and the pixel, and calculating a distance between a sonar at a signal receiving time and the pixel to obtain an accurate two-way slant range history; according to the two-way slant range history and relevant parameters of the signal, calculating a reference echo signal corresponding to the pixel; performing distance domain transformation on a measured echo signal and a reference echo signal, and performing conjugate multiplication processing on the transformed results; coherently accumulating all the conjugate multiplication results as an imaging result of the pixel; and repeating the above steps for other pixels in the imaging area to obtain imaging results of all the pixels in the entire imaging area.

The application discloses a BP imaging Sinc interpolation optimization method and device based on FPGA and belongs to the technical field of radar signal processing. The method realizes seamless connection of data through double-BRAM ping-pong buffering. Fixed-point and floating-point mixed operation is adopted to optimize the slant range and index calculation module and the Sinc coefficient array calculation module, wherein fixed-point is used for general calculation, floating-point is used for square root and division, resource consumption is significantly reduced, and precision is improved. Efficient interpolation calculation pipeline processing is realized through a parallel fixed-point multiplication and addition array. While guaranteeing high-precision interpolation, the application greatly reduces LUT, register and DSP resource occupation of the FPGA, and significantly improves the calculation speed and imaging quality of BP real-time imaging.

The invention relates to a quality improvement method for a high-resolution image. The method comprises the following steps: obtaining an equal-target two-way slope distance; calculating a distance error; calculating a two-dimensional frequency spectrum; calculating a truncation phase error; obtaining data of each receiving array element after micro-Doppler phase error compensation; obtaining all receiving array element data after micro-range migration error correction; obtaining data of the class receiving and transmitting combined synthetic aperture sonar; obtaining N data blocks after truncation phase error compensation; obtaining multi-receiving array element synthetic aperture sonar data; filtering to obtain filtered data; obtaining the data after the nonlinear frequency modulation processing; calculating an accurate phase; obtaining a system frequency modulation rate after second-order Taylor series approximation; calculating a coefficient of the expression of the delay time and the distance direction frequency; solving an undetermined coefficient; performing high-order phase error compensation; and a high-resolution synthetic aperture sonar image is obtained. According to the method, the reconstruction performance can be effectively improved under the conditions of larger transmission signal bandwidth and larger accumulated beam angle.

This invention discloses a method and system for de-flattening preprocessing, belonging to the field of radar imaging. The method includes: acquiring a main radar image and a secondary radar image, each containing several main image scattering points and several secondary image scattering points; calculating the secondary image scattering points corresponding to the main image scattering points to form several scattering point pairs; performing a flat-ground phase acquisition action to obtain an ideal flat-ground phase, thereby forming an ideal flat-ground phase map and completing the de-flattening preprocessing process. The flat-ground phase acquisition action includes: calculating the main image Doppler history and the secondary image Doppler history of the scattering point pairs; determining the main image focusing time that meets a preset time threshold to calculate the main image slant range, thereby determining the secondary image focusing time that meets the preset time threshold, and calculating the secondary image slant range based on the secondary image focusing time; and obtaining the ideal flat-ground phase of the scattering point pairs based on the main image slant range and the secondary image slant range. The de-flattening preprocessing method disclosed in this invention can effectively reduce the processing error of de-flattening preprocessing methods.

The invention discloses a multi-mode fusion positioning method and system for diving bell emergency communication, and relates to the field of signal localization, and the method comprises the steps: collecting underwater mixed sound signals, and carrying out the spectrum analysis of the underwater mixed sound signals, and obtaining environment background noise characteristic parameters; inputting the underwater mixed sound signal into a preset bistable stochastic resonance system model, and adjusting a barrier height parameter of the bistable stochastic resonance system model according to the environmental background noise characteristic parameter to obtain an effective signal waveform after signal-to-noise ratio enhancement; performing signal separation on the effective signal waveform to obtain a continuous sound wave carrier signal and a positioning pulse signal; doppler frequency shift analysis is carried out on the continuous sound wave carrier signal to obtain a radial speed, and time arrival difference calculation is carried out on the positioning pulse signal to obtain a slant distance; and carrying out data fusion on the radial speed and the slope distance to obtain fused data, and obtaining a motion track and a current three-dimensional coordinate of the diving bell according to the fused data.

The application discloses an InSAR atmospheric delay phase correction method along a slant range direction, comprising the following steps: S1, acquiring two SAR image subsets covering a research area and acquiring two clean water vapor data; S2, performing differential interference processing on the two SAR image subsets covering the research area to acquire differential interference phases; S3, accurately calculating atmospheric delay phases by using an atmospheric delay phase correction model; and S4, accurately obtaining real deformation of the ground along a radar line-of-sight direction. The application gives the latest weight value of the zenith path delay difference of each ground pixel on the slant range direction of the ground by correcting the sampling mode of the water vapor product along the ground distance direction, finally proposes an accurate and efficient slant range phase total delay calculation method along the ground distance, further optimizes and improves the repeat orbit synthetic aperture radar differential interferometry method, so that the measurement result is more scientific and reasonable, and therefore the application has a wide application prospect in the field of repeat orbit InSAR atmospheric phase correction.