| 引用本文: | 王建,李杨寰,张汉华,等.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.[点击复制] |
| WANG Jian,LI Yanghuan,ZHANG Hanhua,et al.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[点击复制] |
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| 车载InSAR前视三维成像技术 |
| 王建, 李杨寰, 张汉华, 陆必应, 宋千, 周智敏 |
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(国防科技大学 电子科学与工程学院，湖南 长沙 410073)
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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(InSAR)的三维障碍物成像策略，研究了InSAR信息处理流程，分析了干涉基线和运动误差对车载InSAR高程测量精度的影响，仿真了无人车前场景存在遮挡时的InSAR高程测量，证明了InSAR用于UGV前方环境感知的可行性。 |
| 关键词: 无人驾驶车 干涉合成孔径雷达 障碍探测 三维成像 |
| DOI：10.11887/j.cn.201406024 |
| 投稿日期：2014-03-21 |
| 基金项目:国家自然科学基金资助项目（61372163） |
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| Forward-looking three dimensional imaging technique for InSAR mounted on ground vehicles |
| WANG Jian, LI Yanghuan, ZHANG Hanhua, LU Biying, SONG Qian, ZHOU Zhimin |
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(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 unstructured environments. Because the height information is a vital feature to boost the performance of obstacle discrimination, the three-dimensional imaging technique for sensing obstacles ahead UGV of interferometric synthetic aperture radar (InSAR) was presented. The basic signal process flow of InSAR was reviewed. Special factors of the UGV platform that impact the digital elevation model (DEM) measurement precision were analyzed, such as the baseline length, platform motion errors. The DEM of a partial sight-blocked obstacle scene was obtained by processing the three-dimensional InSAR image, which proved the feasibility of applying InSAR to obstacle sensing of UGV. |
| Keywords: UGV InSAR obstacle sensing three-dimensional imaging |
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