| 车载InSAR前视三维成像技术 |
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| 引用本文： | 王建,李杨寰,张汉华,陆必应,宋千,周智敏.车载InSAR前视三维成像技术[J].国防科技大学学报,2014,36(6):134-139. |
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| 作者姓名： | 王建 李杨寰 张汉华 陆必应 宋千 周智敏 |
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| 作者单位： | 国防科技大学 电子科学与工程学院,湖南 长沙,410073 |
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| 基金项目： | 国家自然科学基金资助项目（61372163） |
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| 摘 要： | 野外和非结构化环境下的障碍探测是无人驾驶车(UGV)环境感知的难题之一。基于高度识别障碍是一种有效的解决途径,提出了干涉合成孔径雷达(In SAR)的三维障碍物成像策略,研究了In SAR信息处理流程,分析了干涉基线和运动误差对车载In SAR高程测量精度的影响,仿真了无人车前场景存在遮挡时的In SAR高程测量,证明了In SAR用于UGV前方环境感知的可行性。
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| 关 键 词： | 无人驾驶车 干涉合成孔径雷达 障碍探测 三维成像 |
| 收稿时间： | 2014/3/21 0:00:00 |
Forward-Looking Three Dimensional Imaging Technique for InSAR Mounted on Ground Vehicles |
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| WANG Jian,LI Yanghuan,ZHANG Hanhu,LU Biying,SONG Qian and ZHOU Zhimin.Forward-Looking Three Dimensional Imaging Technique for InSAR Mounted on Ground Vehicles[J].Journal of National University of Defense Technology,2014,36(6):134-139. |
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| Authors: | WANG Jian LI Yanghuan ZHANG Hanhu LU Biying SONG Qian and ZHOU Zhimin |
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| Institution: | College of Electronic Science and Technology,National University of Defense Technology, Changsha 410073, China;College of Electronic Science and Technology,National University of Defense Technology, Changsha 410073, China;College of Electronic Science and Technology,National University of Defense Technology, Changsha 410073, China;College of Electronic Science and Technology,National University of Defense Technology, Changsha 410073, China;College of Electronic Science and Technology,National University of Defense Technology, Changsha 410073, China;College of Electronic Science and Technology,National University of Defense Technology, Changsha 410073, China |
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| Abstract: | It is a difficult task for an unmanned ground vehicle (UGV) to sense obstacles in out fields or unconstructed environments. The height information is a vital feature to boost the performance of obstacle discrimination. We have present an interferometric synthetic aperture radar (InSAR) based three-dimensional imaging technique for sensing obstacles ahead UGVs. Firstly, the basic signal process flow of InSAR is reviewed. Then, special factors of the UGV platform that impact the DEM measurement precision are analyzed, such as the baseline length, platform motion errors. Finally, the DEM of a partial sight-blocked obstacle scene is obtained by processing the three-dimensional InSAR image, which proven the feasibility of applying InSAR to obstacle sensing of UGVs. |
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| Keywords: | UGV InSAR obstacle sensing three dimensional imaging |
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