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合成孔径激光雷达成像技术研究进展

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徐晨，晋凯，魏凯. 合成孔径激光雷达成像技术研究进展[J]. 光电工程，2024，51(3): 240007. doi: 10.12086/oee.2024.240007
引用本文: 徐晨，晋凯，魏凯. 合成孔径激光雷达成像技术研究进展[J]. 光电工程，2024，51(3): 240007. doi: 10.12086/oee.2024.240007
shu
Xu C, Jin K, Wei K. Research progress of synthetic aperture ladar techniques[J]. Opto-Electron Eng, 2024, 51(3): 240007. doi: 10.12086/oee.2024.240007
Citation: Xu C, Jin K, Wei K. Research progress of synthetic aperture ladar techniques[J]. Opto-Electron Eng, 2024, 51(3): 240007. doi: 10.12086/oee.2024.240007
shu

合成孔径激光雷达成像技术研究进展

    • 1.

      自适应光学全国重点实验室，四川 成都 610209

    • 2.

      中国科学院光电技术研究所，四川 成都 610209

    • 3.

      浙江大学光电科学与工程学院，浙江 杭州 310058

    • 4.

      极端光学技术与仪器全国重点实验室，浙江 杭州 310058

详细信息
    作者简介:
  • 徐晨(1994-)，男，博士，中国科学院光电技术研究所博士后，助理研究员，研究方向包括主动光电探测与感知、相干激光雷达性能增强技术、计算成像。E-mail：xuchen171@mails.ucas.edu.cn;
  • 晋凯(1990-)，男，博士，浙江大学助理研究员，研究方向光电探测与识别、相干激光雷达、激光微动特征测量。E-mail：hijk1990@live.com;
  • 魏凯(1981-)，男，博士，教授，浙江大学求是特聘教授，光电学院与先进技术研究院双聘教授，博士生导师，美国加州理工学院高级访问学者。先后任地基大口径望远镜副总设计师、总师，美国凯克10米望远镜激光发射系统负责人、国际30米望远镜激光导星系统负责人，研究方向包括片上集成光电器件设计、合成孔径激光雷达成像技术、增强感知技术以及无人系统自主感知方向。E-mail: kwei@zju.edu.cn
    • *通讯作者: 魏凯，kwei@zju.edu.cn

  • 中图分类号: TN249；O439

Research progress of synthetic aperture ladar techniques

    • 1.

      National Laboratory on Adaptive Optics, Chengdu, Sichuan 610209, China

    • 2.

      Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, Sichuan 610209, China

    • 3.

      College of Optical Science and Engineering, Zhejiang University, Hangzhou, Zhejiang 310058, China

    • 4.

      State Key Laboratory of Extreme Photonics and Instrumentation, Zhejiang University, Hangzhou, Zhejiang 310058, China

More Information
    摘要

  • 合成孔径激光雷达成像技术是一种能够突破光学系统衍射极限的主动光学成像技术，其概念来自工作在微波波段的合成孔径雷达，相比于合成孔径雷达，合成孔径激光雷达具有成像速度快、成像分辨率高以及能获取符合人眼感知的图像的优势，在远距离目标感知与识别中具有很高的潜在价值。本文从合成孔径激光雷达的工作原理出发，回顾和梳理了合成孔径激光雷达的主要关键技术的主要进展，包括合成孔径激光雷达的系统模型和基础理论、系统设计与架构、激光相位噪声抑制、运动补偿技术以及成像算法；同时对国内外重要的外场实验进展进行了总结。最后探讨了后续实现工程化所需面对的困难和挑战。

    Synthetic aperture ladar is an advanced active optical imaging technology that overcomes the diffraction limit of the traditional optical system. This technology is inspired by the working principles of synthetic aperture radar in the microwave band. Compared with synthetic aperture radar, synthetic aperture ladar has several advantages such as fast imaging speed, high resolution, and its images being similar to what the eye is used to seeing, thanks to its operation wavelength, which makes synthetic aperture ladar potentially valuable. This paper aims to provide a comprehensive review of the progress made in key technologies related to synthetic aperture ladar, including its system model and basic theory, system design and structures, laser phase noise suppression technology, motion compensation technologies, and imaging algorithms. Furthermore, some important outdoor experiments at home and abroad were summarized. At last, the difficulties and challenges for the subsequent implementation of engineering were discussed.

    • Overview

  • Overview: Ladar is an active sensing technology employing laser for detecting, measuring and imaging. According to the detection modes, ladars are usually divided into two types: non-coherent ladar and coherent ladar. Coherent ladar employing heterodyne detection can provide more information, such as frequency shift and phase. This combination of features enables multi-functional, high-precision, and operationally important detection and sensing applications.

    Synthetic aperture ladar (SAL) is a special type of coherent ladar whose principle is similar to synthetic aperture radar (SAR) operating in the microwave band. It utilizes a wideband modulated signal to obtain a high axial resolution, which is called range resolution. In another dimension called cross-range direction or azimuth direction, the moving ladar platform transmits and receives a series of coherent pulses, and then these pulses are coherently accumulated to achieve an equivalent large aperture. Thus, its resolution is independent of the optical aperture. Compared with SAR, it has higher imaging speed and higher imaging resolution. It can obtain images similar to what the human is used to seeing, thanks to the operation wavelength of SAL. These characteristics make SAL become a potentially valuable technology in the field of remote sensing and object identification.

    Although SAL is a kind of coherent ladar, it has higher coherence requirements than other systems, which makes SAL face many technical problems like atmosphere disturbance, laser phase noise, motion errors, etc. To address these issues, considerable efforts have been undertaken by a wide array of research professionals and collaborative teams across the field. The main goal of this paper is to provide a review of the progress of these efforts and point out the challenges faced in future development. First, this paper will briefly introduce the working principle of SAL. The second part introduces the research progress of the key technologies in the field of SAL. These key technologies include the system model and basic theoretical problems, system design and architecture, laser phase noise suppression technology, motion error compensation method, and imaging algorithms. The third part reviews the progress of the outdoor experiments at home and abroad. Outdoor experiment is an important step before practical application, which is able to reveal the defects and deficiencies of the system in the real environment. Finally, we summarized the challenges that prevent SAL systems from becoming practical and provided some future directions.

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  • 图 1  合成孔径激光雷达原理示意图

    Figure 1.  Schematic diagram of SAL principle

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    图 2  FMCW激光雷达系统示意图

    Figure 2.  Schematic diagram of FMCW Ladar

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    图 3  美国海军实验室的SAL系统和成像结果[21]。(a)实验系统；(b)成像结果

    Figure 3.  The SAL system and imaging result of Naval Research Laboratory[21]. (a) Experimental system; (b) Imaging result

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    图 4  美国Aerospace公司的SAL系统和实验结果[37]。(a)实验系统；(b)成像结果

    Figure 4.  The SAL system and imaging result of Aerospace Corporation[37]. (a) Experimental system; (b) Imaging result

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    图 5  中国科学院上海光机所的大口径SAL系统[42]

    Figure 5.  The SAL system with large aperture in Shanghai Institute of Optics and Fine Mechanics, CAS[42]

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    图 6  基于电光调制的FMCW-SAL系统[44]

    Figure 6.  FMCW-SAL system based on electro-optical modulation[44]

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    图 7  相位编码激光雷达原理示意图

    Figure 7.  Schematic diagram of phase-code ladar

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    图 8  中国科学院上海技术物理研究所的相位编码SAL系统[54]

    Figure 8.  The phase-code SAL system in shanghai Institute of Optics and Fine Mechanics, CAS[54]

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    图 9  中国科学院光电技术研究所的相位编码SAL系统[59]

    Figure 9.  The phase-code SAL system in Institute of Optics and Electronics, CAS[59]

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    图 10  PGMA实验结果[67]。(a)成像目标；(b)直接FFT 结果；(c) PGA聚焦结果；(d) PGMA聚焦结果

    Figure 10.  Experimental results of PGMA algorithm[67]. (a) Photography of the target; (b) Image formatted by ordinary FFT; (c) Image autofocused by PGA; (d) Image autofocused by PGMA

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    图 11  卫星微小振动补偿实验结果[45]。(a)实验目标；(b)未补偿结果；(c) PGA补偿结果；(d)所提方法的补偿结果

    Figure 11.  The experimental results of micro-vibration error compensation[45]. (a) Photography of the satellite model; Image formatted (b) Without phase error compensation; (c) By method using PGA algorithm; (d) By using the proposed algorithm

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    图 12  自干涉直视SAL示意图[77]

    Figure 12.  Schematic diagram of self-interferometer SAL[77]

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    图 13  正交干涉SAL系统几何模型[79]

    Figure 13.  Geometric model of SAL system based on interferometer processing[79]

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    图 14  基于时频分析的正交干涉ISAL成像实验[81]。(a)成像几何模型；(b)实验目标；(c)补偿前图像；(d)补偿后图像

    Figure 14.  Orthogonal interferometer ISAL imaging experiment based on time-frequency analysis[81]. (a) Geometric model of imaging; (b) Photography of the target; (c) Image without compensation; (d) Image with compensation

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    图 15  发射参考通道和本振参考通道补偿实验结果[85]。(a)目标实物图；(b)补偿前的距离-多普勒域成像结果；(c)发射参考通道补偿结果；(d)发射参考通道与本振参考通道联合补偿结果

    Figure 15.  Correction and compensation effect of TRC and LORC[85]. (a) Photo of the target; (b) Range-doppler domain imaging results before correction; (c) Range-doppler domain imaging results after TRC correction; (d) Range-doppler domain imaging results after TRC correction and LORC compensation

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    图 16  激光相位噪声测量与补偿结果[90]。(a)相干探测信号相位的测量值和理论值；(b)激光相位噪声的估计结果；(c)高斯线宽激光相位噪声补偿结果；(d)洛伦兹线宽激光相位噪声补偿结果

    Figure 16.  Measured and compensated results for laser phase noise[90]. (a) Comparison of the measured and theoretical values for the phase of the heterodyne signal; (b) The estimation results of the laser phase noise; (c) The compensation results with Gaussian linewidth; (d) The compensation results with Lorentz linewidth

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    图 17  RD和MMBIR成像算法在不同载噪比下的仿真对比[95]。红色区域为图像细节部分(a) 5 dB；(b) 0 dB；(c) −5 dB

    Figure 17.  Simulation comparison results of RDA and MMBIR algorithm under different CNRs[95]. (a) 5 dB; (b) 0 dB; (c) −5 dB. The red dash area is the detail part of the images

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    图 18  洛克希德-马丁相干技术公司的机载SAL实验结果[52]。(a)实验平台；(b)成像结果

    Figure 18.  Airborne SAL experimental results of Lockheed Martin Coherent Technologies[52]. (a) Experimental system; (b) Imaging results

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    图 19  上光所的机载SAL实验[98]。(a)实验场景；(b)目标图像；(c)成像结果

    Figure 19.  Airborne SAL experiment in shanghai institute of optics and fine mechanics[98]. (a) Experiment scene; (b) The photograph of target; (c) Imaging result

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    图 20  电子所的机载SAL实验[48]。(a)实验场景；(b)目标照片；(c)成像结果

    Figure 20.  Airborne SAL experiment in institute of electronics[48]. (a) Experimental scene; (b) Photograph of target; (c) Imaging result

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    图 21  电子所的阵列SAL实验[96]。(a)目标照片；(b) 4通道图像结果；(c)拼接结果；(d)电子学系统；(e)光学系统

    Figure 21.  Array SAL experiment in Institute of Electronics[96]. (a) Photograph of the target; (b) Imaging results of four channels; (c) The whole imaging result; (d) The electronic system; (e) The optical system

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    图 22  外场1.1 km成像场景和结果[109]。(a) ISAL系统示意图；(b)收发光学系统；(c)目标图片；(d)成像结果

    Figure 22.  Outdoor experimental scene and result at 1.1 km away[109]. (a) Schematic diagram of ISAL system; (b) Photography of the transceiver; (c) Photography of the target; (d) Imaging result

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    图 23  外场6.9 km实验成像结果[95]。(a)靶标图像；(b) RD算法成像结果；(c) MMBIR算法成像结果

    Figure 23.  Outdoor experimental result at 6.9 km away[95]. (a) Photography of the target; (b) Images recovered by RDA; (c) Images recovered by MMBIR

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