Radar Imaging in Challenging Scenarios from Smart and Flexible Platforms

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The development of copper clad laminate horn antennas for drone interferometric synthetic aperture radar

Interferometric synthetic aperture radar (InSAR) is an active remote sensing technique that typically utilises satellite data to quantify Earth surface and structural deformation. Drone InSAR should provide improved spatial-temporal data resolutions and operational flexibility. This necessitates the development of custom radar hardware for drone deployment, including antennas for the transmission and reception of microwave electromagnetic signals. We present the design, simulation, fabrication, and testing of two lightweight and inexpensive copper clad laminate (CCL)/printed circuit board (PCB) horn antennas for C-band radar deployed on the DJI Matrice 600 Pro drone. This is the first demonstration of horn antennas fabricated from CCL, and the first complete overview of antenna development for drone radar applications. The dimensions are optimised for the desired gain and centre frequency of 19 dBi and 5.4 GHz, respectively. The S11, directivity/gain, and half power beam widths (HPBW) are simulated in MATLAB, with the antennas tested in a radio frequency (RF) electromagnetic anechoic chamber using a calibrated vector network analyser (VNA) for comparison. The antennas are highly directive with gains of 15.80 and 16.25 dBi, respectively. The reduction in gain compared to the simulated value is attributed to a resonant frequency shift caused by the brass input feed increasing the electrical dimensions. The measured S11 and azimuth HPBW either meet or exceed the simulated results. A slight performance disparity between the two antennas is attributed to minor artefacts of the manufacturing and testing processes. The incorporation of the antennas into the drone payload is presented. Overall, both antennas satisfy our performance criteria and highlight the potential for CCL/PCB/FR-4 as a lightweight and inexpensive material for custom antenna production in drone radar and other antenna applications

Design and implementation of an SDR-based multi-frequency ground-based SAR system

Synthetic Aperture Radar (SAR) has proven a valuable tool in the monitoring of the Earth, either at a global or local scales. SAR is a coherent radar system able to image extended areas with high resolution, and finds applications in many areas such as forestry, agriculture, mining, structure inspection or security operations. Although space-borne SAR systems can image extended areas, their main limitation is the long revisit times, which are not suitable for applications where the target experiments rapid changes, in the scale of minutes to few days. GBSAR systems have proven useful to fill this revisit time gap by imaging relatively small areas continuously, with extensions usually smaller than a few square kilometers. Ground Based SAR (GBSAR) systems have been used extensively for the monitoring of slope instability, and are a common tool in the mining sector. The development of the GBSAR is relatively recent, and various developments have taken place since the 2000s, transitioning from the usage of Vector Network Analyzers (VNAs) to custom radar cores tailored for this application. This transition is accompanied by a reduction in cost, but at the same time is accompanied by a loss of operational flexibility. Specifically, most GBSAR sensors now operate at a single frequency, losing the value of the multi-band operation that VNAs provided. This work is motivated by the idea that it is worth to use the value of multi-frequency GBSAR measurements, while maintaining a limited system cost. In order to implement a GBSAR with these characteristics, it is realized that Software Defined Radio (SDR) devices are a good option for fast and flexible implementation of broadband transceivers. This thesis details the design and implementation process of an SDR-based Frequency Modulated Continuous Wave (FMCW) GBSAR system from the ground up, presenting the main issues related with the usage of the most common SDR analog architecture, the Zero-IF transceiver. The main problem is determined to be the behavior of spurs related to IQ imbalances of the analog transceiver with the FMCW demodulation process. Two effective techniques to overcome these issues, the Super Spatial Variant Apodization (SSVA) and the Short Time Fourier Transform (STFT) signal reconstruction techniques, are implemented and tested. The thesis also deals with the digital implementation of the signal generator and digital receiver, which are implemented on top of an RF Network-on-Chip (RFNoC) architecture in the SDR Field Programmable Gate Array (FPGA). Another important aspect of this work is the development of an radiofrequency front-end that extends the capabilities of the SDR, implementing filtering, amplification, leakage mitigation and up-conversion to X-band. Finally, a set of test campaigns is described, in which the operation of the system is verified and the value of multi-frequency GBSAR observations is shown.El radar d'obertura sintètica (SAR) ha demostrat ser una eina valuosa en el monitoratge de la Terra, sigui a escala global o local. El SAR és un sistema de radar coherent capaç d’obtenir imatges de zones extenses amb alta resolució i té aplicacions en moltes àrees com la silvicultura, l’agricultura, la mineria, la inspecció d’estructures o les operacions de seguretat. Tot i que els sistemes SAR embarcats en plataformes orbitals poden obtenir imatges d'àrees extenses, la seva principal limitació és el temps de revisita, que no són adequats per a aplicacions on l'objectiu experimenta canvis ràpids, en una escala de minuts a pocs dies. Els sistemes GBSAR han demostrat ser útils per omplir aquesta bretxa de temps, obtenint imatges d'àrees relativament petites de manera contínua, amb extensions generalment inferiors a uns pocs quilòmetres quadrats. Els sistemes SAR terrestres (GBSAR) s’han utilitzat àmpliament per al control de la inestabilitat de talussos i esllavissades i són una eina comuna al sector miner. El desenvolupament del GBSAR és relativament recent i s’han produït diversos desenvolupaments des de la dècada de 2000, passant de l’ús d’analitzadors de xarxes vectorials (VNA) a nuclis de radar personalitzats i adaptats a aquesta aplicació. Aquesta transició s’acompanya d’una reducció del cost, però al mateix temps d’una pèrdua de flexibilitat operativa. Concretament, la majoria dels sensors GBSAR funcionen a una única freqüència, perdent el valor de l’operació en múltiples bandes que proporcionaven els VNA. Aquesta tesi està motivada per la idea de recuperar el valor de les mesures GBSAR multifreqüència, mantenint un cost del sistema limitat. Per tal d’implementar un GBSAR amb aquestes característiques, s’adona que els dispositius de ràdio definida per software (SDR) són una bona opció per a la implementació ràpida i flexible dels transceptors de banda ampla. Aquesta tesi detalla el procés de disseny i implementació d’un sistema GBSAR d’ona contínua modulada en freqüència (FMCW) basat en la tecnologia SDR, presentant els principals problemes relacionats amb l’ús de l’arquitectura analògica de SDR més comuna, el transceptor Zero-IF. Es determina que el problema principal és el comportament dels espuris relacionats amb el balanç de les cadenes de fase i quadratura del transceptor analògic amb el procés de desmodulació FMCW. S’implementen i comproven dues tècniques efectives per minimitzar aquests problemes basades en la reconstrucció de la senyal contaminada per espuris: la tècnica anomenada Super Spatial Variant Apodization (SSVA) i una tècnica basada en la transformada de Fourier amb finestra (STFT). La tesi també tracta la implementació digital del generador de senyal i del receptor digital, que s’implementen sobre una arquitectura RF Network-on-Chip (RFNoC). Un altre aspecte important d’aquesta tesi és el desenvolupament d’un front-end de radiofreqüència que amplia les capacitats de la SDR, implementant filtratge, amplificació, millora de l'aïllament entre transmissió i recepció i conversió a banda X. Finalment, es descriu un conjunt de campanyes de prova en què es verifica el funcionament del sistema i es mostra el valor de les observacions GBSAR multifreqüència

Mapping ground instability in areas of geotechnical infrastructure using satellite InSAR and Small UAV Surveying: a case study in Northern Ireland

Satellite Interferometric Synthetic Aperture Radar (InSAR), geological data and Small Unmanned Aerial Vehicle (SUAV) surveying was used to enhance our understanding of ground movement at five areas of interest in Northern Ireland. In total 68 ERS-1/2 images 1992–2000 were processed with the Small Baseline Subset (SBAS) InSAR technique to derive the baseline ground instability scenario of key areas of interest for five stakeholders: TransportNI, Northern Ireland Railways, Department for the Economy, Arup, and Belfast City Council. These stakeholders require monitoring of ground deformation across either their geotechnical infrastructure (i.e., embankments, cuttings, engineered fills and earth retaining structures) or assessment of subsidence risk as a result of abandoned mine workings, using the most efficient, cost-effective methods, with a view to minimising and managing risk to their businesses. The InSAR results provided an overview of the extent and magnitude of ground deformation for a 3000 km2 region, including the key sites of the disused salt mines in Carrickfergus, the Belfast–Bangor railway line, Throne Bend and Ligoniel Park in Belfast, Straidkilly and Garron Point along the Antrim Coast Road, plus other urbanised areas in and around Belfast. Tailored SUAV campaigns with a X8 airframe and generation of very high resolution ortho-photographs and a 3D surface model via the Structure from Motion (SfM) approach at Maiden Mount salt mine collapse in Carrickfergus in 2016 and 2017 also demonstrate the benefits of very high resolution surveying technologies to detect localised deformation and indicators of ground instabilit

D5.1 SHM digital twin requirements for residential, industrial buildings and bridges

This deliverable presents a report of the needs for structural control on buildings (initial imperfections, deflections at service, stability, rheology) and on bridges (vibrations, modal shapes, deflections, stresses) based on state-of-the-art image-based and sensor-based techniques. To this end, the deliverable identifies and describes strategies that encompass state-of-the-art instrumentation and control for infrastructures (SHM technologies).Objectius de Desenvolupament Sostenible::8 - Treball Decent i Creixement EconòmicObjectius de Desenvolupament Sostenible::9 - Indústria, Innovació i InfraestructuraPreprin

Detection and characterization of icebergs in Kongsfjorden (Svalbard) based on ground-based radar images and additional remote sensing data

This thesis focuses on the exploitation of ground-based radar images to detect icebergs. Additional remote sensing data from space-borne Synthetic Aperture Radar (SAR), Unmanned Aerial Vehicle (UAV) and in-situ boat tracks has been used to compare and validate the results. The investigation site is located in Kongsfjorden (Svalbard) and the combined data acquisition took place during a two-week campaign in April 2018. Five tidewater glaciers terminate in Kongsfjorden and produce a large number of icebergs of different sizes and shapes. The ground-based radar had an elevated position in Ny-Ålesund to overview a several kilometer-wide section of the fjord. The ground-based radar used during the campaign is the GAMMA Portable Radar Interferometer (GPRI). The 5 min temporal resolution of the dataset allows one to make comparisons with the above mentioned auxiliary remote sensing data. The software Python was used to process the GPRI data. Firstly, the GPRI images were pre-processed to account for the decreasing performance in range resolution. Secondly, an area of interest located between Ny-Ålesund and Blomstrandhalvøya was chosen. Hereby, it is important to focus only on the sea region and to leave out lagoons and other coastal lines. The area of interest covers approximately 2 km long region with only water and icebergs passing by while leaving Kongsfjorden. Thirdly, a threshold was applied to the GPRI images in order to separate potential icebergs from the sea background. Analysing histograms of both iceberg and sea background is important to find the appropriate threshold. This makes sure to include as many true positive as possible. In general, we can choose between two threshold modes, namely the automated and the manual threshold methods. The automated threshold method relies on the 99.93th percentile and shows the best compromise between all GPRI images. The automated threshold method is efficient and preferably used for big amounts of data and small time slots, because one loses small icebergs or detect false alarms. Therefore, it is more effective to decide on the manual threshold method. It is time-consuming, but one can more easily distinguish between iceberg and sea background by adjusting the threshold manually. Fourthly, in order to document important parameters based on GPRI images, we extract the count, size and position of every detected iceberg. Finally, the resulting GPRI images can be georeferenced and compared with auxiliary data. The software QGIS is a useful tool to compare the GPRI image products with satellite SAR images, drone images and boat tracks. After evaluating the GPRI images with auxiliary data, it turned out that the number of detected icebergs can be increased by choosing the manual threshold method, since the positive alarms are the majority in comparison to false alarms. For the future, the automated version could be improved by applying an advanced target detection, which is already used in synthetic aperture radar imagery. The developed algorithm for iceberg detection could be further developed to track. The GPRI’s temporal resolution of 5 min is predestined for such a tracking system, because it is easier to separate different icebergs within a shorter time frame. The potential value of the results can not be overseen in terms of climate research. In the future, scientists can build upon the findings to determine the mass balance of tidewater glaciers by observing how much calved ice is leaving the fjord system. In addition, the ground-based radar is showing a high potential in detecting icebergs, even if those are rather small. This could provide new insights on the distribution, volumetry and motion of icebergs, valuable for documenting oceanic currents

On the frequency sweep rate estimation in airborne fmcw sar systems

Use of Frequency Modulated Continuous Wave (FMCW) Synthetic Aperture Radar (SAR) systems requires to accurately know the electronic parameters of the system. In particular, the use of an incorrect value of the Frequency Sweep Rate (FSR) introduces geometric distortions in the focused images. Recently, a method, that we name FSR Estimate Through Corner reflectors (FSRETC), has been proposed to estimate the FSR value actually employed by the radar. The method is based on the use of the SAR image focused with the available erroneous FSR. Moreover, it exploits a number of Corner Reflectors (CRs) deployed over the illuminated area. In this work, we provide an assessment of the capabilities of the FSRETC algorithm. The overall analysis is performed through the use of a real dataset consisting of 10 acquisitions carried out in 2018 (5 acquisitions) and 2019 (5 acquisitions) with an airborne FMCW SAR system. The presented experimental analysis shows that even with a single acquisition, use of two CRs sufficiently far from each other in the range direction, allows achieving an accurate estimate of the searched FSR. Moreover, it is shown that the obtained estimate is very stable over the time. Therefore, the overall procedure can be applied only once, since the estimated values can be safely used for the subsequent missions, at least for the time interval considered in the work, that is, 14 months. In addition, the presented results pose the basis for an enhanced measurement strategy that allows effective application of the FSRETC algorithm through the use of only one CR

Resolving Fine-Scale Surface Features on Polar Sea Ice: A First Assessment of UAS Photogrammetry Without Ground Control

Mapping landfast sea ice at a fine spatial scale is not only meaningful for geophysical study, but is also of benefit for providing information about human activities upon it. The combination of unmanned aerial systems (UAS) with structure from motion (SfM) methods have already revolutionized the current close-range Earth observation paradigm. To test their feasibility in characterizing the properties and dynamics of fast ice, three flights were carried out in the 2016–2017 austral summer during the 33rd Chinese National Antarctic Expedition (CHINARE), focusing on the area of the Prydz Bay in East Antarctica. Three-dimensional models and orthomosaics from three sorties were constructed from a total of 205 photos using Agisoft PhotoScan software. Logistical challenges presented by the terrain precluded the deployment of a dedicated ground control network; however, it was still possible to indirectly assess the performance of the photogrammetric products through an analysis of the statistics of the matching network, bundle adjustment, and Monte-Carlo simulation. Our results show that the matching networks are quite strong, given a sufficient number of feature points (mostly > 20,000) or valid matches (mostly > 1000). The largest contribution to the total error using our direct georeferencing approach is attributed to inaccuracies in the onboard position and orientation system (POS) records, especially in the vehicle height and yaw angle. On one hand, the 3D precision map reveals that planimetric precision is usually about one-third of the vertical estimate (typically 20 cm in the network centre). On the other hand, shape-only errors account for less than 5% for the X and Y dimensions and 20% for the Z dimension. To further illustrate the UAS’s capability, six representative surface features are selected and interpreted by sea ice experts. Finally, we offer pragmatic suggestions and guidelines for planning future UAS-SfM surveys without the use of ground control. The work represents a pioneering attempt to comprehensively assess UAS-SfM survey capability in fast ice environments, and could serve as a reference for future improvements