CN111832635A - Matching method and device of ground-based SAR image and laser point cloud terrain data - Google Patents

Abstract

The present invention discloses a method and device for matching ground-based SAR images with laser point cloud terrain data, wherein the method comprises: obtaining ground-based SAR images and laser point cloud terrain data; rasterizing the ground-based SAR images in a range-azimuth coordinate system; rasterizing the laser point cloud terrain data in a northeast-sky coordinate system; and matching the rasterized ground-based SAR images and the laser point cloud terrain data. The present invention improves computational efficiency and realizes fast matching on the basis of ensuring matching accuracy.

Description

Matching method and device of ground-based SAR image and laser point cloud terrain data

technical field

The invention relates to the technical field of earth observation and terrain mapping with microwave imaging technology, in particular to a method and device for matching ground-based SAR images and laser point cloud terrain data.

Background technique

The ground-based SAR system can achieve deformation inversion with sub-millimeter accuracy by measuring the phase of the image, and has the technical advantages of non-contact, high-precision, large-area, all-weather, all-weather continuous monitoring. As an active microwave imaging sensor, it is an important means for regional monitoring, surface deformation monitoring and fixed-point continuous measurement. It has broad application prospects in open-pit mine monitoring, landslide monitoring, dam safety monitoring and other fields.

Ground-based SAR distinguishes different monitoring targets according to the slant distance from the target to the radar center and the angle deviating from the centerline of the radar antenna beam. The imaging projection method is different from the orthographic projection of traditional topographic maps and the central projection of photogrammetry. The shape of the monitoring target in the image is quite different from the actual one, and the user often spends a lot of energy to interpret the image, which causes inconvenience in use. Moreover, in the actual emergency monitoring, if the monitoring target is blocked by rain and fog, or the monitoring light conditions at night are poor, it will be more difficult to interpret the monitoring image. Therefore, it is urgent to develop a method to match ground-based SAR images with real monitoring scene information, so as to optimize the interpretation of ground-based SAR images. 3D laser scanners can quickly acquire high-precision 3D information on the ground and ground objects. In recent years, they have been widely used in terrain mapping, emergency rescue and other fields. Projecting ground-based SAR images onto the generated 3D point cloud terrain can convert unintuitive two The deformation monitoring data of dimensional ground-based SAR is transformed into a spatial three-dimensional expression form that is closer to the visual habits of the human eye, which is convenient for ground-based SAR image interpreters to quickly locate abnormal monitoring areas.

The difficulty of 3D matching between ground-based SAR images and laser 3D point cloud terrain data is to extract the coordinates of points in the 3D point cloud that meet the matching conditions. In the prior art, the pixel coordinates of the ground-based SAR image are usually extracted one by one, and the index conditions are set according to the projection transformation relationship between the ground-based SAR distance-azimuth coordinate system and the northeast coordinate system of the lidar, and the coordinates of all points in the point cloud data file are traversed. , to index the points that meet the corresponding conditions, although the matching accuracy can be guaranteed, but the point cloud data file needs to be traversed many times, the calculation efficiency is low, and it is difficult to achieve fast matching.

SUMMARY OF THE INVENTION

Embodiments of the present invention provide a method for matching ground-based SAR images and laser point cloud terrain data, which is used to match ground-based SAR images and laser point cloud terrain data, improve computing efficiency on the basis of ensuring matching accuracy, and achieve fast matching. include:

Obtain ground-based SAR images and laser point cloud terrain data;

rasterizing the ground-based SAR image in the range-azimuth coordinate system;

Perform rasterization processing on the laser point cloud terrain data in the northeast sky coordinate system;

The rasterized ground-based SAR image and the laser point cloud terrain data are matched.

Embodiments of the present invention provide a matching device for ground-based SAR images and laser point cloud terrain data, which is used to match ground-based SAR images and laser point cloud terrain data, improves computing efficiency on the basis of ensuring matching accuracy, and realizes fast matching. include:

Data acquisition module for acquiring ground-based SAR images and laser point cloud terrain data;

a first rasterization processing module, configured to perform rasterization processing on the ground-based SAR image in the range-azimuth coordinate system;

The second rasterization processing module is used to perform rasterization processing on the laser point cloud terrain data in the northeast sky coordinate system;

The matching module is used to match the rasterized ground-based SAR image and the laser point cloud terrain data.

An embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored in the memory and running on the processor, where the processor implements the above ground-based SAR image and laser spot when executing the computer program Matching method for cloud terrain data.

Embodiments of the present invention further provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program for executing the above method for matching ground-based SAR images and laser point cloud terrain data.

Compared with the matching scheme of extracting pixel coordinates of ground-based SAR images one by one and traversing the coordinates of all points in the point cloud data file according to index conditions in the prior art, the embodiment of the present invention obtains ground-based SAR images and laser point cloud terrain data by obtaining; The ground-based SAR image is rasterized in the distance and azimuth coordinate system; the laser point cloud terrain data is rasterized in the northeast sky coordinate system; the ground-based SAR image and laser Point cloud terrain data for matching. The embodiment of the present invention does not need to traverse all the point coordinates in the point cloud data file, but only needs to perform grid processing on the ground-based SAR image in the distance and azimuth coordinate system, and perform rasterization on the laser point cloud terrain data in the northeast sky coordinate system. Rasterization processing, and then match the ground-based SAR image and laser point cloud terrain data after rasterization processing, improve the calculation efficiency on the basis of ensuring the matching accuracy, and achieve fast matching.

Description of drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts. In the attached image:

1 is a schematic diagram of a method for matching ground-based SAR images and laser point cloud terrain data in an embodiment of the present invention;

FIG. 2 is a geometric schematic diagram of the three-dimensional imaging of the ground-based SAR system in the northeast sky coordinate system according to the embodiment of the present invention;

3 is a schematic two-dimensional plan view of a ground-based SAR system in a northeast sky coordinate system in an embodiment of the present invention;

4 is a schematic diagram of a ground-based SAR plane geometric model in a range and azimuth coordinate system according to an embodiment of the present invention;

FIG. 5 is a schematic diagram of a ground-based SAR image after rasterization processing in an embodiment of the present invention;

6 is a schematic diagram of the laser point cloud terrain data after rasterization processing in an embodiment of the present invention;

FIG. 7 is a structural diagram of an apparatus for matching ground-based SAR images and laser point cloud terrain data in an embodiment of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention more clearly understood, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings. Here, the exemplary embodiments of the present invention and their descriptions are used to explain the present invention, but not to limit the present invention.

In order to match ground-based SAR images and laser point cloud terrain data, improve computing efficiency on the basis of ensuring matching accuracy, and achieve fast matching, an embodiment of the present invention provides a method for matching ground-based SAR images and laser point cloud terrain data, as shown in Figure 1 As shown, the method can include:

Step 101, obtaining ground-based SAR images and laser point cloud terrain data;

Step 102, rasterizing the ground-based SAR image in a range-azimuth coordinate system;

Step 103, rasterizing the laser point cloud terrain data in the northeast sky coordinate system;

Step 104: Match the ground-based SAR image after rasterization with the laser point cloud terrain data.

As shown in FIG. 1, it can be known that in the embodiment of the present invention, the ground-based SAR image and the laser point cloud terrain data are obtained; the ground-based SAR image is rasterized in the distance and azimuth coordinate system; The laser point cloud terrain data is rasterized; the ground-based SAR image after rasterization and the laser point cloud terrain data are matched. The embodiment of the present invention does not need to traverse all the point coordinates in the point cloud data file, but only needs to perform grid processing on the ground-based SAR image in the distance and azimuth coordinate system, and perform rasterization on the laser point cloud terrain data in the northeast sky coordinate system. Rasterization processing, and then match the ground-based SAR image and laser point cloud terrain data after rasterization processing, improve the calculation efficiency on the basis of ensuring the matching accuracy, and achieve fast matching.

In specific implementation, ground-based SAR images and laser point cloud terrain data are obtained.

In the embodiment, the laser point cloud topography data is obtained in the following manner: the monitoring scene is scanned with a three-dimensional laser scanner, and the laser point cloud topography data of the monitoring scene under the northeast sky coordinate system is obtained, wherein the laser point cloud topography data is a three-dimensional laser point cloud topography. data.

In the embodiment, the ground-based SAR image is obtained as follows: the radar antenna phase center coordinates, point target coordinates and included angle data of the ground-based SAR three-dimensional model are obtained, and the included angle data is the connection between the radar antenna phase center and the point target and the radar. The included angle data between the line connecting the antenna phase center and the end of the guide rail; according to the radar antenna phase center coordinates and the point target coordinates, determine the distance between the radar antenna phase center and the point coordinates; according to the radar antenna phase center and point coordinates The distance and included angle data are obtained to obtain ground-based SAR images.

In the present embodiment, the radar antenna phase center coordinates of the ground-based SAR three-dimensional model are obtained in the following manner: using positioning equipment to locate the guide rail endpoints of the ground-based SAR three-dimensional model, the guide rail endpoint positioning coordinates are obtained, and the accuracy of the guide rail endpoint positioning coordinates is Centimeter level; according to the positioning coordinates of the end points of the guide rail, the radar antenna phase center coordinates of the ground-based SAR three-dimensional model are obtained. The positioning coordinates of the guide rail endpoints obtained by using the positioning device are centimeter-level accuracy, which may be higher than the centimeter-level accuracy, and the positioning device may be a real-time kinematic (RTK) technology device.

Figure 2 is a schematic diagram of the three-dimensional imaging geometry of the ground-based SAR system in the northeast celestial coordinate system. Figure 3 is a two-dimensional schematic diagram of the ground-based SAR system under the northeast sky coordinate system. In the two-dimensional model of the ground-based SAR system under the northeast sky coordinate system, the origin O is defined as the station, and the point S (x _S , y _S , z _S ) is the radar antenna Phase center, straight line AB is defined as guide rail, point A (x _A , y _A , z _A ) and point B (x _B , y _B , z _B ) are defined as the two end points of guide rail, point P (x _P , y P , y _P , z _P ) is defined as the point target coordinate of any point in the monitoring scene, R _SP is defined as the distance from the antenna phase center S to point P, θ _SP is defined as the angle formed by the straight line SP and the positive direction of the y-axis, θ _SA is defined as the straight line The angle formed by SA and the positive direction of the y-axis. Figure 4 is a schematic diagram of the ground-based SAR plane geometric model in the range and azimuth coordinate system, which is represented by a rectangle abcd, which is the slant range image of the monitoring scene in Figure 2 projected onto the slant range plane. corresponding point. The coordinate axes x and y are the azimuth and range directions of the radar respectively. Point P' is the point corresponding to the projection of point P in Figure 1 to the slant range plane, and the coordinates of the ground-based SAR image are (R _P , _AP ).

When obtaining the radar antenna phase center coordinates S(x _S , y _S , z _S ) of the ground-based SAR three-dimensional model, use the positioning equipment to locate the guide rail endpoints of the ground-based SAR three-dimensional model, and obtain the guide rail endpoint positioning coordinates A (x _A , y _A , z _A ), B (x _B , y _B , z _B ), the radar antenna phase center coordinates S (x _S , y _S , z _S ) of the ground-based SAR three-dimensional model are obtained according to the positioning coordinates of the rail endpoints, and A ( The average value of the coordinates of the two ends of x _A , y _A , z _A ) and B (x _B , y _B , z _B ) obtains the radar antenna phase center coordinates S (x _S , y _S , z _S ) of the ground-based SAR three-dimensional model. When obtaining the ground-based SAR image, first obtain the radar antenna phase center coordinates S(x _S , y _S , z _S ) and the point target coordinates P(x _P , y _P , z _P ) of the ground-based SAR three-dimensional model, and obtain them according to the following formulas The angle data θ _AP between the connection line SP between the radar antenna phase center and the point target and the connection line SA between the radar antenna phase center and the end point A of the guide rail:

θ _AP = θ _SA - θ _SP (1)

Among them, θ _SP is the angle formed by the straight line SP and the positive direction of the y-axis, θ _SA is the angle formed by the straight line SA and the positive direction of the y-axis, and θ _SP and θ _SA are obtained according to the following formulas:

Then, according to the radar antenna phase center coordinates S(x _S , y _S , z _S ) and the point target coordinates P(x _P , y _P , z _P ), the distance R _SP between the radar antenna phase center and the point coordinates is determined according to the following formula:

Furthermore, according to the distance R _SP between the radar antenna phase center and the point coordinates, and the included angle data θ _AP , the ground-based SAR image is obtained, and the coordinates (R _P , _AP ) of the ground-based SAR image are obtained according to the following formula:

R _P = R _SP × sinθ _AP (5)

A _P =R _SP ×cosθ _AP (6)

During specific implementation, the ground-based SAR image is rasterized in the range-azimuth coordinate system.

In the embodiment, the ground-based SAR image is rasterized in the range-azimuth coordinate system, including: obtaining the radar range-direction resolution, the radar azimuth-direction resolution, the radar range-direction coordinate data and the radar azimuth direction of the ground-based SAR system. Coordinate data: According to the ground-based SAR image, the radar range resolution, radar azimuth resolution, radar range coordinate data and radar azimuth coordinate data of the ground-based SAR system, the grid matrix of the ground-based SAR image is determined.

In this embodiment, FIG. 5 is a schematic diagram of a ground-based SAR image after grid processing. First, the radar range resolution dr, the radar azimuth resolution da, the radar range coordinate data R _P and the radar azimuth of the ground-based SAR system are obtained. Then determine the maximum value R _max and the minimum value R _min of the radar range direction coordinate data _{R P} , and the maximum value A _max and the minimum value A _min of the radar azimuth direction coordinate data _AP . The ground-based SAR image in the rectangle abcd in Figure 4 is divided into several grid cells, and the image is converted into a ground-based SAR image grid matrix with the same size as the grid. According to the ground-based SAR image, the radar range resolution of the ground-based SAR system is dr. , the radar azimuth resolution da, the radar range coordinate data R _P (the maximum value R _max and the minimum value R _min of the radar range coordinate data R _P ) and the radar azimuth coordinate data _AP (the radar azimuth coordinate data A _P The maximum value A _max and the minimum value A _min ), determine the grid matrix of the ground-based SAR image, and the matrix size is expressed as:

Among them, each matrix element contains the reflection intensity information of the target point in the scene.

During specific implementation, the laser point cloud terrain data is rasterized in the northeast sky coordinate system.

In the embodiment, the rasterization processing is performed on the laser point cloud terrain data in the northeast sky coordinate system, including: obtaining the due north resolution, due east resolution, due north coordinate data and due east coordinates of the ground-based SAR system. data; according to the ground-based SAR image, the due north resolution, due east resolution, due north coordinate data and due east coordinate data of the ground-based SAR system, determine the grid matrix of the laser point cloud terrain data.

In this embodiment, FIG. 6 is a schematic diagram of the laser point cloud terrain data after rasterization processing. Based on the northeast celestial coordinate system, the ground-based SAR system and the scanned scene are in the two-dimensional plane xoy, where xoy is the earth ellipsoid at the origin The tangent plane of , the x direction points to the true north, the y direction points to the true east, first obtain the true north resolution dx, the true east resolution dy, the true north coordinate data X _P and the true east coordinate data Y _P of the ground-based SAR system, and then The maximum value x _max and the minimum value x _min of the true north coordinate data XP, and the maximum value y _max and the minimum value y _min of the true east coordinate data Y _P are determined _. In the x and y directions, the scene is divided into several grid cells at intervals of dx and dy, the ground-based SAR system is located at point S, and the target point is located at point P. A laser 3D point cloud terrain grid matrix consistent with the grid size can be established. According to the ground-based SAR image, the ground-based SAR system has the true north resolution dx, the true east resolution dy, and the true north coordinate data X _P (the true north coordinate data The maximum value x _max and the minimum value x _min of X _P and the due east coordinate data Y _P (the maximum value y _max and the minimum value y _min of the due east coordinate data Y _P ), determine the grid matrix of the laser point cloud terrain data , so as to establish a laser 3D point cloud terrain grid matrix consistent with the grid size, and the matrix size is expressed as:

行，第

列，再将高度值c赋值到对应位置上，对点云中每一点都进行上述处理即可完成激光点云地形数据的栅格化处理。In the initially obtained laser 3D point cloud data, each row of data represents the northeast celestial coordinates of a point. If the northeast celestial coordinates of any point are a, b, and c, then this point is in the laser 3D point cloud terrain grid matrix. in the middle

OK, No.

Then, assign the height value c to the corresponding position, and perform the above processing on each point in the point cloud to complete the rasterization of the terrain data of the laser point cloud.

In the specific implementation, the ground-based SAR image and the laser point cloud terrain data after rasterization are matched.

In the embodiment, matching the ground-based SAR image after rasterization processing with the laser point cloud terrain data includes: determining the coordinate correspondence of the point target in the rasterized ground-based SAR image and the laser point cloud terrain data; According to the coordinate correspondence, the rasterized ground-based SAR image and the laser point cloud terrain data are matched.

行、第

列，则激光三维点云地形栅格矩阵中对应目标点P位于第

行、第

列，由此可建立两个矩阵的联系，得到确定点目标在栅格化处理后的地基SAR图像和激光点云地形数据中的坐标对应关系。进而，根据所述坐标对应关系，对栅格化处理后的地基SAR图像和激光点云地形数据进行匹配，将地基SAR图像栅格矩阵中P点包含的反射强度信息提取出来并赋值在激光三维点云地形栅格矩阵中相应位置即可完成投影。将激光三维点云地形栅格矩阵中所有目标点按上述过程逐个进行匹配投影，生成包含场景反射强度信息的投影结果输出矩阵，投影结果输出矩阵与激光三维点云地形栅格矩阵大小一致。提取投影结果输出矩阵中的高度信息建立地形模型，再提取反射强度信息显示在地形模型上，从而实现了地基SAR图像与三维点云地形的三维匹配。In this embodiment, first determine the coordinate correspondence between the ground-based SAR image and the laser point cloud terrain data of the point target after rasterization processing, and the target point P' in the ground-based SAR image grid matrix is located in the first

row,

column, the corresponding target point P in the laser 3D point cloud terrain grid matrix is located in the first

row,

In this way, the relationship between the two matrices can be established, and the coordinate correspondence between the ground-based SAR image of the rasterized point target and the laser point cloud terrain data can be obtained. Furthermore, according to the coordinate correspondence, the ground-based SAR image and the laser point cloud terrain data after rasterization are matched, and the reflection intensity information contained in the P point in the ground-based SAR image grid matrix is extracted and assigned to the laser three-dimensional Projection can be completed at the corresponding position in the point cloud terrain grid matrix. Match and project all target points in the laser 3D point cloud terrain grid matrix one by one according to the above process, and generate a projection result output matrix containing scene reflection intensity information. The projection result output matrix is the same size as the laser 3D point cloud terrain grid matrix. The height information in the output matrix of the projection result is extracted to establish a terrain model, and then the reflection intensity information is extracted and displayed on the terrain model, thereby realizing the three-dimensional matching of the ground-based SAR image and the three-dimensional point cloud terrain.

Based on the same inventive concept, the embodiments of the present invention also provide a matching device for ground-based SAR images and laser point cloud terrain data, as described in the following embodiments. Since the principle of solving these problems is similar to the matching method between ground-based SAR image and laser point cloud terrain data, the implementation of the device can refer to the implementation of the method, and the repetition will not be repeated.

7 is a structural diagram of a device for matching ground-based SAR images and laser point cloud terrain data in an embodiment of the present invention. As shown in FIG. 7 , the device includes:

A data acquisition module 701 is used to acquire ground-based SAR images and laser point cloud terrain data;

a first rasterization processing module 702, configured to perform rasterization processing on the ground-based SAR image in the range-azimuth coordinate system;

The second rasterization processing module 703 is configured to perform rasterization processing on the laser point cloud terrain data in the northeast celestial coordinate system;

The matching module 704 is used for matching the ground-based SAR image and the laser point cloud terrain data after rasterization processing.

In one embodiment, the first rasterization processing module 702 is further configured to:

Obtain the radar range resolution, radar azimuth resolution, radar range coordinate data and radar azimuth coordinate data of the ground-based SAR system;

According to the ground-based SAR image, radar range resolution, radar azimuth resolution, radar range coordinate data and radar azimuth coordinate data of the ground-based SAR system, a grid matrix of the ground-based SAR image is determined.

The second rasterization processing module 703 is further used for:

Obtain the due north resolution, due east resolution, due north coordinate data and due east coordinate data of the ground-based SAR system;

According to the ground-based SAR image, the true north resolution, the true east resolution, the true north coordinate data and the true east coordinate data of the ground SAR system, the grid matrix of the laser point cloud terrain data is determined.

To sum up, the embodiment of the present invention obtains ground-based SAR images and laser point cloud terrain data; performs rasterization on the ground-based SAR images in the range and azimuth coordinate system; The cloud terrain data is rasterized; the rasterized ground-based SAR image and the laser point cloud terrain data are matched. The embodiment of the present invention does not need to traverse all the point coordinates in the point cloud data file, but only needs to perform grid processing on the ground-based SAR image in the distance and azimuth coordinate system, and perform rasterization on the laser point cloud terrain data in the northeast sky coordinate system. Rasterization processing, and then match the ground-based SAR image and laser point cloud terrain data after rasterization processing, improve the calculation efficiency on the basis of ensuring the matching accuracy, and achieve fast matching.

As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.

The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block in the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to the processor of a general purpose computer, special purpose computer, embedded processor or other programmable data processing device to produce a machine such that the instructions executed by the processor of the computer or other programmable data processing device produce Means for implementing the functions specified in a flow or flow of a flowchart and/or a block or blocks of a block diagram.

These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions The apparatus implements the functions specified in the flow or flows of the flowcharts and/or the block or blocks of the block diagrams.

These computer program instructions can also be loaded on a computer or other programmable data processing device to cause a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process such that The instructions provide steps for implementing the functions specified in the flow or blocks of the flowcharts and/or the block or blocks of the block diagrams.

The specific embodiments described above further describe the purpose, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above-mentioned specific embodiments are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims (10)

1. A method for matching a ground-based SAR image with laser point cloud topographic data is characterized by comprising the following steps:

acquiring a ground SAR image and laser point cloud topographic data;

rasterizing the foundation SAR image under a distance and azimuth coordinate system;

rasterizing the laser point cloud topographic data under a northeast coordinate system;

and matching the rasterized ground SAR image with the laser point cloud topographic data.

2. The method for matching a ground-based SAR image with laser point cloud topographic data of claim 1, wherein the ground-based SAR image is obtained as follows:

acquiring radar antenna phase center coordinates, point target coordinates and included angle data of a ground-based SAR three-dimensional model, wherein the included angle data is included angle data between a connecting line of the radar antenna phase center and the point target and a connecting line of the radar antenna phase center and a guide rail end point;

determining the distance between the phase center of the radar antenna and the point coordinate according to the phase center coordinate of the radar antenna and the point target coordinate;

and obtaining a ground SAR image according to the distance between the radar antenna phase center and the point coordinate and the included angle data.

3. The method for matching a ground-based SAR image with laser point cloud topographic data as claimed in claim 1, wherein the radar antenna phase center coordinates of the ground-based SAR three-dimensional model are obtained as follows:

positioning a guide rail end point of the ground SAR three-dimensional model by using positioning equipment to obtain a guide rail end point positioning coordinate, wherein the precision of the guide rail end point positioning coordinate is centimeter level;

and obtaining the radar antenna phase center coordinates of the ground-based SAR three-dimensional model according to the guide rail endpoint positioning coordinates.

4. The method for matching a ground-based SAR image with laser point cloud topographic data of claim 1, wherein rasterizing the ground-based SAR image under a distance and orientation coordinate system comprises:

obtaining radar range resolution, radar azimuth resolution, radar range coordinate data and radar azimuth coordinate data of the ground-based SAR system;

and determining a grid matrix of the ground SAR image according to the ground SAR image, the radar range resolution, the radar azimuth resolution, the radar range coordinate data and the radar azimuth coordinate data of the ground SAR system.

5. The method of matching a ground-based SAR image with laser point cloud topographic data of claim 1, wherein rasterizing the laser point cloud topographic data under a northeast coordinate system comprises:

acquiring the positive north resolution, the positive east resolution, the positive north coordinate data and the positive east coordinate data of the ground-based SAR system;

and determining a grid matrix of the laser point cloud topographic data according to the ground SAR image, the positive north resolution, the positive east resolution, the positive north coordinate data and the positive east coordinate data of the ground SAR system.

6. The method for matching a ground-based SAR image with laser point cloud topographic data as claimed in claim 1, wherein the matching of the rasterized ground-based SAR image with the laser point cloud topographic data comprises:

determining a coordinate corresponding relation of the point target in the rasterized ground SAR image and laser point cloud topographic data;

and matching the rasterized ground SAR image with the laser point cloud topographic data according to the coordinate corresponding relation.

7. A matching device of ground-based SAR images and laser point cloud topographic data is characterized by comprising:

the data acquisition module is used for acquiring a ground SAR image and laser point cloud topographic data;

the first rasterization processing module is used for rasterizing the foundation SAR image under a distance and azimuth coordinate system;

the second rasterization processing module is used for rasterizing the laser point cloud topographic data under a northeast coordinate system;

and the matching module is used for matching the rasterized ground SAR image with the laser point cloud topographic data.

8. The apparatus for matching a ground-based SAR image to laser point cloud topographic data of claim 7, wherein said first rasterization processing module is further configured to:

obtaining radar range resolution, radar azimuth resolution, radar range coordinate data and radar azimuth coordinate data of the ground-based SAR system;

determining a grid matrix of the ground SAR image according to the ground SAR image, the radar range resolution, the radar azimuth resolution, the radar range coordinate data and the radar azimuth coordinate data of the ground SAR system;

the second rasterization processing module is further to:

acquiring the positive north resolution, the positive east resolution, the positive north coordinate data and the positive east coordinate data of the ground-based SAR system;

and determining a grid matrix of the laser point cloud topographic data according to the ground SAR image, the positive north resolution, the positive east resolution, the positive north coordinate data and the positive east coordinate data of the ground SAR system.

9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 6 when executing the computer program.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program for executing the method of any one of claims 1 to 6.

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