102 results about "Spherical coordinate system" patented technology

The invention provides a satellite magnetic measurement data downward continuation method, device and equipment and a medium, and the method comprises the steps: inputting observation data, and converting the observation data obtained during satellite in-orbit measurement from a spherical coordinate system to a rectangular coordinate system; determining a model calculation domain, and generating a series of configuration points in the model calculation domain; normalizing observation data position coordinates, configuration point position coordinates and magnetic field three-component data under the rectangular coordinate system to serve as training data; inputting observation data position coordinates and configuration point position coordinates under the rectangular coordinate system into a neural network model, constructing a loss function based on observation data fitting errors and Laplacian equation physical constraints, and training the neural network model; and according to application requirements, generating a target position coordinate on a target continuation plane or space, inputting the target position coordinate into the trained neural network model, obtaining magnetic field three-component data at the target position coordinate, and realizing high-precision downward continuation.

The invention relates to the technical field of precision measurement, in particular to a method for determining a clamping posture in five-axis detection of a blade disc, a medium and equipment. Comprising the following steps: firstly, acquiring a yaw angle omega and a pitch angle phi of a probe direction required for planning a measurement path of a to-be-measured blade of a blade disc and a measurement boundary direction in a spherical coordinate system, and mapping the yaw angle omega and the pitch angle phi to pixel points corresponding to a global accessibility map (GAM); and according to the inclusion condition of each to-be-measured blade pixel group and the angle constraint curve in the measurement boundary direction in the image, adjusting the blade disc clamping yaw angle and / or pitch angle, and setting the blade disc inclination attitude as the optimal clamping attitude when the angle constraint curve contains the most pixel groups. According to the method, based on a GAM image data structure, clamping optimization is converted into an image processing problem, the constraint relation between the probe direction and the moving boundary can be visually presented, the optimal clamping posture can be automatically planned, the minimum clamping times can be accurately determined, and compared with existing commercial software, the method has more advantages.

The invention relates to the technical field of noise modeling, in particular to a low-altitude aircraft environment noise modeling method and system. Sound source directivity data of the low-altitude aircraft at different positions under the spherical coordinate system are reprojected to a hemispherical surface and then converted into sound source directivity tensors; converting the environmental topographic information and the building geometric information into topographic layout tensors; fusing the advanced features of the sound source directivity tensor, the advanced features of the terrain layout tensor, the frequency features of the low-altitude aircraft at the current moment and the flight height features of the low-altitude aircraft at the current moment to obtain multi-modal potential features at the current moment; and inputting the multi-modal potential features at the current moment into the diffusion model, and outputting a noise intensity graph of the low-altitude aircraft at the current moment. According to the method, complex multi-modal conditions such as noise source characteristics, terrain layout and flight height of the low-altitude aircraft can be accurately captured and fused, and the efficiency, precision and generalization ability of noise modeling are effectively improved.

The invention discloses a dimension-level constellation disassembly transmission method based on high-dimensional constellation selective mapping, and belongs to the technical field of optical fiber communication. The method comprises the steps that a traditional high-dimensional constellation is constructed, the number of constellation points needing to be extracted is determined through an entropy limit adaptive tuning function, then needed constellation points are extracted from the traditional high-dimensional constellation, and a shaped high-dimensional constellation is obtained; performing dimension-level disassembly on the shaped high-dimensional constellation to obtain a low-dimensional constellation set; performing phase conversion on the low-dimensional constellation set, and transmitting the converted low-dimensional constellation set to a channel for transmission in a spherical coordinate And receiving the low-dimensional constellation set at a receiving end, combining and restoring the low-dimensional constellation set into a high-dimensional constellation, and performing corresponding judgment on the high-dimensional constellation to obtain bit data. Part of constellation points are selected from a high-dimensional constellation to carry out data bearing and transmission, and the Euclidean distance between the constellation points is increased to reduce the bit error rate. And a high-dimensional constellation is disassembled into a low-dimensional constellation set for transmission in the form of a spherical coordinate system, so that the bit error rate rise caused by relatively large influence of a channel on transmission is avoided.

The invention belongs to the technical field of computer vision and digital media, and discloses a dome-screen film production method and system based on a high-altitude aerial image. Projecting the multi-view aerial video sequence to a unified spherical coordinate system, and constructing a panoramic space with an overlapping region; performing non-rigid geometric deformation processing on the overlapping region of the panoramic space to generate an intermediate image with aligned pixels; calculating the fusion cost of each pixel point in the overlapping region in the intermediate image, and performing path search based on the fusion cost of each pixel point to generate a dynamic suture line; generating an image mask based on the dynamic suture line, performing multi-scale frequency domain adaptive fusion on the intermediate image by using the image mask to generate a fused panoramic image, and remapping the fused panoramic image into a projection format adaptive to dome screen playing to output; and the real reducibility and the manufacturing quality of the dome film are greatly improved.

The invention provides a laser SLAM (Simultaneous Localization and Mapping) navigation method for point cloud processing and pose optimization bidirectional closed-loop regulation, which comprises the following steps: screening a current frame point cloud under a spherical coordinate system by using a previous frame pose uncertainty scalar and a previous frame loop importance scalar and adopting a point cloud screening method to obtain a current frame reserved point cloud; judging whether the current frame is a key frame or not based on the reserved point cloud of the current frame, storing the current frame to a key frame set only when the current frame is the key frame, and obtaining a current optimal pose and a pose uncertainty scalar of the current frame by adopting a pose optimization method based on the key frame set; the current optimal pose is used as a current positioning result of the navigation system.

The invention discloses a transcranial magnetic stimulation head target point pose determination method and device and a medium. Relates to the field of magnetic stimulation treatment equipment, and solves the problems that a mechanical arm is not reachable, the posture is not stable or the mechanical arm interferes with the surrounding environment due to the fact that only a unique target posture is determined in the transcranial magnetic stimulation treatment process. The method comprises the following steps: firstly, establishing a head three-dimensional model, determining a three-dimensional coordinate and a unit normal vector of a target spot, converting the head three-dimensional model into a spherical model, establishing a spherical coordinate system, and simultaneously dividing into a plurality of non-overlapping space partitions; calling a corresponding rotation angle mapping strategy to generate a plurality of candidate rotation angles based on a space partition to which a target point belongs, constructing a target pose matrix for each candidate rotation angle, solving a joint angle solution through inverse kinematics, then carrying out constraint condition screening, finally determining an executable pose, and carrying out pose adjustment only by using a rotation freedom degree of a treatment beat around a normal direction. A plurality of pose selection spaces are provided for the mechanical arm, and the execution rate of poses is greatly improved.

The application provides an earth-ionospheric waveguide three-dimensional electromagnetic field prediction method based on a U-Net architecture and a spherical coordinate system physical law and application, and comprises the following steps: constructing a physical information neural network of the U-Net architecture; obtaining multiple groups of ionospheric parameters, generating a three-dimensional electromagnetic field as a label for each group of ionospheric parameters based on simulation simulation to obtain a training sample set; iteratively training the physical information neural network with the training sample set, and in the iterative training process, taking the spherical coordinate system physical law, the ground impedance boundary condition and the ionospheric impedance boundary condition as constraints; stopping iteration and saving the optimal parameters of the physical information neural network when the loss function meets the preset condition to complete training. The scheme takes the spherical coordinate system physical law, the ground impedance boundary condition and the ionospheric impedance boundary condition as constraints to ensure the prediction accuracy of the physical information neural network at the ground boundary and the ionospheric boundary.

The invention discloses an antenna pattern reconstruction method, which relates to the technical field of wireless communication and antenna testing, and comprises the following steps of: selecting two measurement distances in a near-field area, determining a probe angle range and a probe angle interval, and measuring amplitude data of an antenna in a single tangent plane direction to obtain an antenna near-field amplitude pattern on the single tangent plane; copying the antenna near-field amplitude directional diagrams at the two measurement distances measured in the single tangent plane direction to azimuth angles in other spherical coordinate systems, and obtaining 3D antenna near-field amplitude directional diagrams on two spherical surfaces; recovering phases by utilizing the 3D antenna near-field amplitude directional diagrams on the two spherical surfaces to obtain a plurality of near-field directional diagrams of the to-be-tested equipment on the two spherical surfaces; and calculating an antenna far-field pattern of the to-be-tested equipment according to the plurality of near-field patterns of the to-be-tested equipment on the two spherical surfaces. According to the method, system parameters are optimized, so that the measurement cost and time are remarkably reduced, and the method is suitable for rapid air interface (OTA) testing of a 5G large-scale MIMO base station.

A method and device for generating a tool path in a five-axis numerical control machine tool and a storage medium, the method comprising: obtaining a rotation driving command of a tool axis vector in a spherical coordinate system in a plane coordinate system; processing the rotation driving command using a preset optimization model to obtain an optimized rotation driving command; performing B-spline curve fitting using the optimized tool rotation driving command and pre-obtained tool tip point data to obtain a B-spline curve A(u) of the tool tip point and a B-spline curve C(w) of the tool axis vector, wherein u represents a node parameter value of the tool tip point, and w represents a parameter value of the tool axis vector.

This invention discloses an angle positioning method and device based on the geomagnetic field, belonging to the field of engineering surveying and quality control. The angle positioning method includes the following steps: S1: Establish a global coordinate system; S2: Establish a local spherical coordinate system for the construction site using magnetic and gravitational fields; S3: Perform zero-point correction on the local spherical coordinate system of the construction site; S4: Calculate the relationship between the global coordinate system and the local spherical coordinate system; S5: Numerically correct the actual measured angle of the local spherical coordinate system. The positioning device of this invention allows workers to hold a handle for close-range direction indication, or the handle can be fixed to a specific location at the site using a fixing claw. In this case, a laser can be emitted from a second laser emitter to indicate the direction, or a thin line can be tied to the second laser emitter on the handle and pulled taut to indicate the direction. This not only makes operation convenient, reduces the workload of measurement, and is not limited by the site during measurement, but also improves measurement accuracy by using laser and a taut thin line to indicate the direction.

A movement of a user input component is presented in accordance with a mapping of a user input motion from a user-centric spherical coordinate system to a 2D plane. An input motion by a user is detected. An origin for the input motion is identified in a user-centric spherical coordinate system. An arc length for the input motion is determined based on the identified origin. The input motion is mapped from the user-centric spherical coordinate system to a 2D plane of a user input component, and a movement of the user input component is presented on the 2D plane in accordance with the mapping.

The application relates to the technical field of mobile communication, in particular to a reference signal received power testing method and a testing device. The reference signal received power testing method of an embodiment of the application comprises the following steps: signals are sent to user equipment from each test point of a spherical coordinate system in sequence. Corresponding reference signal received powers at each test point from the user equipment are acquired. The omnidirectional reference signal received power of the spherical coordinate system is calculated according to the corresponding reference signal received powers at each test point. The application can measure the signal receiving performance of the user equipment based on the reference signal received power.

The invention discloses an unmanned aerial vehicle path planning system based on a spherical vector particle swarm optimization algorithm. The system comprises an unmanned aerial vehicle path comprehensive constraint model module, an unmanned aerial vehicle flight coordinate conversion module and a spherical vector particle swarm optimization algorithm module. The unmanned aerial vehicle path comprehensive constraint model module constructs a complete optimization mathematical model by fusing path length cost, obstacle threat cost, flight height cost and smoothness cost and endowing the cost with corresponding weights, so that a core optimization index of path planning is defined, and a mathematical modeling basis is provided for subsequent modules; the unmanned aerial vehicle flight coordinate conversion module realizes efficient conversion between a three-dimensional rectangular coordinate system and a spherical coordinate system, and provides search space representation compatible with kinematics constraints for an optimization algorithm; the spherical vector particle swarm optimization algorithm module adopts a spherical vector to encode path point positions, combines a dynamic inertia weight and an adaptive learning factor mechanism, quickly generates a smooth path meeting constraints in a three-dimensional environment, and effectively solves the convergence problem of a traditional optimization algorithm in a high-dimensional space. The three modules work cooperatively, and an optimal path scheme meeting actual flight requirements is finally output through a closed-loop process of constraint modeling-coordinate conversion-intelligent optimization.

This invention relates to the field of pressure testing technology and discloses an omnidirectional pressure measurement system and method. The omnidirectional pressure measurement system includes a spherical piezoelectric sensor array module, a signal conditioning module, a signal storage and transmission module, and a host computer. The spherical piezoelectric sensor array module collects pressure signals in space, processes them through the signal conditioning module, and transmits them to the host computer via the storage and transmission module. The host computer calculates the pressure field intensity and pressure source location at each point and reconstructs the pressure field using the data. This invention employs a spherical array design with a dodecahedral vertex topology, enabling the system to achieve multi-angle information acquisition and depth perception, eliminating detection blind spots. This invention constructs a weighting function in a spherical coordinate system, calculates the pressure intensity at each point in space using a weighted average, estimates the initial position of the pressure source by squaring the measured value, and combines iterative algorithms for precise positioning. This invention not only improves measurement accuracy and efficiency but also enables the reconstruction of dynamic pressure fields.

The invention discloses a satellite alignment method for a terminal. The method comprises the steps that a built-in ephemeris of a terminal, calibration initial time of the terminal and a satellite and a target moment when the terminal is connected to the satellite are acquired, and the built-in ephemeris comprises operation state parameters used for representing that the satellite is in a satellite orbit; determining a first coordinate of the satellite in an orbital coordinate system according to the operation state parameter, the calibration initial time and the target moment; the first coordinate of the satellite in the orbital coordinate system is converted into a second coordinate in a station center sphere coordinate system, and the sphere center in the station center sphere coordinate system is a terminal; and determining relative position information between the terminal and the satellite according to the second coordinate, and adjusting the terminal according to the relative position information. According to the method and the device, the technical problems of long connection time and low efficiency caused by blind search when the handheld terminal initially accesses the satellite are solved.

The application provides a simplified attitude distribution cooperative control method for a directed communication leader-follower spacecraft formation, which comprises the following steps: firstly, describing the simplified attitude motion of the spacecraft in a unit celestial coordinate system, and converting the simplified attitude motion into a translation of the terminal point of a pointing vector on a unit celestial sphere; secondly, designing a distributed cooperative virtual control quantity under a directed communication topology according to the consistency theory, so as to ensure that the pointing vector of the follower spacecraft converges to a fixed pointing direction in the inertial space determined by the pointing vector of the leader spacecraft, and then calculating an ideal angular velocity vector of the follower spacecraft according to the virtual control quantity; thirdly, taking the difference between the angular velocity vector of the follower spacecraft and the ideal angular velocity vector as a sliding mode variable, and designing a sliding mode surface; and finally, designing a distributed cooperative control law for the follower spacecraft based on a super-twisting second-order sliding mode control method. The application can ensure that the pointing vector of the follower spacecraft in the directed communication formation converges to the pointing vector of the leader spacecraft fixed in the inertial space under a disturbance environment, and reduces the communication amount of the formation.

The application discloses a kind of multi-band photoelectric system tracking performance testing device, including support platform, coaxial connection's multi-band simulation infinite target and precision rotary shaft system, the outlet of precision rotary shaft system is equipped with reflected light path, and the light of multi-band simulation infinite target converges to the photoelectric system to be measured after passing through precision rotary shaft system and reflected light path.The application also discloses a kind of multi-band photoelectric system tracking performance testing method, steps are as follows: one: reflected light path forms conical light path;Two: establish spherical coordinate system, define rotation axis and multiple included angles;Three: obtain the azimuth and elevation of the photoelectric system to be measured theoretically;Four: obtain the angle true value of the photoelectric system to be measured, compare the error between the azimuth and elevation of the photoelectric system to be measured theoretically.The application can make up the deficiency of existing photoelectric testing method in the range of visible light in outdoor and indoor simulation image target testing, and can be widely applied in photoelectric navigation and testing technical field.

A method and apparatus for moving a virtual object, an electronic device, and a storage medium are provided. The method includes: displaying a computer-generated three-dimensional environment; detecting position data of an interactor and determining a first movement vector of the interactor in a world rectangular coordinate system; determining, based on the first movement vector, a second movement vector of the interactor in a local rectangular coordinate system with a user's own position as an origin; determining, based on the second movement vector, a third movement vector of the interactor in a local spherical coordinate system with the user's own position as an origin; determining, based on the third movement vector, a fourth movement vector of a target virtual object in the local spherical coordinate system; and obtaining second coordinates of the target virtual object based on first coordinates of the target virtual object and the fourth movement vector.

In a first aspect of the invention, there is a computer-implemented method including: normalizing, by the processor set, an artificial intelligence model input data set; encoding, by the processor set, a data point of the data set; converting, by the processor set, the encoded data point into an angle on a spherical coordinate system to determine a basis vector direction for the data within the data set; generating, by the processor set, a basis vector including the encoded data point based on the angle and the normalizing; and generating, by the processor set, instructions to render a spherical model including the basis vector, wherein the instructions are configured to cause a client device to render the spherical model.

This invention provides a multi-scale fusion-based method for target recognition and localization using lidar point clouds, belonging to the field of lidar data processing technology. This method employs a cascaded architecture of "macro-meta-micro." At the macro level, topological dimensionality reduction is performed, including constructing a dynamic secure envelope, rapidly stripping massive background point clouds using the surround number method, and clustering foreground targets by introducing radial compensation coefficients. At the meso level, probability peak finding is performed, including transforming the point cloud to a spherical coordinate system, constructing a probability density function of radial distance, and finding the peak to accurately pinpoint the target depth layer. At the micro level, complex plane optimization is performed, including constructing a multi-index joint optimization loss function mapped to the complex plane to achieve high-fidelity extraction and verification of target geometric features. This invention significantly reduces computational overhead and improves the accuracy and robustness of target recognition and localization in long-range and noisy environments.

The application belongs to the technical field of aircraft planning, and provides an aircraft online trajectory re-planning method based on meta-learning hot start sequence convex optimization, which comprises the following steps: step one: establishing an aircraft dynamics model and an offline trajectory library; a three-degree-of-freedom high-speed aircraft dynamics model under a spherical coordinate system is established, and an offline trajectory library is constructed; step two: establishing a model-independent meta-learning training framework fused with nearest neighbor residuals; data features in the offline trajectory library are learned by fusing the nearest neighbor residuals, and optimal common initial parameters are trained and obtained, so that MAML can quickly adapt to a new environment; step three: establishing an online trajectory re-planning framework based on MAML hot start sequence convex optimization; the hot start initial value of the sequence convex optimization is used to guide the sequence convex optimization iteration to reach convergence, and an obstacle avoidance trajectory is generated under the premise of meeting the aircraft dynamics constraints. The application realizes the dual improvement of computational efficiency and control smoothness while ensuring the avoidance of threat areas.

This invention belongs to the field of industrial robot motion control, specifically relating to a motion control method for a six-axis robotic arm suitable for hemispherical internal spaces. Step 1: Implement a point-to-point online motion algorithm; Step 2: Implement robot motion. The beneficial effects are: 1) Based on the special RRRPRR configuration of the six-axis robotic arm, a dual-mode spatial system motion mathematical model of Cartesian and spherical coordinates is constructed, greatly facilitating the conversion between absolute and relative coordinates and providing an intuitive method for quantitative analysis of positioning accuracy; 2) A forward and inverse kinematic model of the robot is established according to the conventional Cartesian coordinate system motion modeling method, and then a model expression under a unified spherical coordinate system is introduced using spherical coordinate transformation solutions, serving as the mathematical algorithm basis for real-time operator control; 3) After obtaining a motion control algorithm within a quarter-sphere, another motion control algorithm within a quarter-sphere can be derived through mirror projection, greatly simplifying the computational load.

This invention discloses a gradient-based beam peak search method, relating to the field of antenna testing technology. First, the measurement grid size in the spherical coordinate system along the horizontal and elevation directions is set according to the half-power bandwidth of the antenna under test. The radiated power values ​​on the measured test grid are interpolated to obtain the radiation pattern within the grid coverage area. Next, local maxima points of the radiation pattern are retrieved, and the positions of these local maxima points are used as the center of the region where beam peaks may occur. Secondary measurements are performed around these local maxima points to obtain the radiated power. Finally, using the maximum radiated power value from the secondary measurements as the initial position, the test position is iteratively updated using the gradient of the current position, outputting the peak position and the magnitude of the radiated power at the peak. This invention also discloses a gradient-based beam peak search device, which can significantly reduce the number of tests required while ensuring the accuracy of the search results.

The invention discloses a low-altitude continuous coverage performance test method and method based on a communication base station, and the method comprises the steps: collecting radiation characteristic data through an unmanned aerial vehicle, recording the position information and pose of the unmanned aerial vehicle, and correcting the position information of the unmanned aerial vehicle; constructing a covariance matrix with noise according to the corrected position of the unmanned aerial vehicle, reconstructing a low-altitude coverage map of the communication base station in combination with the collected radiation characteristic data, and evaluating the low-altitude airspace radiation coverage capability of the communication base station; calculating the relative transmitting antenna gain of the unmanned aerial vehicle according to the corrected unmanned aerial vehicle position, the position of the communication base station and the receiving antenna gain of the unmanned aerial vehicle; mapping the corrected position of the unmanned aerial vehicle to a spherical coordinate system with the communication base station as the center, and mapping the relative transmitting antenna gain of the unmanned aerial vehicle to the corresponding position of the spherical coordinate system; and reconstructing a three-dimensional radiation pattern of the communication base station according to the relative transmitting antenna gain of the unmanned aerial vehicle under the spherical coordinate system, and evaluating the low-altitude direction radiation coverage capability of the communication base station.

The method for analyzing the quantum dots comprises the following steps: collecting a plurality of two-dimensional images of the quantum dots; collecting a 3D Coulomb density map by reconstructing a three-dimensional ("3D") structure of the quantum dots from the plurality of two-dimensional images; collecting input portions from peaks of the 3D Coulomb density map; outputting a first output portion by inputting the input portion to a feature extractor; obtaining a second output portion related to the position of the peak by transforming the 3D Coulomb density map into a spherical coordinate system; and analyzing the structure of the quantum dot by using a first output portion and a second output portion obtained from a plurality of peaks of the 3D Coulomb density map.

A photovoltaic power generation module may include a ball lens that receives a medium from the outside or outputs a medium to the outside, receives sunlight that proceeds thereto from the outside when a medium is introduced thereto, and focuses the medium on one focal point, a solar cell that is disposed at a point at which sunlight is focused by the ball lens and produces electric energy from the sunlight, a support part supporting the ball lens and the solar cell and that being rotatable in a preset direction, a first motor that moves the solar cell in a direction in which the solar cell becomes distant from or close to the ball lens, a second motor that rotates the solar cell in a direction θ on a spherical coordinate system, and a third motor that rotates the support part in a direction φ on the spherical coordinate system.

The application relates to a variable-speed motion target adaptive active following method based on spherical coordinates, a spherical coordinate system is established with the optical center of a PTZ camera as the origin, a perception module and a control module are respectively established, the perception module realizes acquisition of position, category and id information of a target by using a yolov5 target detection algorithm, after the target is locked, a target re-identification algorithm is used to improve the target locking effect and acquire target historical information; the locked target pixel coordinates are converted into spherical coordinates to acquire longitude, latitude and angular velocity of the target; the control module comprises a speed control equation which is established by comprehensively considering system start-up delay, target motion angular velocity and distance deviation between the target center and the image center, and the PTZ camera is controlled by using an incremental PID control algorithm to complete active following of the target. Beneficial effects: the variable-speed motion target adaptive active following method based on spherical coordinates can improve the active following target performance of the PTZ camera, and effectively improves the active tracking target precision and stability of the PTZ camera.

An image synthesis device includes a memory storing a virtual viewpoint image synthesis program, and a processor configured to execute the program. The program receives images of multiple viewpoints obtained by filming around a user, position information on the user, and information on a direction in which scene is viewed, estimates color and density by inputting the position information of the user and the direction in which the object is viewed to a neural radiance field model constructed by using the images of the multiple viewpoints, and synthesizes images of a virtual viewpoint by performing volume rendering by using estimated color and density, the neural network radiance field model is constructed based on a quasi-uniform spherical coordinate system, and the quasi-uniform spherical coordinate system includes a sum of a Yin grid and a Yang grid and has a grid structure that increases exponentially in a radial direction.

The invention discloses a multichannel fast back projection method and system based on a spherical coordinate system, which can simplify the calculation complexity, select to arrange an image grid on a local circumscribed sphere, and are more suitable for a surface than a traditional ground plane grid. Meanwhile, the coordinates of the grid points can be calculated through indexes, so that coordinate calculation is more efficient than numerical calculation. According to the algorithm, high-resolution imaging can be performed on SAR original echoes, and firstly, range pulse compression is performed on original data; determining a grid covering the target scene, and establishing grid coordinates on the local circumscribed ball; then sub-aperture division is carried out on the echoes, low-resolution sub-images are generated by using an MC-BP algorithm, spectrum aliasing is eliminated through two steps of SC, and finally sub-aperture images are fused through up-sampling; the multi-level sub-aperture image fusion method is adopted, the fusion process is repeated until the final full-resolution image is obtained, the calculation efficiency of the SAR imaging process is effectively improved, and the SAR imaging quality is improved.