EITN90 Radar and Remote Sensing
Lecture 12: An overview of radar imaging
Daniel Sjöberg
Department of Electrical and Information Technology
Spring 2020
Learning outcomes of this lecture
In this lecture we will
I See how images can be formed from radar signals collected at
different locations.
I Learn what determines the achievable resolution of the image.
I See the basics of a few imaging algorithms.
I Observe typical phenomena in radar images.
Target
Transmit signal Antenna
Transmitter T/R
Receive
signal
Receiver
protector
switch Mixer/Preamplifier
Detection and
Signal
Detector A/D measurement
processor
results
Low noise Local
IF amplifier
amplifier oscillator
Receiver (Adapted from Fig. 1-1)
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Outline
1 General imaging considerations
2 Resolution relationships and sampling requirements
3 Data collection
4 Image formation
5 Image phenomenology
6 Conclusions
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Outline
1 General imaging considerations
2 Resolution relationships and sampling requirements
3 Data collection
4 Image formation
5 Image phenomenology
6 Conclusions
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Radar vs optical photo
Some benefits of radar (cost of providing its own illumination, long
measurement time, computationally demanding):
I Weather tolerant.
I Emphasizes man-made objects.
I Provides fine resolution at large range.
I Can penetrate foliage and other obstacles.
I Requires coherent operation.
I Polarization may provide additional information.
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Synthetic Aperture Radar (SAR)
SAR can be thought of in at least three different aspects:
I SAR as a large synthetic antenna aperture.
I SAR as range-Doppler imaging.
I SAR as a signal processing exercise.
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SAR as a large synthetic antenna aperture
The cross-range resolution can be seen as the effective beam width
of an antenna with
λ
∆CR ≈ Rθ3 ≈ R
2DSAR 7 / 58
SAR as range-Doppler imaging
The platform is moving in a certain direction relative to the scene,
causing a Doppler shift fd = 2v cos θcone /λ in the received signal.
λ∆fd λ λ
∆CR = R∆θ = R =R =R
2v sin θ 2vTd sin θ 2DSAR sin θ
In the book, the broadside angle θb = θ + 90◦ is used, resulting in
sin θ → cos θb . Discussion 8 / 58
SAR as a signal processing exercise
The image is the result of the relation between three data spaces:
I Object space, defined by the scatterers.
I Data space, the raw radar measurements.
I Image space, the final synthetic image.
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Down-range and cross-range coordinates
I The down-range coordinate corresponds to fast time (delay for
individual pulses).
I The cross-range coordinate corresponds to slow time (phase
difference between pulses).
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Outline
1 General imaging considerations
2 Resolution relationships and sampling requirements
3 Data collection
4 Image formation
5 Image phenomenology
6 Conclusions
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Down-range and cross-range resolutions
The resolutions in down-range and cross-range can be written
c c c Rλc
∆R = ∆CR = = =
2Br 2Bx 2fc θint 2DSAR
fc = carrier frequency.
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Different waveforms
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Illumination options for data collection
Both the flightpath and the direction of the antenna can affect the
total illumination of the scene.
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Integration angle
In the stripmap approach, θint is limited by the real antenna beam.
Spotlight scenarios can greatly improve the integration angle.
The linear path and the circular path give very different signal
histories, giving rise to different algorithms.
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Cross-range sampling requirement
When using sampling distance d, the phase change between two
samples is
2δR d sin(θ3 /2)
∆ψ = 2π = 4π
λ λ
To keep the successive phase changes |∆ψ| < π requires
λ λ ∆CR
d< ≈ ≈
4 sin(θ3 /2) 2θ3 2
For wideband pulses, use the minimum wavelength λmin .
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Outline
1 General imaging considerations
2 Resolution relationships and sampling requirements
3 Data collection
4 Image formation
5 Image phenomenology
6 Conclusions
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Radar vs camera
A radar sensor is typically side-looking instead of overhead-looking.
Discussion
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Radar vs camera
A radar sensor collects data pulse-by-pulse instead of
2D-image-by-2D-image. Note the radar provides its own
illumination.
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Stop-and-hop model
A stream of I/Q data is recorded (phase is important). The radar
is moving continuously, but each signal is considered to be
recorded in a stationary frame.
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Cross-range phase changes
A target off the centerline causes phase changes in cross-range,
corresponding to the Doppler shift. The target may still be in one
single range bin.
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Outline
1 General imaging considerations
2 Resolution relationships and sampling requirements
3 Data collection
4 Image formation
5 Image phenomenology
6 Conclusions
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Stripmap coordinates
I Platform moves linearly, parameterized by position u.
I Complex reflectivity g(x, r).
I Complex data d(u, r).
I Complex image f (x, r).
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Slant range
The slant range R(u; x, r) is given by
p 2p
R(u; x, r) = (u − x)2 + r2 ⇒ t(u; x, r) = (u − x)2 + r2
c
The translational invariance from the dependence on u − x enables
us to consider the generic response at x = 0.
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Point spread response (PSR)
The point spread response t(u; x, r) = 2c (u − x)2 + r2 describes
p
a hyperbola in the data domain d(u, t), with a vertex depending on
(x, r).
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Dependence of PSR on down-range
The PSR is not a simple translation when considered as a function
of down-range r:
2p 2 2p 2
t(u; r+∆r) = u + (r + ∆r)2 = u + r2 + 2r∆r + (∆r)2
c c
2
6= t(u; r) + ∆r
c
More bowing of the PSR for scatterers with close range.
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Variations of PSR in cross-range and down-range
The shape invariance in cross-range (along-track) can be used for
image formation.
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Range-Doppler data
Range bins are formed as functions of fast time, and Doppler bins
are formed as functions of slow time (phase shifts between pulses)
due to Doppler shift
2v
fd = sin θ
λ 28 / 58
Short dwell time compared to range
At long range (r u, x), the PSR splits into two terms:
r
2p 2 2
2r (u − x)2
t(u; x, r) = (u − x) + r = 1+
c c r2
2 2 ux x2
2r 1 (u − x) 2 u
≈ 1+ = r+ − +
c 2 r2 c 2r r 2r
2
2
2 x 2 u ux
= r+ + − = t0 (x, r) + ∆t(u; x, r)
c 2r c 2r r 29 / 58
Cross-range position as spatial frequency
√
Assuming the u2 term can be ignored (requires DSAR < rλc )
4π u2 ux
4π x
∆ψ = 2πfc ∆t(u; x, r) = − ≈ −u
λc 2r r λc r
shows that the phase change is linear as a function of platform
position u. The spatial frequency is proportional to x:
∂ 4π x
ku = ∆ψ = −
∂u λc r
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Doppler Beam Sharpening (DBS) image formation
Fourier transform in platform position (slow time)
Z ∞
D(ku , t) = d(u, t)e−jku u du
−∞
Coordinate mappings:
√
2R 2 x2 + r 2 2
t= = ≈ r
c c c
4π x 4π x
ku = − ≈−
λc r λc r0
Rescale coordinates to find final image:
λc r0 c
f (x, r) = D ku − → x, t →r
4π 2
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DBS example 1
I Carrier frequency = 9.6 GHz.
I RF bandwidth = 3 MHz.
I Integration angle = 0.02◦ .
I Resolution = 50 m (both dimensions).
I Number of along-track sample points (pulses) = 80.
I Range to scene center = 50 km.
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DBS example 1: raw data, absolute value
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DBS example 1: raw data, real part
Phase shifts due to different cross-range positions of the targets.
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DBS example 1: processed data
The crosses correspond to two-dimensional sinc functions, typical
from Fourier transformations of rectangular pulses. Can be
suppressed by windowing, at the cost of reduced resolution.
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DBS example 2: challenging the algorithm
I Carrier frequency = 3 GHz.
I Integration angle = 51◦ .
I Resolution = 0.2 m (both dimensions).
I Number of along-track sample points (pulses) = 275.
I Range to scene center = 30 m.
Discussion
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DBS example 2: raw data, real part
Significant range migration and higher order phase modulation.
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DBS example 2: processed data
Standard DBS processing does not produce a useful image.
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Matched filter imaging
More sophisticated imaging methods are necessary when the
assumptions of the DBS are not valid. A reference signal dREF is
defined by the PSR
2p
t(u; x, r) = (u − x)2 + r2 ⇒ dREF (u, t; x, r) = δD (t−t(u; x, r))
c
The image can then be computed from the matched filter approach
Z ∞Z ∞
f (x, r) = d(u, t)d∗REF (u, t; x, r) du dt
−∞ −∞
which reduces to the (time-domain) back-projection algorithm
Z ∞
f (x, r) = d(u, t(u; x, r)) du
−∞
This usually entails resampling and interpolating the data to fit the
discretized image coordinates (x, r). Computationally intensive,
but less geometry dependent than DBS.
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Example 2: matched filter result
The constraints of the DBS assumptions are relaxed.
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Image formation survey
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Outline
1 General imaging considerations
2 Resolution relationships and sampling requirements
3 Data collection
4 Image formation
5 Image phenomenology
6 Conclusions
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No return areas (NRA): shadows
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Paved areas, clutter, man-made objects
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Lakes
Still water has specular scattering, producing very little return.
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Shadow, fore-shortening
Shadow shapes provide information on target shapes. The
increased slope of the terrain makes a stronger return than flat
ground, causing a combination of bright and dark spots.
Fore-shortening is the range compression of the illuminated hill.
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Layover
Steep angles cause tall objects to appear earlier in the image than
the expected ground return. Some effects can be studied at
http://www.nrcan.gc.ca/node/9325. Discussion
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Speckle
Constructive and destructive interference from many scatterers
produce a speckled pattern, varying from pixel to pixel.
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Speckle reduction by multilook and averaging
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Man-made returns
Man-made objects tend to have significant structure and finite
extent, as compared to lawns, fields, forests etc. Typically metal
structures, smooth surfaces, and right-angle corners, can cause
strong reflections.
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Man-made returns
Strong returns from the dihedral formed by
ground and flat side. Several minor features
in the vehicle may cause retroreflection.
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Signal-to-noise and clutter-to-noise ratios
The radar range equation can be rewritten in terms of parameters
relevant to SAR imaging.
Signal-to-noise ratio
Pavg Gt Gr λ3 σ
SNR =
2v sin θcone (4π)3 R3 N0 Ls ∆CR
Clutter-to-noise ratio (σc = σ 0 Ac = σ 0 ∆CR∆R/ cos δ)
Pavg Gt Gr λ3 σ 0 ∆R
CNR =
2v sin θcone cos δ(4π)3 R3 N0 Ls
Noise-equivalent backscatter coefficient (σ 0 for which CNR = 1)
2v sin θcone cos δ(4π)3 R3 N0 Ls
σn =
Pavg Gt Gr λ3 ∆R
This limits the possible contrast between different terrain types.
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Outline
1 General imaging considerations
2 Resolution relationships and sampling requirements
3 Data collection
4 Image formation
5 Image phenomenology
6 Conclusions
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Conclusions
I Radar images can be formed using synthetic aperture.
I Down-range resolution from pulse bandwidth, typically using
pulse compression of chirped pulses.
I Cross-range resolution from along-track sampling.
I DBS algorithm suitable for long ranges compared to DSAR ,
uses Fourier transform in cross-range.
I Matched filter or backprojection is more computationally
demanding, but relaxes geometry constraints.
I Radar images tend to emphasize returns from man-made
objects.
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Discussion
With Doppler resolution ∆fd = 1/Td and fd = 2v cos θ/λ, how
would you compute the angle resolution ∆θ?
Go back
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Discussion
With Doppler resolution ∆fd = 1/Td and fd = 2v cos θ/λ, how
would you compute the angle resolution ∆θ?
∂θ 1 λ 1 λ
Answer: ∆θ ≈ ∂f d
∆f d = ∂fd /∂θ ∆fd = 2v sin θ Td = 2DSAR sin θ ,
where DSAR = vTd .
Go back
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Discussion
A radar sensor is typically side-looking instead of overhead-looking.
Why?
Go back
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Discussion
A radar sensor is typically side-looking instead of overhead-looking.
Why?
Answer: In the overhead-looking scenario, most of the down-range
data end up in the same range bins. Looking sideways, the
down-range is more efficiently used.
Go back
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Discussion
I Carrier frequency = 3 GHz.
I Integration angle = 51◦ .
I Resolution = 0.2 m (both dimensions).
I Number of along-track sample points (pulses) = 275.
I Range to scene center = 30 m.
What can be seen as challenging in this scenario?
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Discussion
I Carrier frequency = 3 GHz.
I Integration angle = 51◦ .
I Resolution = 0.2 m (both dimensions).
I Number of along-track sample points (pulses) = 275.
I Range to scene center = 30 m.
What can be seen as challenging in this scenario?
Answer: Large scene compared to range, large RF bandwidth, wide
integration angles, fine resolution. Breaking the assumptions of
DBS. Go back 57 / 58
Discussion
Fore-shortening Layover
Which effect tends to make the object larger than it is?
Go back
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Discussion
Fore-shortening Layover
Which effect tends to make the object larger than it is?
Answer: The layover effect appears as reflections from the ground
in front of the object, whereas the fore-shortening makes the peak
of the object shift towards the radar but within the object
footprint. If there is a shadow, it may cover both part of the object
footprint and some distance behind it.
Go back
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