Company Confidential GISMO Processor Review June 28, 2007 Company Confidential Agenda 9:00 Welcome (Marty) 9:10 Current processor overview (Wu) 9:45 Processor modifications (all) 10:15 Break 10:30 Sub-processor discussions Data stream merger SAR processor InSAR/post-InSAR processor Topography estimator Geocoding 12:00 Lunch 12:30 Sub-processor discussions 1:00 Platform/compiler/regular code merging discussions 1:30 GISMO library / utilities 2:00 GISMO products Intermediate products Base DEM mosaic Base intensity/coherence mosaic 2:30 Data processing operation 2:45 Documentation and dode release restriction 3:00 End Company Confidential Current Processor Overview Raw data GPS data Motion data Ingest data & synchronization Range compression Range compressed data (channel, waveform) Combine waveforms Azimuth compression with back-projection & two layer refraction SLC image archive Registration & Create interferograms Post-InSAR processing: Left/right separation Interferogram flattening Interferogram filtering Phase unwrapping Base topography & base intensity estimation base intensity & topography archives in azimuth/ground range geometry range compression azimuth compression InSAR/post-InSAR processing Company Confidential Range compression block Data ingest GPS data (GPS time) $GPGGA, , ,N, ,W,1,07,01.1,+02932,M,,M,,*6D, ,783059,0, $GPGGA, , ,N, ,W,1,07,01.1,+02932,M,,M,,*62, ,292034,0, $GPGGA, , ,N, ,W,1,07,01.1,+02932,M,,M,,*6C, ,791887,0, $GPGGA, , ,N, ,W,1,07,01.1,+02932,M,,M,,*6F, ,281803,0, Motion data (UTC time) Company Confidential Range compression block Raw Data Includes 3 header blocks: DataFileType, DataHeaderBlock and WaveformHeaderBlock DataFileType Char data_file_type[32] Unsigned short year Unsigned char subyear_version Char reserved[5] Company Confidential Range compression block DataHeaderBlock int data_type double samp_freq int prf_count int num_ave int rxAtten[64] int rxBlank[32] char cal_mode_en char num_waveforms char pad[2] int cal_num_of_points double cal_start_freq double cal_stop_freq double cal_delay double cal_duration Company Confidential Range compression block WaveformHeaderBlock double start_freq double stop_freq double pulse_duration double cal_freq double cal_delay double cal_duration char band_select char zero_pi_mode char tx_mult char tx_mode char tx_amp_en char pad[2] int mod0_count int mod1_count int num_sam[4] int sample_delay_count[4] char record_en[8] int record_start[8] int record_stop[8] int blank_delay0_count int blank_delay1_count Company Confidential Data Synchronization Synchronization between raw data and motion data Raw dataGPS dataMotion data Radar timeGPS time If in NMEA GPS data, the UTC time is , which is 14 * * = seconds of the day. This time should correspond to = seconds in the motion GPS data. Company Confidential Synchronization between motion (GPS) data and Radar raw data Company Confidential Antenna Geometry (-8.33, 0.40) y z x pointing forward Left-side Right-side T0T0 T1T1 R2R2 R1R1 R0R0 R3R3 R4R4 R5R5 (-6.43, 0.50) (-3.91, 0.61)(-7.38, 0.45)(3.91, 0.65) (6.43, 0.53) (7.38, 0.50) (8.33, 0.46) Transmitting antennas T 0 and T 1 working alternatively Receiving antennas R 0, R 1 and R 2 are at the left side, and R 3, R 4 and R 5 are at the right side of the aircraft Company Confidential Waveforms 4 waveforms are transmitted and received T 0 transmits W 0 Receiving W s 3 s pulse width 3.5 s 66.7 s T 0 transmits W s 14 s Receiving W s s 3.5 s 66.7 s 14 s T 1 transmits W 2 Receiving W 2 T 1 transmits W 3 Company Confidential Do range compression Use ideal chirp for range reference function Real time range compressor Ingest_gismo_raw_data raw_data_filename waveform_index channel_index start_record number_of_records output_base_filename RC_using_gps RC_using_qlgps Post range compressor create_RC_data (using motion data) Need option to use measured reference function Company Confidential Azimuth compression Imaging plane Back-projection algorithm y x z aircraft Z (5840 m) X (5840m) Company Confidential Consider two-layer Refraction Effective range: r = r 1 + r 2 * n 2 11 22 r1r1 r2r2 H D free air with refraction index n 1 = 1.0 Ice mass with refraction index n 2 = 1.8 r r Company Confidential Interferometric Processing Registration Create interferogram one-pair interferogram Interferogram from channel combinations Filter interferogram Moving window average Goldstein filter Phase unwrapping Wu (Vexcel) SNAPHU (JPL) Company Confidential Post-Interferometric Processing Left/Right separation Flatten interferogram (base inteferogram flattening needs detailed equations) Base topography and intensity estimation Company Confidential Tomography Antenna element time delay calibration y z T0T0 T1T1 R2R2 R1R1 R0R0 R3R3 R4R4 R5R5 rT0rT0 rR0rR0 rR1rR1 rT1rT1 Systematic time delay deduced range error between transmitter elements T 0 and T 1 : r T (R i )= /2 (R i,T 0,T 1 ), i = 0,1,, 5, P pulses Range errors between receiving elements R 0 and R i : r i R = /2 (R i, R 0,T k ), i = 1, , 5, k = 0, 1, rR2rR2 rR3rR3 rR5rR5 rR4rR4 Company Confidential List of executables ingest_gismo_raw_data RC_using_gps RC_using_qlgps create_RC_data combine_2waveforms do_azimuth_compression register test_interf calibrate_GISMO direct_3d_cbp GISMO_multi_channel left_right_separation create_base_topo Company Confidential List of GISMO library gpsDataReader rawDataReader RangeCompressedData SearchRepeatPath Direct3dBP AzimuthCompression Company Confidential List of Vexcel library used Point Fcomplex FFT DataPatch PlainImage ORTHO Earthmodel Makefile Company Confidential Processor Modifications Discussed on June 5 in OSU Company Confidential Preprocessor (wing flutter update) Data stream merge SLC Files Coarse radar data Motion Data GPS/INS Wing accelerometer Radar Calibration Data Element position history and Time tag Read data Range Compresssion Back Projection SAR Processor Multilook Image formation InSAR post processor Clutter Rejection L/R Filter N-look interferograms Co-registration Coherence InSAR Processor Ice Density Profile Data Topo Estimator Phase Unwrap Phase Islands Smoothing Topography Products Geocode Mosaic Digital elevation Model Backscatter mosaic Coherence Mosaic Ray Bending Surface Topo Bottom Topo Estimate Syncd fine radar data Company Confidential GISMO Processor All source code and libraries in C++ All source code distributed to all team members Data stream yet to be optimized Tentantive assignments Preprocessor and Merger W. Blake, Rodriguez SAR/InSAR processor Wu Ray Bending Rodriguez InSAR Post Processor Wu Topo estimator TBD (Wu, Rodriguez, Jezek?) Products Wu, Jezek Company Confidential Proposed GISMO Processor Preprocessor Ingest data, synchronization, data merge (including calibration data merge) Range compressor Single channel single waveform All channel and waveform combinations Azimuth compressor Refraction, autofocus motion compensation Pre/post-InSAR processor Left/right separation Surface/base separation Interferogram flattening InSAR processor Filtering and unwrapping Topography estimator Geocoder Earth model, projections Utilities Viewing tools Company Confidential Base Topography estimation 3.91 m baseline results Company Confidential Base Topography estimation 3.91 m baseline results Company Confidential Equations for base interferometric phase What is the best approximation for the slant range Company Confidential Equations for left right separation Cross noise terms Conditions where the right and left side can not be separated Layover Shadow others Company Confidential Process all data of May 2006 for left/right separation (Topo) Laser noise removal algorithm Company Confidential Implications on the September flight design Higher sensor altitude Mapping (multiple flight to cover bigger swath) Company Confidential Forward/backward looking SAR Potential application of left/right separation