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554 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 45, NO.

3, MARCH 2007

Bistatic Linear Antenna Array SAR for Moving


Target Detection, Location, and Imaging
With Two Passive Airborne Radars
Gang Li, Student Member, IEEE, Jia Xu, Member, IEEE, Ying-Ning Peng, Senior Member, IEEE,
and Xiang-Gen Xia, Senior Member, IEEE

Abstract—In this paper, we propose a bistatic linear array In both experiments, the two airplanes (the transmitter and the
synthetic aperture radar (BLA-SAR) system for moving target receiver) were constrained to fly along parallel flight paths,
detection, location, and imaging. In the BLA-SAR system, a geo- and satisfying imaging results of the stationary scenes were
stationary satellite is used as a transmitter, and two airborne
linear array radars are used as passive receivers, where the trans- obtained. These experiments have proved the feasibility of
mitted waveforms from the geostationary satellite may have two many important practical problems, such as the communication
different carrier frequencies, two linear array antennas on two between two airplanes, the time, location, and phase synchro-
different airplanes may be equipped with different spacings, or nization of the two airplanes, the flight track aligning and
two airplanes may fly with two different velocities. It is shown the motion compensation, etc., which encourages us to study
that, using the BLA-SAR, not only the stationary clutter can be
suppressed but also locations of both slow and fast moving targets the issue on moving target detection and imaging by taking
can be accurately estimated. Furthermore, an effective BLA-SAR advantage of the similar configuration.
algorithm of moving target imaging is also proposed. Lastly, some Especially, an active topic in the research area of the bistatic
numerical experiments are given to demonstrate the effectiveness radar is the integration of airborne and spaceborne radars, i.e.,
of the BLA-SAR. the bistatic radar system with airborne receiver and spaceborne
Index Terms—Bistatic synthetic aperture radar (SAR), Chinese transmitter. The distinct advantage of such configuration, com-
remainder theorem (CRT), moving target. pared with the airborne bistatic systems in [1] and [2], lies
in the excellent capability of wide-area surveillance, and it is
I. I NTRODUCTION obviously helpful for moving target detection. Some useful
suggestions on the practical design of such system had been
B ISTATIC/MULTISTATIC radar has attracted much atten-
tion in recent years [1]–[10], [25], [26]. In bistatic radar
systems, transmitter and receivers are usually separated and
proposed in [7] and [8].
In the existing literature, several methods of moving target
located on different flying platforms. The main advantage of detection and imaging based on monostatic multireceiver sys-
this configuration is that the vulnerability of the system is re- tems have been generalized to bistatic case. For example, it
duced because the transmitter may be located beyond an attack was demonstrated that the slowly moving targets immersed in
range and the passive receivers are difficult to be detected. strong ground clutter may be detected and located by applying
Moreover, the bistatic radar cross section differs from that of space-time adaptive processing [5]–[9] and the displaced phase
the monostatic case, which may increase the probability to find center antenna technique [9]–[10] to bistatic SAR. However,
stealth targets. Furthermore, if multiple receivers are used, there when targets move fast, the position and velocity parameters
are possibilities to look at the same scene from different angles will not be estimated accurately due to the 2π modulo operation
with advantages for moving target detection and imaging. Two in the Fourier transform, and thus, the targets will still be
successful experiments on bistatic airborne synthetic aperture mislocated accordingly. This problem is called azimuth location
radar (SAR) had been carried out by ONERA/DLR in February ambiguity [12]. In a monostatic system, it may be resolved
2003 [1] and by FGAN in October 2003 [2], respectively. by dual-speed single-channel SAR [13] and some extensions
of linear array SAR (or VSAR) [11], e.g., multifrequency
Manuscript received February 1, 2006; revised July 26, 2006. This work
VSAR [12], nonuniform linear array SAR [14], and dual-speed
was supported in part by the China National Science Foundation under Grant VSAR [15]. Nevertheless, in the existing bistatic systems,
60502012, in part by the China Ministry Research Foundation under Grant these techniques have not been found and the azimuth location
9140A07020106JW0103, and in part by the Cultivation Fund of the Key
Scientific and Technical Innovation Project under Grant 706004.
ambiguity has not been resolved. In this paper, we also focus on
G. Li and Y.-N. Peng are with the Department of Electronic Engineer- moving target detection, location, and imaging, but for bistatic
ing, Tsinghua University, Beijing 100084, China (e-mail: ligang98@mails. systems. We propose a bistatic linear array SAR (BLA-SAR)
tsinghua.edu.cn).
J. Xu is with the Department of Electronic Engineering, Tsinghua University, system, where a geostationary satellite is used as the trans-
Beijing 100084, China and also with the Radar Academy of Air Force, Wuhan mitter and two airborne linear array side-looking radars flying
430010, China. along parallel flight tracks are used as passive receivers. Then,
X.-G. Xia is with the Department of Electrical and Computer Engineering,
University of Delaware, Newark, DE 19716 USA (e-mail: xxia@ee.udel.edu). we generalize the above techniques, i.e., multiple frequencies,
Digital Object Identifier 10.1109/TGRS.2006.888145 multiple antenna spacings, and dual platform velocities to

0196-2892/$25.00 © 2007 IEEE


LI et al.: BISTATIC LINEAR ARRAY SAR FOR MOVING TARGET DETECTION, LOCATION, AND IMAGING 555

BLA-SAR. Compared with the monostatic system proposed in


[12]–[15], some of the above techniques, for example, multiple
frequencies and dual platform velocities, are easier to cope
with in BLA-SAR. The two airborne passive radars of BLA-
SAR can receive echoes with different carrier frequencies,
arrange the receiving antennas with different spacings, or fly
with two different velocities, respectively, during the imaging
time interval. Accordingly, BLA-SAR has three representative
forms.
1) If the carrier frequencies of the transmitted waveforms
from a geostationary satellite are different when every-
thing else is the same in two airplanes, the system is
called dual-frequency BLA-SAR (DFBLA-SAR).
2) If the antenna spacings are different when everything else
is the same in two airplanes, the system is called dual-
spacing BLA-SAR (DSBLA-SAR).
3) If the platform velocities are different when everything
else is the same in two airplanes, the system is called dual-
velocity BLA-SAR (DVBLA-SAR).
In each one of the two airborne linear array radars of
BLA-SAR, multiple complex images are formed by multiple
receiving antennas and are transformed into velocity images
(V-images) (defined in [11]), where the moving target may
be separated from strong stationary clutter in terms of its Fig. 1. BLA-SAR geometry.
motion parameters, i.e., the clutter can be suppressed and
the moving target can be detected. Moreover, the moving
target will appear at different positions in the two V-image in [1] and [2]) in the y = 0 plane with velocities ν1 and ν2
domains of the two airborne linear array SAR systems, due and altitudes H1 and H2 . The two airplanes are equipped with
to the different carrier frequencies (for DFBLA-SAR), or two M -element side-looking linear receiving arrays, where
different antenna spacings (for DSBLA-SAR), or different the element spacing at the first airplane is assumed d1 and
airplane velocities (for DVBLA-SAR). This information and the element spacing at the second airplane is assumed d2 ,
the Chinese remainder theorem (CRT) [19], [20] are used to respectively. When t = 0, the first receiver antenna in the first
resolve the azimuth location ambiguity. Therefore, BLA-SAR airplane is assumed located at (0, 0, H1 ) and the first receiver
has the ability not only to suppress clutter but also to accurately antenna in the second airplane is assumed located at (0, 0, H2 ),
locate and image both slow and fast moving targets. and then the coordinates of other 2M − 2 receiver anten-
This paper is organized as follows. In Section II, the nas are (d1 , 0, H1 ), (2d1 , 0, H1 ), . . . , ((M − 1)d1 , 0, H1 ), and
BLA-SAR model is established. In Section III, the problem (d2 , 0, H2 ), (2d2 , 0, H2 ), . . . , ((M − 1)d2 , 0, H2 ), correspond-
of detection, location, and imaging of the moving target is ingly. At the same time, a moving target P with constant
formulated by using a single linear antenna array. In Section IV, azimuth speed νx and range speed νy is assumed located at
the principle of moving target accurate location using two linear (x0 , y0 , 0) (in the area illuminated by the geostationary satellite
antenna arrays is introduced, some practical problems are dis- beam). In the following, we first analyze the moving target
cussed, and an effective BLA-SAR algorithm of moving target imaging process using a single linear antenna array, address the
imaging is proposed. In Section V, some numerical experiments azimuth location ambiguity problem similar to what is done in
are given to validate the BLA-SAR algorithm. In Section VI, [11] and [12], and then propose BLA-SAR in details.
some useful conclusions and comments are given.

III. L OCATION AND I MAGING F ORMULATION U SING


II. BLA-SAR M ODEL A S INGLE L INEAR A NTENNA A RRAY

The BLA-SAR geometry is shown in Fig. 1. The X axis In this section, we first consider the clutter-free scenario and
is the azimuth direction, the Y axis is the range direction, analyze the imaging process for P using the antenna array fixed
and the Z axis is the vertical direction. The X–Y plane rep- in the first airplane similar to [11] and [12]. The problem about
resents the earth’s surface. A geostationary satellite is used as clutter suppression will be discussed in the next section. Sup-
the transmitter, and two airplanes are used as passive receivers. pose that the geostationary satellite transmits a linear frequency
Assume that the geostationary satellite transmits signal with modulated (LFM) signal (or chirp signal)
dual-carrier wavelengths λ1 and λ2 and the two airplanes
  µ 
receive echoes with λ1 and λ2 , respectively. The two airplanes
s(τ ) = A exp j2π f1,c τ + τ 2 (1)
fly parallel along the azimuth direction (like the experiments 2
556 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 45, NO. 3, MARCH 2007


where A is the amplitude, f1,c is the carrier frequency, µ is the where R1 = x20 + y02 + H12 is the distance from the first
chirp rate, and τ is the fast time (or round-trip time, or range antenna of the first airplane to P at t = 0. Then, the azimuth
time). After the demodulation, the base band echo from P at instantaneous Doppler frequency is
the mth antenna of the first airplane is
f (t) = fD,radar + fD,target + (fR,radar + fR,target )t (6)
  2 
R0 + R1,m (t)
s1,m (t, τ ) = A1 exp jπµ τ − where
c

(x0 − md1 )ν1
2π(R0 + R1,m (t)) fD,radar =
· exp −j (2) λ1 R1
λ1 (x0 − md1 )νx + y0 νy
fD,target = −
λ1 R1
where A1 is the echo’s complex amplitude, c is the light
ν12
speed, the wavelength λ1 = c/f1c , and t is the slow time fR,radar = −
(or azimuth time); R0 is the distance from the geostationary λ1 R1
satellite to P (it is reasonable to assume R0 constant in this νx2 − 2νx ν1 + νy2
paper, because the motion of the target in the limited time fR,target = − . (7)
λ1 R1
duration is normally much smaller than the distance between
the geostationary satellite and the earth); R1,m (t) is the distance fD,radar , fD,target , fR,radar , and fR,target are the Doppler shifts
from the mth antenna of the first airplane to P at instantaneous and the Doppler rates due to the radar motion and the target
slow time t; and motion, respectively. After the azimuth phase compensation
according to the response function of the static target PS
standing at (x0 , y0 , 0), fD,radar and fR,radar · t in (6) can be
R1,m (t) = (x0 + νx t − ν1 t − md1 )2 + (y0 + νy t)2 + H12 removed and PS is focused and located at its true azimuth
(3) position x0 . Here, the echo from the moving target P is also
an LFM signal with Doppler shift fD,target and Doppler rate
for m = 0, 1, . . . , M − 1. After the range compression, (2) fR,target , i.e., the instantaneous Doppler frequency from P
becomes approximately is f (t) = fD,target + fR,target t. The term of fR,target t can be
compensated via estimating fR,target by using the method

proposed in [16] and [17], and then the moving target P is
2π (R0 + R1,m (t))
s1,m (t, τ ) = A1 exp −j focused but shifted away from its true azimuth position x0 . The
λ1
amount of the shift is
 
R0 + R1,m (t) λ1 R1 fD,target x0 νx + y0 νy md1 νx
·δ τ − (4) ∆1 = =− + (8)
c ν1 ν1 ν1

Taking the Taylor series expansion of R1,m (t) in terms of t in where md1 νx /ν1 is the result of the receiver position difference
(4), i.e., and is normally smaller than one azimuth cell as explained in
[18]. (To verify this conclusion, let us see an example. Take
m2 d21 − 2md1 x0 the parameters as what will be used in the later numerical
R1,m (t) ≈ R1 + experiments: azimuth resolution is ρx = 1 m, airplane speed
2R1
is ν1 = 200 m/s, the antenna spacing is d1 = 1.5 m, and the
(x0 − md1 )(νx − ν1 ) + y0 νy (νx − ν1 )2 + νy2 2 element number of the antenna array is M = 10. We can calcu-
+ t+ t late that if |νx | < 14.81 m/s then md1 νx /ν1 < ρx . Therefore,
R1 2R1
this conclusion holds for most of the normal moving targets,
especially for the later numerical experiments of this paper.)
we obtain Therefore, it can be neglected and (8) becomes

x0 νx + y0 νy
 
∆1 = − . (9)
2π m2 d21 − 2md1 x0 ν1
s1,m (t) = A1 exp −j R0 + R1 +
λ1 2R1
In this way, the moving target P is focused and detected
  at azimuth position (x0 + ∆1 ) in the complex image of the
2π (x0 − md1 )(νx − ν1 ) + y0 νy
· exp −j t mth antenna at the first airplane, and has a complex amplitude
λ1 R1
[see (5)]
  
2π (νx − ν1 )2 + νy2 2  

· exp −j t (5) 2π m2 d21 − 2md1 x0


λ1 2R1 A1 exp −j R0 + R1 + .
λ1 2R1
LI et al.: BISTATIC LINEAR ARRAY SAR FOR MOVING TARGET DETECTION, LOCATION, AND IMAGING 557

After the quantization by the SAR image azimuth resolution ρx , The DFT of S1 (m), which is called V-images like VSAR
we have M images of P formed by the M receivers in the first [11], gives f1 = mod(f1 , 1), which is folded residue of f1 due
airplane to 2π periodicity of the DFT. For a stationary target, f1 = 0,
 
i.e., the stationary target stands in the zeroth V-image. For the
2π m2 d21 moving target P , f1 = 0, i.e., P will stand in corresponding
S1 (m) = A1 exp −j R0 + R1 +
λ1 2R1 V-image in terms of its velocity. If P moves slowly such that
  ∆1,shift is small enough and corresponding f1 = f1 < 1, f1
2πmd1 x0
· exp j · δ(n − n0 − ∆1,shift ) (10) can be estimated accurately via zero-padded DFT of S1 (m).
λ1 R1
Accordingly, ∆1,shift can be solved and the position n0 of
for m = 0, 1, . . . , M − 1, where m corresponds to the mth P can be therefore solved by subtracting ∆1,shift from the
antenna and n is the discrete azimuth position; n0 and ∆1,shift detected position (n0 + ∆1,shift ). Otherwise, if P moves fast,
are the quantization results by ρx , i.e., n0 = x0 /ρx and ∆1,shift is large such that f1 = f1 + K1 for an unknown integer
K1 , and thus, f1 will not be determined uniquely via the DFT
∆1 x0 νx + y0 νy of S1 (m). Accordingly, the estimation of ∆1,shift cannot be
∆1,shift = =− . (11)
ρx ρx ν1 solved, i.e., the location ambiguity problem will occur. This
argument shows that only one observation in the V-images is
Now, another important issue is how to relocate P to its true not enough to locate a fast moving target, and this is the reason
position n0 . To do so, ∆1,shift must be estimated accurately why in VSAR systems walking people can be located, but
and subtracted from the detected position (n0 + ∆1,shift ), as moving vehicles may not be positioned accurately [11]–[15]. In
described below. monostatic linear array SAR, one way to resolve such a problem
After removing the phase term caused by the receiver po- is to carry out multiple different observations for the V-images,
sition difference, i.e., multiplying exp[jπm2 d21 /(λ1 R1 )], (10) such as multifrequency VSAR [12], nonuniform linear antenna
can be rewritten as array SAR [14], and dual-speed VSAR [15], where multiple

2π carrier wavelengths λ [12] or multiple antenna spacings d [14]


S1 (m) = A1 exp −j (R0 + R1 ) or multiple platform velocities v [15] are used in (14) to obtain
λ1
  the multiple folded residues of f [expressed as f1 in (14)].
2πmd1 ρx n0 Then, these multiple folded residues and the CRT are used
· exp j · δ(n − n0 − ∆1,shift ) (12)
λ1 R1 to estimate the target’s azimuth migration accurately. We next
consider these techniques, i.e., multiple carrier wavelengths,
for m = 0, 1, . . . , M − 1. One can take the phase factor
multiple antenna spacings, and multiple platform velocities, in
exp[−j2πmd1 ρx (n0 + ∆1,shift )/(λ1 R1 )] in terms of the de-
BLA-SAR and introduce the BLA-SAR algorithm for moving
tected position (n0 + ∆1,shift ) and multiply it to (12), we then
target detection, location, and imaging. As we shall see later,
obtain
some of the above techniques, for example, multiple carrier

2π wavelengths and multiple platform velocities, may be easier to


S1 (m) = A1 exp −j (R0 + R1 ) implement in bistatic systems than in monostatic systems.
λ1
 
2πmd1 ρx ∆1,shift
· exp −j · δ(n − n0 − ∆1,shift ). (13)
λ1 R1 IV. BLA-SAR A LGORITHM
Defining the normalized frequency In this section, we first explain the principle of moving target
accurate location using the two airborne passive linear antenna
ρx d1 ∆1,shift d1 (x0 νx + y0 νy ) arrays. We then discuss some problems in practice. Finally,
f1 = =− (14)
R1 λ1 R 1 λ 1 ν1 we give an integrated BLA-SAR algorithm for moving target
(13) becomes imaging.


S1 (m) = A1 exp −j (R0 + R1 ) A. Principle of Moving Target Accurate Location Using Two
λ1
Linear Antenna Arrays
· exp(−j2πf1 m) · δ(n − n0 − ∆1,shift ) (15)
The analysis in previous section may be generalized directly
which shows clearly that via discrete Fourier transform (DFT) to the echo processing at the second airplane. After range
of S1 (m) with respect to variable m, f1 and therefore ∆1,shift compression, the echo of P received by the mth antenna at the
can be estimated. The above analysis is similar to VSAR [11], second airplane is
but all the Doppler parameters of our BLA-SAR in (7) are
different from the VSAR case followed by a scalar multiplier 2.

2π (R0 + R2,m (t))


This is because the satellite is geostationary, and therefore s2,m (t, τ ) = A2 exp −j
λ2
R0 , the distance between the satellite and the moving target  
P , is approximately constant and has no effect on the echo’s R0 + R2,m (t)
·δ τ − (16)
phase history. c
558 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 45, NO. 3, MARCH 2007

where A2 is the complex amplitude and R2,m (t) is the distance


from mth antenna of the second airplane to P at instantaneous
slow time t, and

R2,m (t) = (x0 + νx t − ν2 t − md2 )2 + (y0 + νy t)2 + H22 .
(17)
After compensating the azimuth phase according to station-
ary scene and refocusing P , the M images of P formed by the
M receivers at the second airplane are


S2 (m) = A2 exp −j (R0 + R2 )
λ2
· exp(−j2πf2 m) · δ(n − n0 − ∆2,shift ) (18)

where the azimuth shift


x0 νx + y0 νy
∆2,shift = − (19) Fig. 2. Difference between f1 and f2 in terms of the difference between the
ρx ν2
heights H1 and H2 .
and
In practice, H1 and H2 are about several hundred or thousand
ρx d2 ∆2,shift d2 (x0 νx + y0 νy ) meters while R1 and y0 are about a few tens of kilometers.
f2 = =− (20)
R2 λ2 R 2 λ 2 ν2 Furthermore, νx and νy are normally much smaller than ν, so
 δf is smaller than 1/(2M ), which is called the resolution of
and R2 = x20 + y02 + H22 . the V-images and determined by the Rayleigh limit of DFT. To
In summary, we have demonstrate it, we give the following example. Let x0 = 30 m,

y0 = 20 km, νx = 2 m/s, νy = 3 m/s, M = 10, d = 1.5 m,

Si (m) = Ai exp −j (R0 + Ri ) λ = 0.03 m, ν = 200 m/s, H1 = 3 km, and H2 is variable in
λi the range from 3.5 to 7 km. The difference between f1 and f2 in
· exp(−j2πfi m) · δ(n − n0 − ∆i,shift ) (21) terms of the difference between H1 and H2 is shown in Fig. 2.
It is obviously found that the difference between f1 and f2 is
x0 νx + y0 νy
∆i,shift = − (22) smaller than the V-image resolution 0.05. Hence, to provide two
ρx νi
different observations in the V-images and locate both fast and
and slowly moving targets accurately, only two different Ri in (23)
are not enough and different λi , di , or νi should be taken. This
ρx di ∆i,shift di (x0 νx + y0 νy )
fi = fi + Ki = =− (23) is the basic idea of the BLA-SAR. From (22), define
Ri λi R i λ i νi
Ω = ∆1,shift · ν1 = ∆2,shift · ν2 = −(x0 νx + y0 νy )/ρx (24)
where i(= 1, 2) denotes the airplane index, ∆i,shift are the
azimuth migrations of P in SAR images, fi = mod(fi , 1) are and from (23), one can see
folded residues after performing the DFT of Si (m) in terms of
m(= 0, 1, 2, . . . , M − 1), and Ki are some unknown integers. R i νi λ i
Ω = (fi + Ki ) (25)
The central idea of the following proposed methods is to ρx di
produce “significantly” different fi for different index i in (23) for i = 1, 2. Let Γ be the smallest positive real number such
such that the CRT can be used to resolve the ambiguity due to that µi = ΓRi λi νi /(ρx di ) and µi · fi are integers for i = 1, 2.
the folding. In addition, λi , di , and νi should be designed such that µ1 and
From (23), one can see that there are several ways to generate µ2 are not integer multiples of each other. Notice that Γ and µi
different fi for different index i. We next show that only can be obtained since fi are estimated and Ri , λi , di , νi , and
geometric difference, i.e., the slant ranges Ri in (23) (or the ρx are all known for i = 1, 2. Multiplying Γ to the two sides of
heights Hi ), of two airplane receivers may not be enough to (25), (25) becomes
generate significantly different fi . When λ1 = λ2 = λ, d1 =
d2 = d, and ν1 = ν2 = ν, (23) becomes ΓΩ = (f1 + K1 )µ1 = (f2 + K2 )µ2 (26)
d(x0 νx + y0 νy ) d(x0 νx + y0 νy ) which means
fi = − =−  2 .
Ri λν λν x0 + y02 + Hi2
mod(ΓΩ, µi ) = µi fi (27)
Thus, the difference between f1 and f2 is
  for i = 1, 2. Therefore, using the two residues µi · fi and the
 d(x0 νx + y0 νy )H1  CRT (see example in [19] and [20]), ΓΩ can be uniquely
δf = |f1 − f2 | ≈   · |H1 − H2 |.

λνR13 determined if it is less than the least common multiple of the
LI et al.: BISTATIC LINEAR ARRAY SAR FOR MOVING TARGET DETECTION, LOCATION, AND IMAGING 559

two integers µi [expressed as LCM(µ1 , µ2 ) for short], and assumption. Nevertheless, in practice, the second assumption
then Ki can be estimated uniquely and Ω, therefore ∆i,shift , may not hold. As a result of the inaccuracy of fi , the estima-
can be determined accordingly, for i = 1, 2, i.e., the location tion of the azimuth shifts ∆i,shift may have large errors [27]
ambiguity is resolved by using BLA-SAR. and [28]. In this case, it is necessary to replace the conventional
We now calculate the maximal detectable target velocity CRT by the robust CRT proposed in [27] and [28]. Based on
without any ambiguity in BLA-SAR system. As mentioned the robust CRT, our BLA-SAR location algorithms for moving
above, we have Ω = −(x0 νx + y0 νy )/ρx and Γ · Ωmax = targets can deal with general case robustly. About the details of
LCM(µ1 , µ2 ). In general, the term x0 νx can be neglected the robust CRT, we refer the reader to [27] and [28].
because x0 is much smaller than y0 , where y0 ≈ R1 ≈ R2 2) Clutter Suppression: In practice, before locating a mov-
approximately. Thus, the determinable upper limit of ΓΩ can ing target P , clutter must be suppressed; otherwise, the detected
be represented as position (n0 + ∆i,shift ) is difficult to be found for i = 1, 2, es-
pecially when the signal-to-clutter ratio is not too high. At each
y 0 νy
Γ · Ωmax ≈ −Γ = LCM(µ1 , µ2 ) (28) airplane, (22) and (23) show that the stationary clutter stands in
ρx the zeroth V-image while P with its motion parameters appears
usually in one of other V-images. Occasionally, P may be
and then the maximal determinable target velocity is imaged just in the zeroth V-image and also removed together
with the clutter. But, it is impossible that P is imaged in both
1 ρx · LCM(µ1 , µ2 )
|νy,max | = · (29) zeroth V-images at the two airplanes with respect to respective
2 Γy0
wavelengths λ1 and λ2 , or respective antenna spacings d1 and
d2 or respective speeds ν1 and ν2 .
where 1/2 is multiplied because there are two possible direc-
Proof: If P is imaged in both zeroth V-images at the
tions of νy , toward and away from the radar, respectively. As
two airplanes with respective λ1 and λ2 (or d1 and d2 , or
pointed out in [11], using such a VSAR that has the parameter
ν1 and ν2 ), we have ΓΩ = µ1 K1 = µ2 K2 . This means ΓΩ =
group (λi , di , νi ), the maximal determinable target velocity
K · LCM(µ1 , µ2 ) for one integer K. Based on the restriction
is |νy,max,VSAR | = λi νi /(2di ) = ρx µi /(2Γy0 ) for i = 1 or 2.
of ΓΩ < LCM(µ1 , µ2 ) and Γ is positive, K = 0 and Ω = 0
In BLA-SAR, because µ1 and µ2 are designed not integer
accordingly. Moreover, x0  y0 and the values of νx and νy
multiples of each other, LCM(µ1 , µ2 ) > µi for i = 1, 2. Thus,
are comparable in (24); thus, Ω = 0 holds if and only if νx =
the determinable velocity range of a moving target is increased
νy = 0. This is inconsistent with the fact that P is moving. The
using the BLA-SAR compared with VSAR similar to the multi-
proof is similar to the multifrequency VSAR in [12].
frequency VSAR in [12]. This is why the location ambiguity of
Therefore, the azimuth shifts also can be determined by the
fast moving targets can be resolved by the BLA-SAR system.
CRT, when one of its two residues is equal to zero. Accordingly,
Based on above principle, one can design the parameter
P also can be detected and located accurately in this case too.
group (λi , di , νi ) synthetically such that the velocity of a target
3) SAR Image Registration Along the Range Direction: Due
of interest falls into the detectable range of the system. In
to the difference between R1 and R2 (see Fig. 1), the two
particular, we change λi , di , and νi , respectively, and ob-
SAR images of the same scene, obtained by the two airplanes,
tain three representative forms of BLA-SAR: DFBLA-SAR,
respectively, have a shift in range direction. As a result, the
DSBLA-SAR, and DVBLA-SAR. In other words, for
same moving target will appear at different range cells in two
DFBLA-SAR, λ1 = λ2 , d1 = d2 , and ν1 = ν2 ; for DSBLA-SAR,
SAR images [see (4) and (16)]. If there are multiple targets
λ1 = λ2 , d1 = d2 , and ν1 = ν2 ; and for DVBLA-SAR,
in the scene, their images may be mismatched. Therefore, it
λ1 = λ2 , d1 = d2 , and ν1 = ν2 . These three forms can be seen
is necessary to calibrate two SAR images in the two airplanes
as the generations of multifrequency VSAR [12], nonuniform
along the range direction. This calibration procedure is called
linear array SAR [14], and dual-speed VSAR [15] from mono-
image registration in interferometric SAR (InSAR), and it has
static to bistatic systems, respectively. One can see that the
been resolved by some effective methods [23], [24]. There are
separate implementations of different wavelengths, or different
different requirements of the image registrations in InSAR, and
airplane velocities in two receive airplanes in a bistatic system
in this paper, the image registration in InSAR is required to be
are easier than the implementation in a single receive/transmit
accurate enough, e.g., the registration error is limited within
airplane in a monostatic system, respectively.
1/20 of range cell (or pixel) in [23], because InSAR is based
on the accurate phase difference measurement among multiple
B. Some Discussions complex signals; while the error of the image registration in
this paper is only required to be smaller than one range cell
About the above analysis, we have the following discussions. (or pixel), because we only need to find the correct range cell
1) Robustness of the BLA-SAR Location Algorithms for numbers belonging to the same target in the two SAR images
Moving Targets: What was studied above provides the basic formed by the two airplanes. Thus, besides the algorithms pre-
idea of determining the azimuth migration by using the CRT sented in [23] and [24], a simpler method of image registration
in the V-images, which is based on two assumptions: 1) µi can be used here by the following three steps: 1) calculate
and µi · fi are integers and 2) the estimated residues fi in the range direction correlation of the two SAR images in the two
V-image domain are accurate, for i = 1, 2. It was shown in the airplanes; 2) find the position of the maximal peak in the
above section that the choice of Γ is a guarantee of the first correlation results; and 3) correct the range direction migration
560 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 45, NO. 3, MARCH 2007

between the two SAR images at the two airplanes in terms of two airplanes in DFBLA-SAR and DSBLA-SAR are assumed
the peak’s position. This method, which is the basic principle of the same all the time.
many algorithms of image registration, is simple but accurate 6) Multiple Moving Target Registration: We have discussed
enough here. In the integrated BLA-SAR algorithm, the image the aforementioned BLA-SAR imaging of a single moving
registration should be placed before the clutter suppression, target. In general, there may be multiple moving targets in
because the presence of most covered parts of the two SAR the scene. As we have seen in the previous section, if all
images at the two airplanes, i.e., the strong stationary clutter, the V-images only include a single target, the CRT (or robust
is helpful for the second step above. In addition, the accuracy CRT) can be used to estimate the correct position of the target.
of the image registration is also affected by the scene contrast. This implies that, if all the multiple moving targets can be
When the scene contrast is higher, for example in mountainous coherently separated in V-images so that different individual
area or town, an obvious peak will occur in the correlation moving targets are included in different sets of V-images, each
results and its position may be estimated accurately; therefore, moving target location can be estimated using the BLA-SAR
the SAR image registration is accurate accordingly. Otherwise, similar to the processing for a single moving target. The target
when the scene contrast is lower, for example on a river surface separation procedure is called multiple moving target registra-
or offshore plain, the maximal peak in the correlation results tion [12] (note: the “multiple moving target registration” differs
may not be found easily and the image registration may show from the “SAR image registration along the range direction”
relative poor performance. mentioned above). We next explain how the multiple moving
4) Implementation of Two Carrier Frequencies in DFBLA- target registration is done by considering two moving targets
SAR System: In DFBLA-SAR, it is assumed that the inter- and two V-images obtained from two airplanes. Assume that
est area is illuminated by the signal on two different carrier the true positions of the two targets are (x1 , y1 ) and (x2 , y2 ),
frequencies λ1 and λ2 at any time. To do so, two different and their azimuth shifts are ∆1 and ∆2 , respectively. There
transmitting antennas need to be fixed in the geostationary are two cases: 1) y1 = y2 or x1 + ∆1 = x2 + ∆2 , i.e., the two
satellite and the same waveform (chirp signal in this paper) targets are focused in different range-azimuth cells; therefore,
needs to be modulated on λ1 and λ2 and transmitted by the two the multiple moving target registration can be done according
transmitters, respectively. Then, the different echoes on λ1 and to the range cell number or the azimuth cell number; and
λ2 are collected and demodulated by the two passive airborne 2) y1 = y2 and x1 + ∆1 = x2 + ∆2 , i.e., the images of the
linear antenna arrays, respectively. two targets are superposed in the same range-azimuth cell,
5) Stable Geometry in DVBLA-SAR System: As mentioned the multiple moving target registration should be done by
above, to resolve the azimuth location ambiguity, the two generalized CRT [21], [22] that can match the sets of V-images
airplanes are designed to fly with different speeds in DVBLA- with the corresponding targets. About the details of generalized
SAR. Moreover, the azimuth-axis and range-axis coordinates CRT, we refer the readers to [21] and [22].
of the two airplanes are assumed the same when t = 0 (see
Fig. 1). On the other hand, this design may cause the aberra-
tion of the system geometry. The longer the observation time C. BLA-SAR Imaging Algorithm for Moving Target
duration is, the larger the azimuth direction distance between
We now present a BLA-SAR imaging algorithm for moving
the two airplanes is, i.e., the more serious the aberration of the
targets. All the following steps, except Step 2) and Step 7), are
system geometry is. As a result, the moving target may fall
common operations for the two antenna array SARs at the two
into the azimuth side-lobe beam of some receiving antennas,
airplanes. To improve the estimation accuracy in the V-images,
and accordingly, the location and imaging performance for the
the sequence along the antenna array is zero padded to 1024
moving target will be degraded. To conquer this difficulty,
before DFT and inverse DFT are performed.
we suggest that in DVBLA-SAR system, the speeds of the
two airplanes alternate between ν1 and ν2 periodically. The Step 1) Like classical SAR imaging, the stationary scene
principle of the speed alternation can be designed to enable image is formed via a 2-D matching filter with the
the common illustrated area by both main-lobe beams of the impulse response function of the scene.
antennas at the two airplanes to cover the whole observed Step 2) Calculate the range direction correlation of the two
scene. Therefore, at the moment when the azimuth main-lobe SAR images at the two airplanes, search the position
beam of the fast airplane exceeds that of the slow airplane, of the maximal peak of the correlation values, and
the speed alternation should be taken. If the azimuth main- perform the SAR image calibration.
lobe beamwidths of the antennas at the two airplanes are ϕ1 Step 3) The DFT along the antenna array direction trans-
and ϕ2 (rad), respectively, then the azimuth widths illustrated forms SAR images into V-images. The zeroth
by them are 2R1 tan(ϕ1 /2) and 2R2 tan(ϕ2 /2), respectively, V-image is removed to suppress the clutter.
so that the speed-alternating period Ta may be calculated as Step 4) The inverse DFT along the antenna array direction
Ta = 2[R1 tan(ϕ1 /2) + R2 tan(ϕ2 /2)]/|ν1 − ν2 |. About how is taken to transform V-images back to SAR images.
to switch the speed of each airplanes, we refer the readers to Step 5) Estimate the Doppler rate of target’s echo by ap-
[13]. With the stable geometry configuration, DVBLA-SAR plying the time–frequency analysis techniques (see
can satisfy the case of long observation time duration. There for example [16] and [17]) and then focus the target
is no need for DFBLA-SAR and DSBLA-SAR to consider the by compensating the corresponding quadratic term,
aberration of the system geometry, because the velocities of the respectively.
LI et al.: BISTATIC LINEAR ARRAY SAR FOR MOVING TARGET DETECTION, LOCATION, AND IMAGING 561

Step 6) The DFT along the antenna array direction is taken


again to map SAR images into V-images.
Step 7) In new V-images, get the residues fi and calculate
µi fi (the residues of ΓΩ), determine ΓΩ uniquely
via the CRT, and estimate ∆i,shift accurately,
for i = 1, 2.
Step 8) The inverse DFT along the antenna array direction is
made again to map V-images back to SAR images.
Step 9) Correct the azimuth migrations of the moving target
and get the final image.

V. N UMERICAL E XPERIMENTS
To verify the BLA-SAR algorithm, some numerical experi-
ments are designed in this section. For DFBLA-SAR, DSBLA-
SAR, and DVBLA-SAR, the common parameters are: radar
bandwidth B = 60 MHz, pulse duration T = 10 µs, pulse
repetition frequency fPRF = 1 kHz, the range direction center
of the observed area y0 ≈ 20 km, the altitudes of the two
airplanes H1 = 3000 m and H2 = 4000 m; at each airplane,
the element number of the antenna array M = 10, and the SAR
azimuth direction resolution ρx ≈ 1 m. The simulated static
scene (stationary clutter) is composed of several fields of plant
and two roads with different reflectivities. The first and second
roads have 45◦ and 135◦ angles with the radar moving direction,
respectively. The mean clutter-noise ratio is set to 40 dB.
A fast moving target moves away from the radar on the first
road with speed 10.04 m/s, while another slow moving target
moves toward the radar on the second road with speed 1.84 m/s.
The corresponding velocity in the range direction is 7.10 and
−1.30 m/s. At t = 0, their true azimuth position are 550
(azimuth cell) and 300 (azimuth cell), respectively. The signal-
noise ratio is set to 10 dB. The parameters of the first airplane
are assumed constant: the wavelength λ1 = 0.03 m, the spacing
between all adjacent antennas d1 = 1.5 m, and the airplane
velocity ν1 = 200 m/s. Therefore, the maximal determinable
range direction velocity only using the first airplane is calcu-
lated as 2 m/s in terms of (29), where the LCM(x1 , x2 ) is
reduced to x1 . The imaging results formed by the first airplane
are shown in Fig. 3: after the stationary clutter suppression and
the Doppler rate estimation, the refocused targets are shown in
Fig. 3(a); after locating the targets on the scene, the image of
targets and ground is shown in Fig. 3(b); the V-images of the
targets are shown in Fig. 3(c). One can see that the targets shift
out of the roads. In what follows, the parameters of the second
airplane, i.e., the wavelength λ2 , the spacing between all adja-
cent antennas d2 and the airplane velocity ν2 , vary according
to DFBLA-SAR, DSBLA-SAR, and DVBLA-SAR methods,
respectively, and their imaging results are given below.

A. Imaging Results Using DFBLA-SAR


When ν2 = ν1 , d2 = d1 , and λ2 = 0.05 m = λ1 , the system
becomes DFBLA-SAR. In this case, the maximal range direc- Fig. 3. Imaging results formed by the first airplane. (a) Image of targets,
(b) image of targets and ground, and (c) V-images of targets.
tion velocity, such that there is no location ambiguity, using
only the second airplane and the two airplanes are 3.33 and
10 m/s according to (29), respectively. Obviously, by using targets and ground, and the V-images of the targets are shown in
the DFBLA-SAR, the determinable range of target’s velocity Fig. 4(a)–(c), respectively. Compared with the case of the first
is increased greatly. The image of targets, the image of the airplane, the amounts of the targets’ shifts in azimuth direction
562 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 45, NO. 3, MARCH 2007

Fig. 5. BLA-SAR imaging results. (a) Image of targets and (b) image of
targets and ground.

∆i,shift [see (22) and (23)]. Furthermore, two SAR images


formed by the two airplanes have a range direction migration
about 34 range cells due to the difference of the slant ranges
R1 and R2 . After the calibration of the two SAR images and
accurate estimation of the location parameters, the imaging
result of the targets and the final image after locating them
on the scene by using DFBLA-SAR are illustrated in Fig. 5(a)
and (b), respectively, where the targets are located accurately
on the roads.

B. Imaging Results Using DSBLA-SAR


When ν2 = ν1 , λ2 = λ1 , and d2 = 1.8 m = d1 , the system
becomes DSBLA-SAR. In this case, the maximal range direc-
Fig. 4. Imaging results formed by the second airplane with λ2 = 0.05 m. tion velocity, such that there is no location ambiguity, using
(a) Image of targets, (b) image of targets and ground, and (c) V-images of
targets. only the second airplane and the two airplanes are 1.6 and
10 m/s according to (29), respectively. The determinable
are the same, but the V-images are different observably. This range of the target’s velocity is also increased greatly by us-
is caused by the fact that the dual-carrier frequencies affect ing DSBLA-SAR. The image of targets and ground and the
only the frequency of V-image fi but not the azimuth shift V-images of the targets are shown in Fig. 6(a)–(c), respectively.
LI et al.: BISTATIC LINEAR ARRAY SAR FOR MOVING TARGET DETECTION, LOCATION, AND IMAGING 563

of the targets’ shifts in azimuth direction are the same but the
V-images are different observably. The images also show a
migration about 34 range cells in range direction caused by the
difference of the slant ranges R1 and R2 . After the calibration
of the two SAR images and accurate estimation of the location
parameters, the imaging result of the targets and the final image
after locating them on the scene by using DSBLA-SAR are also
illustrated in Fig. 5(a) and (b), respectively, where the targets
are located accurately on the roads.

C. Imaging Results Using DVBLA-SAR


When d2 = d1 , λ2 = λ1 , and ν2 = 220 m/s = ν1 , the
system becomes DVBLA-SAR. In this case, the maximal range
direction velocity, so that there is no location ambiguity, using
only the second airplane and the two airplanes are 2.2 and
22 m/s according to (29), respectively. Obviously, by using
DVBLA-SAR, the determinable range of target’s velocity
is increased greatly. The image of targets, the image of the
targets and ground, and the V-images of the targets are shown
in Fig. 7(a)–(c), respectively. Compared with the case of the
first airplane, not only the V-images are different, but also
the amounts of the azimuth shifts have the changes of 71 and
13 cells for the fast and the slow target, respectively. This is
caused by the fact that the dual airplane velocities affect not
only the frequency of V-image fi but also the azimuth shift
∆i,shift [see (22) and (23)]. Like the case of DFBLA-SAR and
DSBLA-SAR, the range direction migration about 34 range
cells due to the difference of the slant ranges R1 and R2 also
must be corrected. After the calibration of the two SAR images
and accurate estimation of the location parameters, the imaging
result of the targets and the final image after locating them
on the scene by using DVBLA-SAR are also illustrated in
Fig. 5(a) and (b), respectively, where the targets are located
accurately on the roads.

VI. C ONCLUSION
In this paper, a new system called BLA-SAR is introduced,
and three algorithms for moving target detection, location, and
imaging by using the three forms of the BLA-SAR are pro-
posed, respectively. It is formulated that by using two airborne
linear array SARs with two different carrier frequencies, two
different antenna spacings, or two different airplane speeds,
a moving target will show different information in the two
V-images in the two airplanes. This information and the CRT
are used to resolve the azimuth location ambiguity. Thus, BLA-
SAR has the ability to locate fast moving targets as well as
slowly moving targets accurately. Furthermore, some practical
problems are studied. Lastly, some numerical experiments show
the effectiveness of the BLA-SAR imaging algorithm for a
Fig. 6. Imaging results formed by the second airplane with d2 = 1.8 m. moving target.
(a) Image of targets, (b) image of targets and ground, and (c) V-images of
targets. As a remark, if a nongeostationary satellite or an airborne
transmitter is used, the echo’s phase history would be affected
Compared with the case of the first airplane, because dual by the transmitter. As a result, the Doppler information caused
antenna spacings affect only the frequency of V-image fi but by the moving target is hard to be picked up from the echo’s
not the azimuth shift ∆i,shift [see (29) and (23)], the amounts phase history by the BLA-SAR method. This is the reason why
564 IEEE TRANSACTIONS ON GEOSCIENCE AND REMOTE SENSING, VOL. 45, NO. 3, MARCH 2007

As a final comment, besides the theory developed in this


paper for BLA-SAR, some practical problems also need to
be considered. For example, compared with the successful
experimental systems with two single-channel airplanes in [1]
and [2], the amount of the communications between the two
airplanes, the memory, the computational complexity, and the
economical cost will increase sharply in BLA-SAR. However,
it is believed that these problems may be solved in the future
with the fast development of electronic science and technology.

ACKNOWLEDGMENT
The authors would like to thank the reviewers and the as-
sociate editor for their helpful comments that have helped to
clarify the presentation of this paper.

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Available: http://www.ee.udel.edu/~xxia/RobustCRT.pdf versity, Nanjing, China, in 1983, the M.S. degree in
[28] G. Li, J. Xu, Y.-N. Peng, and X.-G. Xia, “An efficient implementation of mathematics from Nankai University, Tianjin, China,
a robust phase unwrapping algorithm,” IEEE Signal Process. Lett., to be in 1986, and the Ph.D. degree in electrical engineer-
published. ing from the University of Southern California, Los
Angeles, in 1992.
He was a Research Scientist with the Air Force
Institute of Technology, Wright-Patterson Air Force
Base, OH, during 1993–1994 and a Senior/Research
Gang Li (S’06) was born in Heilongjiang Province,
Staff Member with Hughes Research Laboratories,
China, in 1979. He received the B.S. degree from
Malibu, CA, during 1995–1996. In September 1996, he joined the Department
Tsinghua University, Beijing, China, in 2002, where
of Electrical and Computer Engineering, University of Delaware, Newark,
he is currently working toward the Ph.D. degree. where he is currently a Professor. He was a Visiting Professor with the Chinese
His current research interests are in the areas of
University of Hong Kong, Shatin, Hong Kong, during 2002–2003, where
array signal processing, parameter estimation, SAR
he is currently an Adjunct Professor. He has published about 145 refereed
imaging, and moving target detection.
journal articles and has authored the book Modulated Coding for Intersymbol
Interference Channels (Marcel Dekker, 2000). He is the holder of seven U.S.
patents. His current research interests include space-time coding and OFDM
systems, as well as SAR and ISAR imaging of moving targets.
Dr. Xia is currently an Associate Editor of the IEEE SIGNAL PROCESSING
LETTERS, the IEEE TRANSACTIONS ON VEHICULAR TECHNOLOGY, and the
Journal of Communications and Networks. He served as an Associate Editor of
Jia Xu (M’06) was born in Anhui Province, China, the IEEE TRANSACTIONS ON SIGNAL PROCESSING from 1997 to 2003, the
in 1974. He received the B.S. and M.S. degrees from IEEE TRANSACTIONS ON MOBILE COMPUTING from 2001 to 2004, and the
the Radar Academy of Air Force, Wuhan, China, EURASIP Journal on Applied Signal Processing from 2001 to 2004. He was
in 1995 and 1998, respectively, and the Ph.D. de- a Guest Editor of the EURASIP Journal of Applied Signal Processing Special
gree from the Navy Engineering University, Wuhan, Issue on “Space-Time Coding and Its Applications” (March and May 2002).
in 2001. He is a member of the Sensor Array and Multichannel Technical Committees
He performed postdoctoral research in 2005 of the IEEE Signal Processing Society. He was the General Co-Chair of the
with the Department of Electronics Engineering, 2005 International Conference on Acoustics, Speech and Signal Processing. He
Tsinghua University, Beijing, China. Currently, he is received the National Science Foundation Faculty Early Career Development
an Associate Professor with Tsinghua University and (CAREER) Program Award in 1997, the Office of Naval Research Young
the Academy of Air Force and has published more Investigator Award in 1998, the Outstanding Overseas Young Investigator
than 40 papers. His current research interests include detection and estimation Award of the National Natural Science Foundation of China in 2001, and the
theory, SAR/ISAR imaging, target recognition, array signal processing, and Outstanding Junior Faculty Award of the Engineering School of the University
adaptive signal processing. of Delaware in 2001.

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