地球同步轨道SAR运动舰船探测跟踪定位方法与实验验证

向建冰; 仲利华; 吴一凡; 宋冲; 黄丽佳; 商明样; 袁新哲; 胡玉新

doi:10.12000/JR25235

地球同步轨道SAR运动舰船探测跟踪定位方法与实验验证

DOI: 10.12000/JR25235 CSTR: 32380.14.JR25235

向建冰^{1, 2},
仲利华^{1, 2},
吴一凡^{1, 2},
宋冲^{1, 3},
黄丽佳^{1, 2},
商明样⁴,
袁新哲⁵,
胡玉新^{1, 2, 6, ,}

1.
中国科学院空天信息创新研究院北京 100094
2.
目标认知与应用技术重点实验室北京 100190
3.
微波成像国家重点实验室北京 100190
4.
苏州空天信息研究院苏州 215128
5.
国家卫星海洋应用中心北京 100081
6.
中国科学院大学电子电气与通信工程学院北京 101408

详细信息

作者简介:
向建冰，博士，助理研究员，主要研究方向为SAR成像与动目标探测定位

仲利华，博士，研究员，博导，主要研究方向为星载宽幅SAR处理和舰船检测

吴一凡，博士，助理研究员，主要研究方向为SAR智能数据处理与信息提取

宋　冲，博士，助理研究员，主要研究方向为雷达目标检测与成像

黄丽佳，博士，研究员，博导，主要研究方向为星载SAR精细化处理和智能应用

商明样，博士，副研究员，主要研究方向为高分宽幅、超高分辨率星载SAR成像处理

袁新哲，博士，正高级工程师，主要研究方向为新体制星载SAR系统、星载SAR海洋遥感

胡玉新，博士，研究员，博导，主要研究方向为SAR成像与海洋目标信息提取

通讯作者:
胡玉新 huyx@aircas.ac.cn

责任主编：陈杰 Corresponding Editor: CHEN Jie

中图分类号: TN957.51
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出版历程
- 收稿日期: 2025-11-07

An Integrated Detection–Tracking–Localization Framework for Moving Ships in Geosynchronous Orbit Synthetic Aperture Radar with Experimental Verification

XIANG Jianbing^{1, 2},
ZHONG Lihua^{1, 2},
WU Yifan^{1, 2},
SONG Chong^{1, 3},
HUANG Lijia^{1, 2},
SHANG Mingyang⁴,
YUAN Xinzhe⁵,
HU Yuxin^{1, 2, 6
, ,}

1.
Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100094, China
2.
Key Laboratory of Target Cognition and Application Technology, Chinese Academy of Sciences, Beijing 100190, China
3.
National Key Laboratory of Microwave Imaging, Beijing 100190, China
4.
Suzhou Aerospace Information Research Institute, Suzhou 215123, China
5.
National Satellite Ocean Application Service, Beijing 100081, China
6.
School of Electronic, Electrical and Communication Engineering, University of Chinese Academy of Sciences, Beijing 101408, China

More Information

Corresponding author: HU Yuxin, huyx@aircas.ac.cn

摘要

摘要: 地球同步轨道(GEO)合成孔径雷达(SAR)具有对大区域进行连续观测的优势，但由于探测距离远、合成孔径时间长、大视场杂波累加和非平直观测几何的特点，导致利用GEO SAR对运动舰船探测存在成像聚焦困难、信杂比低、位置偏移大等巨大技术挑战。该文提出一种面向GEO SAR的运动舰船探测-跟踪-定位一体化处理新方法，可有效解决上述难题。该文首先建立了GEO SAR对运动舰船的观测信号模型，深入分析了超长合成孔径时间内运动舰船的回波特性，提出了基于最优子孔径处理实现目标成像探测和长时间跟踪定位方法，该方法通过改进BP成像算法在孔径内实现了低信杂比下非合作舰船能量良好积累聚焦，获得了GEO SAR非平直几何观测下复杂运动舰船目标偏移位置与距离多普勒关系；然后，基于舰船短时匀速运动假设，利用双向平滑滤波方法对多子孔径探测结果进行航迹跟踪，并基于长时间跟踪结果获得运动舰船速度估计，在此基础上利用偏移位置与实际位置距离多普勒关系实现了运动舰船重定位。最后，通过仿真数据和在轨GEO SAR卫星实测数据验证了所提方法的正确性。
- 地球同步轨道 /
- 合成孔径雷达 /
- 最优子孔径 /
- 改进BP成像算法 /
- 双向平滑滤波 /
- 重定位
Abstract: Geosynchronous orbit (GEO) synthetic aperture radar (SAR) detection ensures persistent, wide-area surveillance. However, this ship-detection method faces significant technical challenges, such as imaging defocusing, low signal-to-clutter ratio (SCR), and large position offsets, due to the long detection distance, long synthetic aperture time, clutter accumulation within a large field of view, and nonplanar observation geometry. To address these challenges, this paper proposes a novel integrated detection–tracking–localization framework for moving-ship targets in GEO SAR. First, a GEO SAR observation signal model is established for moving ships, after which their echo characteristics within the ultra-long synthetic aperture time are analyzed in depth. On this basis, the model realizes target-image detection and long-term tracking localization via optimal subaperture processing. Using an improved back-projection imaging algorithm tailored for moving ships, effective energy accumulation and focusing of noncooperative ships under low SCR are achieved within the aperture. In addition, the relationship between the offset position of moving targets and the range–Doppler (RD) parameters under GEO SAR nonplanar geometric observation is obtained. Second, under the assumption of short-term uniform ship motion, a bidirectional smoothing filter is applied to track the multisubaperture detection results. The velocity estimation of moving ships is obtained from the long-term tracking results, and the relocation of moving ships is realized using the RD relationship between the offset position and the actual position. Finally, the proposed framework is validated using simulation data and on-orbit GEO SAR satellite test data.
- Geosynchronous Orbit /
- Synthetic Aperture Radar (SAR) /
- Optimal sub-aperture /
- Improved BP /
- Bidirectional smoothing filter /
- Relocation

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图 1 GEO SAR对运动舰船的成像几何模型

Figure 1. Imaging Geometric Model of Moving Vessels by GEO SAR

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图 2 GEO SAR探测、跟踪定位一体化处理方法框架

Figure 2. Framework of the integrated processing method for GEO SAR detection, tracking and localization

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图 3 基于子孔径处理的GEO SAR运动舰船成像探测方法流程图

Figure 3. Flowchart of the GEO SAR moving ship imaging detection method based on sub-aperture processing

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图 4 Dechirp对目标运动多普勒补偿示意图

Figure 4. Schematic diagram of Doppler compensation for target motion by Dechirp

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图 5 面向运动目标的改进BP成像算法示意图

Figure 5. Schematic diagram of the improved BP imaging algorithm for moving targets

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图 6 运动目标聚焦位置偏移示意图

Figure 6. Schematic diagram of the offset of the focusing position of the moving target

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图 7 切向速度导致二次相位误差分析

Figure 7. Analysis of quadratic phase error caused by tangential velocity

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图 8 基于双向平滑滤波的长时间跟踪定位方法流程图

Figure 8. Flowchart of the long-term tracking and localization method based on bidirectional smooth filtering

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图 9 仿真的运动舰船

Figure 9. Simulated Motion Vessel

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图 10 GEO SAR舰船运动对能量退化的影响

Figure 10. The influence of GEO SAR ship movement on energy degradation

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图 11 不同海况下GEO SAR舰船运动对能量退化的影响

Figure 11. The influence of GEO SAR ship movement on energy degradation under different sea conditions

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图 12 不同航速下位置偏移随航向(以正北为0°)的关系

Figure 12. The Relationship Between Position Offset and Heading (with True North as 0°) at Different Speeds

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图 13 传统BP与所提改进成像方法的仿真运动舰船探测成像结果

Figure 13. The simulation imaging results of moving ship detection by BP and the proposed improved imaging method

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图 14 仿真运动舰船定位跟踪结果

Figure 14. The localization and tracking results of simulated moving ships

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图 15 定位精度分析

Figure 15. Positioning Accuracy Analysis

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图 16 输入-输出信杂比分析

Figure 16. Input-output signal-to-noise ratio analysis

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图 17 基于改进BP成像算法的单个子孔径运动舰船探测成像过程

Figure 17. the imaging process of a single sub-aperture moving ship detection based on the improved BP imaging algorithm

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图 18 运动舰船多子孔径探测成像结果

Figure 18. Imaging results of multi-sub-aperture detection on moving ships

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图 19 运动舰船1定位跟踪结果

Figure 19. Localization and tracking results of Moving Ship 1

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表 1 GEO SAR系统仿真参数

Table 1. Simulation Parameters for the GEO SAR System

参数	符号	典型GEO SAR参数值
载频	$ {f}_{c} $	1.3 GHz
信号带宽	$ {B}_{r} $	30 MHz
采样率	$ {F}_{r} $	40 MHz
脉冲宽度	$ {T}_{r} $	400 us
脉冲重复频率	$ PRF $	250 Hz
合成孔径时间	$ {T}_{total} $	30分钟

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表 2 实验区域海况参数

Table 2. Test Area Sea Conditions Parameters

参数	值	参数	值
风向	185°	风速	27 km/h
浪高	2.48 m	波浪周期	8.6 s
洋流方向	100°	洋流速度	1.19 km/h
海况等级	4级

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表 3 在轨GEO SAR舰船定位跟踪实验结果

Table 3. Results of In-orbit GEO SAR ship localization and Tracking Tests

舰船编号	长度(m)x宽度(m)	位置 [纬度,经度]	子孔径1	……	子孔径15	……	子孔径30	……	子孔径45	定位均方根误差(m)
1	349x60	跟踪定位位置	16.564^。N 116.665^。E	……	16.543^。N 116.646^。E	……	16.521^。N 116.625^。E	……	16.497^。N 116.604^。E	3102.04
1	349x60	AIS位置	16.567^。N 116.636^。E	……	16.545^。N 116.617^。E	……	16.524^。N 116.597^。E	……	16.500^。N 116.575^。E	3102.04
2	263x60	跟踪定位位置	11.268^。N 111.527^。E	……	11.254^。N 111.512^。E	……	11.231^。N 111.494^。E	……	11.209^。N 111.479^。E	1614.67
2	263x60	AIS位置	11.274^。N 111.518^。E	……	11.256^。N 111.499^。E	……	11.238^。N 111.480^。E	……	11.216^。N 111.461^。E	1614.67
3	333x60	跟踪定位位置	10.681^。N 111.266^。E	……	10.654^。N 111.258^。E	……	10.624^。N 111.25^。E	……	10.594^。N 111.241^。E	2663.21
3	333x60	AIS位置	10.651^。N 111.277^。E	……	10.634^。N 111.261^。E	……	10.615^。N 111.245^。E	……	10.596^。N 111.228^。E	2663.21
4	399x60	跟踪定位位置	12.823^。N 114.212^。E	……	12.843^。N 114.26^。E	……	12.863^。N 114.311^。E	……	12.884^。N 114.362^。E	3168.05
4	399x60	AIS位置	12.784^。N 114.215^。E	……	12.820^。N 114.253^。E	……	12.858^。N 114.294^。E	……	12.894^。N 114.332^。E	3168.05
5	295x46	跟踪定位位置	12.342^。N 110.118^。E	……	12.346^。N 110.134^。E	……	12.351^。N 110.153^。E	……	12.356^。N 110.171^。E	3296.07
5	295x46	AIS位置	12.337^。N 110.141^。E	……	12.388^。N 110.142^。E	……	12.362^。N 110.142^。E	……	12.341^。N 110.143^。E	3296.07

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