| 摘要: |
| 多旋翼无人机合成孔径雷达（Synthetic Aperture Radar，SAR）系统在飞行过程中，受旋翼转动影响会产生高频振动误差，从而在成像结果中引入成对虚假目标，严重降低成像质量。针对该问题，提出了一种适用于多旋翼无人机调频连续波（Frequency Modulated Continuous Wave，FMCW）SAR的高频振动误差补偿方法，首先建立了多旋翼无人机FMCW SAR系统的高频振动误差模型及其对应的回波信号模型，并系统分析了高频振动误差对成像质量的影响机制。在此基础上，提出了一种基于互补集总经验模态分解（Complementary Ensemble Empirical Mode Decomposition，CEEMD）的高频振动误差补偿方法。该方法首先利用改进的CEEMD实现对振动分量的精确提取。随后，通过构建以最小均方误差（Minimum Mean Squared Error，MMSE）为准则的最优估计模型，对振动参数进行精确求解。最后设计补偿函数并通过循环迭代对各振动分量进行逐一补偿，从而实现对多分量高频振动误差的有效抑制。仿真与实验验证了所提方法在复杂运动误差条件下的有效性。 |
| 关键词: 合成孔径雷达 高频振动误差补偿 调频连续波 多旋翼无人机 互补集总经验模态分解 |
| DOI： |
| 分类号:TN958 |
| 基金项目:山东省自然科学(ZR2025MS1045),青岛市自然科学(25-1-1-161-zyyd-jch),青岛市科技惠民示范专项项目(24-1-8-cspz-5-nsh),国家自然科学基金区域创新发展联合基金重点支持项目(U22A20586) |
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| A High-Frequency Vibration Error Compensation approach for Multirotor UAV FMCW SAR |
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| Abstract: |
| Multirotor unmanned aerial vehicle (UAV) synthetic aperture radar (SAR) systems are prone to high-frequency vibration errors caused by rotor rotation during flight, which introduces paired false targets in the imaging results and significantly degrades image quality. To address this issue, a vibration error compensation method is proposed specifically for frequency modulated continuous wave (FMCW) SAR systems equipped on multi-rotor UAVs. First, a high-frequency vibration error model and the corresponding echo signal model are established for the FMCW SAR system, and the mechanism through which such vibrations affect imaging quality is systematically analyzed. Subsequently, a compensation method based on complementary ensemble empirical mode decomposition (CEEMD) is proposed. Vibration components are accurately extracted using an improved CEEMD method. Then, an optimal estimation model based on the Minimum Mean Squared Error (MMSE) criterion was constructed to accurately determine the vibration parameters. Finally, a phase compensation function is constructed, and all vibration components are iteratively compensated in sequence, leading to effective suppression of multi-component high-frequency vibration errors. The effectiveness of the proposed method is validated through simulations under complex motion error conditions. |
| Key words: synthetic aperture radar high-frequency vibration errors frequency modulated continuous wave multi-rotor unmanned aerial vehicle complementary ensemble empirical mode decomposition |