A Study in GPS-Denied Navigation Using Synthetic Aperture Radar

In modern navigation systems, GPS is vital to accurately piloting a vehicle. This is especially true in autonomous vehicles, such as UAVs, which have no pilot. Unfortunately, GPS signals can be easily jammed or spoofed. For example, canyons and urban cities create an environment where the sky is obstructed and make GPS signals unreliable. Additionally, hostile individuals can transmit personal signals intended to block or spoof GPS signals. In these situations, it is important to find a means of navigation that doesn’t rely on GPS. Navigating without GPS means that other types of sensors or instruments must be used to replace the information lost from GPS. Some examples of additional sensors include cameras, altimeters, magnetometers, and radar. The work presented in this thesis shows how radar can be used to navigate without GPS. Specifically, synthetic aperture radar (SAR) is used, which is a method of processing radar data to form images of a landscape similar to images captured using a camera. SAR presents its own unique set of benefits and challenges. One major benefit of SAR is that it can produce images of an area even at night or through cloud cover. Additionally, SAR can image a wide swath of land at an angle that would be difficult for a camera to achieve. However, SAR is more computationally complex than other imaging sensors. Image quality is also highly dependent on the quality of navigation information available. In general, SAR requires that good navigation data be had in order to form SAR images. The research here explores the reverse problem where SAR images are formed without good navigation data and then good navigation data is inferred from the images. This thesis performs feasibility studies and real data implementations that show how SAR can be used in navigation without the presence of GPS. Derivations and background materials are provided. Validation methods and additional discussions are provided on the results of each portion of research

Wide-Angle Multistatic Synthetic Aperture Radar: Focused Image Formation and Aliasing Artifact Mitigation

Traditional monostatic Synthetic Aperture Radar (SAR) platforms force the user to choose between two image types: larger, low resolution images or smaller, high resolution images. Switching to a Wide-Angle Multistatic Synthetic Aperture Radar (WAM-SAR) approach allows formation of large high-resolution images. Unfortunately, WAM-SAR suffers from two significant implementation problems. First, wavefront curvature effects, non-linear flight paths, and warped ground planes lead to image defocusing with traditional SAR processing methods. A new 3-D monostatic/bistatic image formation routine solves the defocusing problem, correcting for all relevant wide-angle effects. Inverse SAR (ISAR) imagery from a Radar Cross Section (RCS) chamber validates this approach. The second implementation problem stems from the large Doppler spread in the wide-angle scene, leading to severe aliasing problems. This research effort develops a new anti-aliasing technique using randomized Stepped-Frequency (SF) waveforms to form Doppler filter nulls coinciding with aliasing artifact locations. Both simulation and laboratory results demonstrate effective performance, eliminating more than 99% of the aliased energy

Small business innovation research. Abstracts of 1988 phase 1 awards

Non-proprietary proposal abstracts of Phase 1 Small Business Innovation Research (SBIR) projects supported by NASA are presented. Projects in the fields of aeronautical propulsion, aerodynamics, acoustics, aircraft systems, materials and structures, teleoperators and robots, computer sciences, information systems, data processing, spacecraft propulsion, bioastronautics, satellite communication, and space processing are covered

Digital Image Processing

Newspapers and the popular scientific press today publish many examples of highly impressive images. These images range, for example, from those showing regions of star birth in the distant Universe to the extent of the stratospheric ozone depletion over Antarctica in springtime, and to those regions of the human brain affected by Alzheimer’s disease. Processed digitally to generate spectacular images, often in false colour, they all make an immediate and deep impact on the viewer’s imagination and understanding. Professor Jonathan Blackledge’s erudite but very useful new treatise Digital Image Processing: Mathematical and Computational Methods explains both the underlying theory and the techniques used to produce such images in considerable detail. It also provides many valuable example problems - and their solutions - so that the reader can test his/her grasp of the physical, mathematical and numerical aspects of the particular topics and methods discussed. As such, this magnum opus complements the author’s earlier work Digital Signal Processing. Both books are a wonderful resource for students who wish to make their careers in this fascinating and rapidly developing field which has an ever increasing number of areas of application. The strengths of this large book lie in: • excellent explanatory introduction to the subject; • thorough treatment of the theoretical foundations, dealing with both electromagnetic and acoustic wave scattering and allied techniques; • comprehensive discussion of all the basic principles, the mathematical transforms (e.g. the Fourier and Radon transforms), their interrelationships and, in particular, Born scattering theory and its application to imaging systems modelling; discussion in detail - including the assumptions and limitations - of optical imaging, seismic imaging, medical imaging (using ultrasound), X-ray computer aided tomography, tomography when the wavelength of the probing radiation is of the same order as the dimensions of the scatterer, Synthetic Aperture Radar (airborne or spaceborne), digital watermarking and holography; detail devoted to the methods of implementation of the analytical schemes in various case studies and also as numerical packages (especially in C/C++); • coverage of deconvolution, de-blurring (or sharpening) an image, maximum entropy techniques, Bayesian estimators, techniques for enhancing the dynamic range of an image, methods of filtering images and techniques for noise reduction; • discussion of thresholding, techniques for detecting edges in an image and for contrast stretching, stochastic scattering (random walk models) and models for characterizing an image statistically; • investigation of fractal images, fractal dimension segmentation, image texture, the coding and storing of large quantities of data, and image compression such as JPEG; • valuable summary of the important results obtained in each Chapter given at its end; • suggestions for further reading at the end of each Chapter. I warmly commend this text to all readers, and trust that they will find it to be invaluable. Professor Michael J Rycroft Visiting Professor at the International Space University, Strasbourg, France, and at Cranfield University, England

Conference on Charge-Coupled Device Technology and Applications

Papers were presented from the conference on charge coupled device technology and applications. The following topics were investigated: data processing; infrared; devices and testing; electron-in, x-ray, radiation; and applications. The emphasis was on the advances of mutual relevance and potential significance both to industry and NASA's current and future requirements in all fields of imaging, signal processing and memory

Earth resources: A continuing bibliography with indexes (issue 62)

This bibliography lists 544 reports, articles, and other documents introduced into the NASA scientific and technical information system between April 1 and June 30, 1989. Emphasis is placed on the use of remote sensing and geophysical instrumentation in spacecraft and aircraft to survey and inventory natural resources and urban areas. Subject matter is grouped according to agriculture and forestry, environmental changes and cultural resources, geodesy and cartography, geology and mineral resources, hydrology and water management, data processing and distribution systems, instrumentation and sensors, and economic analysis

Dual operative radar for vehicle to vehicle and vehicle to infrastructure communication

The research presented in this Thesis deals with the concepts of joint radar and communication system for automotive application. The novel systems developed include a joint radar and communication system based on the fractional Fourier transform (FrFT) and two interference mitigation frameworks. In the joint radar and communication system the FrFT is used to embed the data information into a radar waveform in order to obtain a signal sharing Linear Frequency Modulation (LFM) characteristics while allowing data transmission. Furthermore, in the proposed system multi user operations are allowed by assigning a specific order of the FrFT to each user. In this way, a fractional order division multiplexing can be implemented allowing the allocation of more than one user in the same frequency band with the advantage that the range resolution does not depend on the number of the users that share the same frequency band but only from the assigned of the FrFT. Remarkably, the predicted simulated radar performance of the proposed joint radar and communication system when using Binary Frequency Shift Keying (BFSK) encoding is not significantly affected by the transmitted data. In order to fully describe the proposed waveform design, the signal model when the bits of information are modulated using either BFSK or Binary Phase Shift Keying (BPSK) encoding is derived. This signal model will result also useful in the interference mitigation frameworks. In multi user scenarios to prevent mutual radar interference caused by users that share the same frequency band at the same time, each user has to transmit waveforms that are uncorrelated with those of other users. However, due to spectrum limitations, the uncorrelated property cannot always be satisfied even by using fractional order division multiplexing, thus interference is unavoidable. In order to mitigate the interference, two frameworks are introduced. In a joint radar communication system, the radar also has access to the communication data. With a near-precision reconstruction of the communication signal, this interference can be subtracted. In these two frameworks the interfering signal can be reconstructed using the derived mathematical model of the proposed FrFT waveform. In the first framework the subtraction between the received and reconstructed interference signals is carried out in a coherent manner, where the amplitude and phase of the two signals are taken into account. The performance of this framework is highly depend on the correct estimation of the Doppler frequency of the interfering user. A small error on the Doppler frequency can lead to a lack of synchronization between the received and reconstructed signal. Consequently, the subtraction will not be performed in a correct way and further interference components can be introduced. In order to solve the problem of the lack of the synchronization an alternative framework is developed where the subtraction is carried out in non-coherent manner. In the proposed framework, the subtraction is carried out after that the received radar signal and the reconstructed interference are processed, respectively. The performance is tested on simulated and real signals. The simulated and experimental results show that this framework is capable of mitigating the interference from other users successfully.The research presented in this Thesis deals with the concepts of joint radar and communication system for automotive application. The novel systems developed include a joint radar and communication system based on the fractional Fourier transform (FrFT) and two interference mitigation frameworks. In the joint radar and communication system the FrFT is used to embed the data information into a radar waveform in order to obtain a signal sharing Linear Frequency Modulation (LFM) characteristics while allowing data transmission. Furthermore, in the proposed system multi user operations are allowed by assigning a specific order of the FrFT to each user. In this way, a fractional order division multiplexing can be implemented allowing the allocation of more than one user in the same frequency band with the advantage that the range resolution does not depend on the number of the users that share the same frequency band but only from the assigned of the FrFT. Remarkably, the predicted simulated radar performance of the proposed joint radar and communication system when using Binary Frequency Shift Keying (BFSK) encoding is not significantly affected by the transmitted data. In order to fully describe the proposed waveform design, the signal model when the bits of information are modulated using either BFSK or Binary Phase Shift Keying (BPSK) encoding is derived. This signal model will result also useful in the interference mitigation frameworks. In multi user scenarios to prevent mutual radar interference caused by users that share the same frequency band at the same time, each user has to transmit waveforms that are uncorrelated with those of other users. However, due to spectrum limitations, the uncorrelated property cannot always be satisfied even by using fractional order division multiplexing, thus interference is unavoidable. In order to mitigate the interference, two frameworks are introduced. In a joint radar communication system, the radar also has access to the communication data. With a near-precision reconstruction of the communication signal, this interference can be subtracted. In these two frameworks the interfering signal can be reconstructed using the derived mathematical model of the proposed FrFT waveform. In the first framework the subtraction between the received and reconstructed interference signals is carried out in a coherent manner, where the amplitude and phase of the two signals are taken into account. The performance of this framework is highly depend on the correct estimation of the Doppler frequency of the interfering user. A small error on the Doppler frequency can lead to a lack of synchronization between the received and reconstructed signal. Consequently, the subtraction will not be performed in a correct way and further interference components can be introduced. In order to solve the problem of the lack of the synchronization an alternative framework is developed where the subtraction is carried out in non-coherent manner. In the proposed framework, the subtraction is carried out after that the received radar signal and the reconstructed interference are processed, respectively. The performance is tested on simulated and real signals. The simulated and experimental results show that this framework is capable of mitigating the interference from other users successfully

Scattering Models in Remote Sensing: Application to SAR Despeckling and Sea Target Detection from GNSS-R Imagery

Imaging sensors are an essential tool for the observation of the Earth’ surface and the study of other celestial bodies. The capability to produce radar images of the illuminated surface is strictly related with the complex phenomenology of the radiation-matter interaction. The electromagnetic scattering theory is a well-established and well-assessed topic in electromagnetics. However, its usage in the remote sensing field is not adequately investigated and studied. This Ph.D. Thesis addresses the exploitation of electromagnetic scattering models suitable for natural surfaces in two applications of remotely sensed data, namely despeckling of synthetic aperture radar (SAR) imagery, and the detection of sea targets in delay-Doppler Maps (DDM) acquired from spaceborne Global Navigation Satellite System-Reflectometry (GNSS-R). The first issue was addressed by conceiving, developing, implementing and validating two despeckling algorithms for SAR images. The developed algorithms introduce some a priori information about the electromagnetic behavior of the resolution cell in the despeckling chain and were conceived as a scattering-based version of pre-existing filters, namely the Probabilistic Patch-Based (PPB) and SAR-Block-Matching 3-D (SARBM3D) algorithms. The scattering behavior of the sensed surface is modeled assuming a fractal surface roughness and using the Small Perturbation Method (SPM) to describe the radar cross section (RCS) of the surface. Performances of the proposed algorithms have been assessed using both canonical test (simulated) and actual images acquired from the COSMO\SkyMed constellation. The robustness of the proposed filters against different error sources, such as the scattering behavior of the surface, surface parameters, Digital Elevation Model (DEM) resolution and the SAR image-DEM coregistration step, has been evaluated via an experimental sensitivity analysis. The problem of detecting sea targets from GNSS-R data in near real-time has been investigated by analyzing the revisit time achieved by constellations of GNSS-R instruments. A statistical analysis of the global revisit time has been performed by means of mission simulation, in which three realistic scenario have been defined. Time requirements for near real-time ship detection purposes are shown to be fulfilled in multi-GNSS constellation scenarios. A four-step sea target has been developed. The detector is a Constant False Alarm Rate (CFAR) algorithm and is based on the suppression of the sea clutter contribution, modeled via the Geometrical Optics (GO) approach. Performance assessment is performed by deriving the Receiver Operating Curves (ROC) of the detector. Finally, the proposed sea target detection algorithm has been tested using actual UK TechDemoSat-1 data