An Introduction to SAR Radar Michael LaGrand, Member IEEE Engr 302, Professor Ribeiro Abstract - This paper is to explore the principals of Synthetic Aperture Radar (SAR), particularly in terms of its imaging applications. An explanation of basic radar principles is to be followed by an explanation of the necessity of a synthetic aperture for high-quality images. Finally, the theory and calculations leading to the practical use of an airborne SAR system will be explored. I. INTRODUCTION One of the greatest innovations in the last century of warfare has undoubtedly been modern radar. While the development of radar for military applications has caught the public’s eye, the concepts behind radar are often taken for granted as overly simple and many non-military applications are overlooked. There are a great many people who think that radar operates just by sending out a signal and waiting for an echo. While this is the main principle of radar (as well as the most widely utilized), a great deal more goes into getting today’s accurate returns. In fact, processes and practices have been developed that allow radar to return images so precise that they are used for creating images of the earth from high above it and can return from a satellite information about height of an area that is accurate to inside of a meter. The foremost type of radar that is used for this type of imaging is called Synthetic Aperture Radar (SAR), which uses the illusion of a larger antenna to gain the incredible accuracy needed for such imaging. II. BASIC PRINCIPLES OF RADAR In order to understand the principles that allow SAR radar to function, one must start at the beginning. The best way to understand the governing rules of radar is to explore the basic radar systems that have been used for years to locate planes and the like. This standard pulse radar, used mainly for ranging and tracking is the starting block for SAR, which is an active way to take a picture of the earth, as it generates it’s own wave to find the information needed on the target. Normal photography, on the other hand, is passive, as it uses the waves of light put out by another source: the sun. SAR still uses the normal radar style waves and detection, but is more accurate and takes an array of points. For this reason, the study of standard radar is applicable. A. A Brief History The concept of using radio waves for ranging purposes was first developed by Sir Robert Watson-Watt in the mid 1930s for the British National Physics Laboratory. He had stations up by 1936 and was just on time with them for World War II, in which radar would play a significant part in the Royal Air Force staving off the German Luftwaffe. Radar was first used for military purposes in a floodlight style, checking parts of the sky for any intruders in a certain sector. These could be manually steered, but they were extremely inefficient because a system then needed separate radar signals pointed in all directions. The British Chain Home system made famous in WWII used a setup like this. It gave the RAF of England advanced warning about any German attacks, and, in doing so, launched radar into the limelight. Soon militaries had developed rotating radars, which were extremely slow at the time, but still quite effective. Also, and a polar plot display was developed in order to allow the operator a 360 degree field of vision. B. A Definition of Radar Radar stands for Radio Detection and Ranging, since it’s two original uses were to detect an object and to find the range to said object. Raemer defines radar as “a system that attempts to infer information about a remotely located object from reflections of deliberately generated electromagnetic waves at radio frequencies.” [Raemer 1] It is important to notice that it is not simply the range of the object that is important in this newer definition, but information in general about the remote object is stressed, leaving open room for information such as the type of material. Such additional information can be inferred in some cases by the intensity of the returning wave in relationship to the distance that it traveled. C. The Output Signal The radar wave is a radio-frequency (r-f) wave, and as such it tends to propagate in a straight line and moves at the speed of light. The wave is polarized in some direction and is subject to interference. Typically, radar systems use a setup that keeps the E-field of the wave parallel to the horizon. Of course, one of the most important features of the r-f wave is that it reflects off most surfaces or medium changes. Without this feature radar would not be possible, as there would be no returning signal by which to gather information on an object from. Another important property of the r-f wave is that it has a phase that can be detected in longer-wavelength cases. A rs I0 d 4 r cos e j R Of course, the beam is not all sent out in one concentrated wave of infinitesimal width. Instead the distribution is in a conic pattern, which can be quite wide and causes decreased resolution. This conic distribution can cause objects that are a distance away from the precise area intended to be pinged to send a signal back. Once again, the resolution can be improved by longer wavelengths and also by filtering. Other than the conic attribute of the output there are also side lobes as shown in Figure 1 that can be transmitted, and these can cause some noise. Improved antenna technology and filtering combat these. D. Antenna The most basic form of antenna (receiving and transmitting), the dipole, consists of two conducting lines closely spaced but not connected, preferably with the ends bent going perpendicular to each other, as seen in Figure 2. Fig. 1. Antenna radiation pattern [5]. One of the main aspects of the r-f wave is it’s intensity. As can be expected with any wave traveling through a medium, it loses intensity along the way. The intensity does not play much of a factor in ranging radar, as the range of the system is more often limited by the interval between pulses. However, the intensity reveals information about the shape or material of the object being “pinged.” The power output of a monostatic radar transmitter can be defined as P R0 P T A eT0 A eR0 0 2 4 4 r Where sigma is the peak radar cross section and Pt is the total transmitter power. The A values are the vector magnetic potential for the transmitter and receiver, as makes sense. A monostatic system is one that produces the signal and receives it again from the same place. There are actually some systems which have a transmitter and receiver in a separate place, but these systems are not usually favored as the algorithms for using the information are more complicated and often less accurate. Additionally, if the location of a stationary transmitter is know, the information can be used by anyone. The wave travels at the speed of light, c (approximately 3x10^8 m/s), which means it can travel to a target 300 km away in 1 ms. However, for radar it is a two-way trip, so an object 300 km away would ping back in after 2 ms. It should also be noted then that the wavelength of one of these waves would be given by c f Also, the time that it takes for an object to be detected can be found using the equation 2R t c It is from this equation that the information so vital to the military for so long is always obtained. The frequency used for radar is typically in the microwave spectrum, which ranges from 300MHz to 30GHz. However, the frequencies used for SAR radar are typically in the range of 10MHz to 200MHz [4]. This means, then that while a typical wavelength is less than 30 nm, for SAR the wavelength can be up to 10 um. This is a significant improvement. Fig. 2. Dipole Antenna [9]. This form can be easily produced, but is relatively useless for the directional aspect needed for radar. In order to find the location of an object, a directional antenna needs to be used for transmission. This can be accomplished through the use of interference. An array of dipoles can be set up to cancel out most of the signals that would go in unintended directions. There would still, though, be issues with some signals, called side lobes, [vectorsite] that could not be canceled. The issue that these lobes raise is that objects close and to the sides can reflect a signal and cause a false identification of an object. An alternative to this design to a standard antenna is to use a parabolic dish to direct the signals that go in or out. These are often rather bulky, though. To explore all the possible ways to cancel out unwanted emissions and make the wave directional would be extremely complicated and useless without a basic understanding of the dipole antenna. It is important to note that the dipoles do not lead to some ground which the current would flow into or come out of. If some sinusoidal current is pushed into it, however, that energy is moved out in the form of the electric wave. For a given half of the dipole, then, the vector magnetic potential can be found with Equation XXX as follows. A zs I0 d 4 r e j R [9] Converting to a spherical coordinate system proves convenient here, so the values of the vector magnetic potential in spherical notation can be found to be Azs times cos(theta) for the the r dimension and Azs times – sin(theta) for the theta dimension. This leaves us with the following values: del A H I 0 d A s 4 r sin e j R From these values, then we can obtain the magnetic field intensity from which the E and B-fields can be found. The end results are as follows that there is a minimum range on any single-antenna system, small though it may be. E. The Doppler Effect Another concept important to radar is the Doppler Shift. This concept, named after Christian Johann Doppler, who discovered that the frequency of a wave observed at some point is relative to it’s movement in relationship to it’s transmission point. In the case of radar, there is typically the same reception and transmission point, but the speed of the object being pinged relative to the object detecting it still matters. The equation for Doppler Shift can be found in our fd E I0 d 4 sin e I0 d H Er 4 I0 d 2 j2 2 r j sin e cos e j2 j2 r 1 2 r j 2 r 2 r j 3 r 1 2 2 0 ( V r) case by using the equation f Where d is the frequency shift from the original, V is the velocity vector of the target relative to the radar, and 0 is the initial wavelength, and r is the unit vector starting at the object towards the radar source. These can be seen in Figure 3. 1 2 3 r j 2 r These equations would suggest that the E-fields radiate outward from the antenna as we already knew they do [9]. D. The Pulse System Of course, for any signal sent out there must be some way to determine if the signal hit an object. Were a constant signal sent, there would be no way to tell which signal was returning when and there would be much interference. In response to this problem pulses are used, sending out one pulse for each chosen interval around a complete circle. As the radar scans a pulse must be given appropriate time to return before another is emitted. The maximum usable range of a radar system is then determined not only by the power of the system, but by the length of time allowed for a signal to return before the next pulse is given. The length of time between pulses is called the Pulse Repetition Rate (PRR). The range of the system is often limited by this PRR, as the signal sent out is only good for as much time as there is between pulses. If an object is far enough away that the wave must doesn’t return until after the next signal is sent out, that first signal is useless and should be disregarded. The accuracy of the system is also greatly influenced by the PRR, as systems with faster pulse rates will typically be set up to pulse more times per revolution of the antenna. One other advantage to the pulse system is that it is this concept that enables the antenna to be used for both transmitting and receiving. This is because there is time between the signals being sent by the transmitter in which there is no transmission. Multiplexers within the system can then be used to switch the modes. This switching does take a very small amount of time, though, and as such there is a time during which the antenna does nothing. This means Fig. 3. Doppler Effect as seen in the case of two aircraft. So, if radar was to detect a moving object such as a plane, the returning signal would be at a shifted frequency. This again applies to if radar were reflected by an object such as the earth from a higher point such as a plane or satellite. All that matters is the if the object is moving in relation to the radar transmitter. If transmitter is moving, then that counts towards the effect. Information on speed can be gathered using the Doppler Effect. F. Reflection Principles One of the most important concepts pertaining to radar is, of course, the reflection of r-f waves. Without the proper reflection there image could not be obtained from a distant object. Now, the waves used for radar can be regarded, at a distance, to be similar in principles to uniform plane waves (of course, uniform plane waves are impossible, but it’s close enough), and so we will discover information about the reflection of radar waves through a uniform plane wave model. The first case to examine would be the case of normal incidence, in which a wave strikes a surface at a perfect right angle. The plane wave to be started with is defined as E x1( z t) E x10 e 1z cos t 1 x E Where x10 is some initial value of the E-field in the x direction in medium 1 (the air in this case). There is also a magnetic field associated with the wave which would have a magnitude proportional to the magnitude of the E-field. When this wave comes in contact with a surface at a right angle, two things will happen. First, some of the energy will continue on in this new medium. This energy would be given in the equation E xs2( z t) E x20 e 2z cos t 2 x This equation is the equivalent of the original equation of the wave, but the value of the initial magnitude must be different, unless this wave is to pass into the new medium unaffected. In real life situations there must be some effect of the boundary, though. In order for there not to be, the both the electric and magnetic fields would have to be perfectly preserved across a change in medium. That’s not going to happen, so the magnitude in the second medium must be smaller than the value before it went in (we’re not making energy out of nothing here). However, that energy does not simply disappear, so it stands to reason that it was reflected, and in this case, it is moving directly back. We E will call the initial magnitude of this wave Rx10 , and recognize that this wave is of the same form as the initial wave, but is in the exact opposite direction. Now, the energy differences at the boundary must be resolved. To do this we acknowledge that the incoming energy must be equal to the resulting energy, so (because all but the magnitudes cancel out) E x20 E Rx10 Also, the same will be true for the magnetic fields, so we can obtain E x10 E x20 E Rx10 1 2 3 E x10 where is the value of the intrinsic impedance in the appropriate medium, and E/h is the magnitude of the magnetic field. Also, values for a reflection coefficient and a transmission can be found with these equations, respectively 21 2 1 1 Of course, every given wave will not necessarily contact a surface perfectly perpendicular to it, but one must remember that the output of the transmitter is not going to be a perfect single wave, but will be energy put out in a cone like distribution and that will surely result in some normal incidence contacts. These are the ones that truly matter for monostatic radar then, as the energy that doesn’t hit in such a fashion will not be reflected directly back at the source, but will be reflected off into the abyss. [[diagrams?]] III. SYNTHETIC APERTURE RADAR A. An Introduction to SAR Now, radar is a method of obtaining information about distant objects, somewhere along the line someone realized that distance is not the only interesting information that one can glean from a the return signal of radar. Determinations can be made about the type of material being struck and the shape (or topography) of the object. If one were to make the target object the earth, significant information could be found for the uses of geology and topography. Of course, a satellite or a high flying plan would be needed to get above the earth for these pictures, and at that range, the images would be disastrously non-resolute. However, it turns out that one can get high resolution pictures if a large wavelength is used, but that requires an extremely large antenna. So large, in fact, that it would be completely impractical to put it even on the largest of planes. That is where SAR comes in. SAR stands for Synthetic Aperture Radar, and it is a method of essentially synthesizing an effectively large antenna starting with only a smaller one, more practical for use on a plane or satellite. The transmitting vehicle’s own movement is used for this process as will be detailed later. SAR has many applications and reasons for further development to be done. First of all, it is a good way to take topographical data. The ranging uses of radar can be applied here to find out about the contours of the earth. Additionally, much can be found out about the materials of the surface of the earth, or even slightly under the earth’s surface. Different reflection indices provide valuable information here. Moving objects can also be addressed by the shifted frequencies (compliments of the Doppler Effect) being filtered and taken note of. Of course, there is also the potential for reconnaissance work. The accuracy of the SAR images is not nearly as good as with satellite photos for right now, but SAR has one large advantage: it is not a passive system. Photos rely on the sun to provide light, but radar relies on itself for the energy, and so can image just as well at night. B. The Desired Image Output A great deal of work has been done by engineers to come up with the equipment and algorithms that enable SAR to give accurate pictures. The pictures now produced generally help with geological issues now days, as they show the different materials that make up the landscapes. In Figure 4 different shades can be seen that make up the picture of the Mississippi Delta. The shading would typically show relief, and then color would be used to show the different materials that make up the land. While the relief is found using the time it took for the wave to return (and the phase) the material can be determined using the distance and the magnitude of the return signal. This works because the reflected signal will depend upon the texture of the material (if it is jagged it will scatter more of the wave) and the material. The angle of the material will also affect the return. A flat surface will often reflect very little to the radar because the viewing angle is on an angle, so water returns a very dark image. A rough surface, though, will return some for all viewing angles, so something like a forest will show up bright. Despite that a large body of water will be dark due to it being flat, wetter objects tend to show up brighter because they reflect r-f waves better. get the required large wave length (which is needed for reasons to be seen later). However, to scan the desired areas, an aerial mount is needed, so a gigantic antenna is not practical. Instead, an larger antenna aperture is simulated (hence the name synthetic aperture radar). This is accomplished by using the fact that a plane or satellite with the radar mounted on it will be moving. This way, a very large wavelength can be used, which allows interferometry to be performed and higher resolution to be obtained. The first large advantage of the long wavelength is that it is perfect for penetrating mild obstacles. With smaller wavelengths clouds and non-solid obstructions could cause a problem. However, SAR can penetrate these conditions. In fact, some systems use very low wavelengths to actually penetrate the ground to find what the underground soil is made of. The second large advantage from a longer wavelength is the phase of the wave changes only a small amount for a significant distance, so, within that bit of error already associated with normal radar the distance can be figured more closely using phase angles. As for the synthesis of the longer aperture, it is the movement of the vehicle on which the radar is mounted that is used. Aperture refers to the “opening” that is used to take in the signal. It’s not actually an opening in this case, like it would be on the camera, but is instead related to the antenna size. The Figure 5 gives an idea of how this works Fig. 5. Echoes and SAR [4]. Fig. 4. SAR Image of the Mississippi Delta [4]. C. The Synthetic Aperture Now, it has been illustrated that object detection through radar is possible, but the creation of an image is another story all together. The fact remains that conventional radar can have errors of up to 8 meters due to the timing issues at the heights necessary for large-scale pictures of the earth. With the r-f wave moving at the speed of light, the difference between two close objects can be considered negligible, and an area of relief would not stand out from the surrounding area. In order to accommodate the need for greater accuracy, a system with an extremely large antenna would be needed to As the antenna moves along it receives signals (called echoes in this case) which are then stored for future reference when reconstructing the result. The radar is focused at a point in the middle of its path so that it is approaching it for half the time and moving away from it the other half. This way, there is a Doppler Shift, first negative, then positive. [JPL website] This way, many signals can be put out to the same target and can be sorted by the variation in the returning frequency. Of course, much accuracy in the relative speeds is needed to find the exact Doppler Shifts needed, but that is extremely feasible with today’s modern airplanes and satellites. The compilation of these echoes over the distance simulates a longer antenna, enabling a long wavelength. Additionally, it is worth noting that in an SAR application, the direction the vehicle is moving in is referred to as the azimuth direction, and the direction directly perpendicular to the azimuth but parallel to the ground is the range direction. The range resolution for SAR is very good, but the azimuth resolution, without some interpolation, is lacking. C. Interferometry Background Interferometry is the practice of using interference to find how a wave has traveled. With longer wavelengths that are afforded by SAR, the phase of the returning signal can provide key information for ranging. The key is all in the interpretation. Used in conjunction with the amount of time that the signal took to return, the results can be extremely accurate. An interferometer can be defined as any instrument that uses interference for measurement. The interferometry most people are familiar with is that used in a telescope or a Michelson interferometer. These are both optical applications, but their principles carry over directly to electromagnetics. The treatment of light in the case of interferometry is as a wave of the same manner as an r-f wave, so the cases seen in these optical applications actually are even more suitably applied to electromagnetics (seeing as light waves aren’t true sinusoidal waves in every sense). To go into more detail about the nature of interferometry, we shall start with a simple setup with two antennae A1 and A2 as in Figure 6 (interferometry does require two antennae for the interaction of the waves). 2 2 B cos 2 z( y ) h 2 B sin 2 While the method of checking one spot from multiple points is the most common, there are some systems that actually require planes to do the same run and gather information on different points on different occasions to get more or less the same results as in the previous example. This is only possible because of the extreme precision in which modern technology helps our tracking techniques now days, so that the exact location of the radar antenna can be known at all times and recorded for later use. However, there is the distinct possibility that the landscape could change due to weather or the actions of humans or some other event between passes. The process of obtaining information on topography through use of phase angle is referred to as interferometry. The reason for this is that the phase of the wave is obtained using it’s interaction with other waves, or its interference. By setting up some test wave against the incoming wave, the interference patterns can be used to find out with just what phase angle the wave is coming in at, making all of this possible. D. Phase Unwrapping Fig. 6. Two-antenna interferometry geometry [4]. If A1 transmits and receives and A2 receives only (as in the first two echoes taken for SAR), the difference in distance the ground and antenna can be found by looking at the phase angle when the return signal hits either antenna as long as the difference can be presumed to be within one wavelength so that the 2*pi factor is not ambiguous. To find the difference in the phase angle for the system in Figure 6 then we can apply the rule of cosines and obtain 2 B 2 B cos 90 2 2 Where roe is the distance from the point being looked at to the antenna. Within the bounds of one wavelength, the difference in distances from A1 to z and A2 to z can be summed as follows 2 Where the phi is the phase angle. Plugging this into Equation XXX and doing a bit of rearranging we can then get The major conflict in interferometry is that the phase, when detected, is “wrapped.” This means that the phase has been forced in between negative pi and pi. This is to accommodate the sine wave form, of course, and the wave keeps no record of how many times it has gone through a phase. Somehow this count must be extracted from the information at hand. The current phase angle must be unwrapped to reveal the true phase of the wave. There are two main phase unwrapping methods: pathfollowing and minimum-norm. The path-following methods unwrap the phases by integrating the gradients along certain paths. The minimum-norm methods minimizes the distance between the gradient of the wrapped phase and some model it compares it to. The issue, however, is that there is a good deal of noise present in real life, and the algorithms for unwrapping the phase are extremely complicated. E. Imaging Of course, not every point on the earth can be looked at individually, so what ends up being taken is an average of the an array of different points is taken. This average is not a constant for the entire field being looked at, but is instead a moving average that can approximate what should be where fairly well. The results that comes from some SAR receiver before imaging might look similar to that in Figure 7. The first graph gives the values along a distance. These values would be for the input after “de-chirping” which is the process of reassembling the return signal from the echoes recorded by the SAR. Some resolution then has to be chosen that represents the pixel spacing for the image. This pixel spacing is what determines the resolution. The values for each pixel are then averaged in that moving average form, and this would then be one row of the image. Now, the actually SAR system would have an array of sensors to cover some greater width, and there would be similar graphs for each, creating the second dimension of the image. A typical SAR antenna array is 10m x 1m. The resolution in the direction perpendicular to the vehicle’s flight but parallel to the earth would be dependent upon the characteristics built into the radar on board the ship and would not depend on the processing so much. Fig. 7. Example return signal [2]. Since the electromagnetic waves returned to the SAR system consist of chirps of a certain bandwidth along a carrier frequency a technique called shift theorem can be used to extract the pertinent information. The signal can be multiplied by i2 o t e in order to make the Forier Transform of the signal shift up by the carrier frequency o . Now the segment of the Forier Transform that was at -wo is at 0 and the rest of the garbage can be filtered out with a low-pass filter. Now sampling the signal can be done much more efficiently and a digitized version of this would be what is taken from the assembly on the or satellite. The next step would be for something called range processing to be performed on every echo. The compression is usually carried out by using Fourier transformation to achieve convolution of received signals and a reference function. The reference function of range compression is the complex conjugate of the transmitted signal. Then what is looked at is called “range migration.” This is the change in the slant angle to the object being looked at as the radar apparatus moves along its course. This migration is expressed in a quadratic equation with the variable being time. Now, azimuth compression is performed. This compression is what leaves the aperture officially synthesized. The theory behind this is that two points at different places on an azimuth will have two distinct Doppler frequency shifts. A matched filter corresponding to the reverse characteristics of chirp modulation can be used then to improve the resolution in the azimuth direction, which is otherwise very poor. The reference of azimuth compression is a complex conjugate of the modulated signal by chirp modulation. The results of these two compression processes can be seen in Figure 8. Fig. 8. Compression Results [7] The term “matched filter” refers to integrating the received signal against a shifted complex conjugate of the transmitted signal. This would be the equivalent of matching a received signal to the corresponding signal that would have been received from a surface at the point being dealt with. This is also called “backprojection” and basically sums all the signals to which some surface at a point being dealt with could have contributed. This means that all spheres that pass through that point would be subjected to the summing. The same process is applied to each possible antenna location that is taken over the course of one run for the synthetic aperture, and that summing is what simulates a longer aperture. IV. CONCLUSION Radar is an extremely complex topic that gives a very good example of the practical applications of electromagnetic waves. Radar has uses beyond military, including the fascinating field of SAR imaging. SAR images not only give us a glimpse at the shape of the land around us, but of what it is made of. This topic continues to be developed for a variety of purposes, and has much room for the perfecting with better systems and algorithms. The mathematical models for imaging are very complex and are just one of the aspects of radar that engineers are still forging ahead in. REFERENCES [1] G. Goebel. (2003, February 01). Basic Principles of Radar. V1.0.0. Available: http://www.vectorsite.net/ttradar1.html [2] European Space Agency. (2004, May 16). Radar Course III. Available: http://earth.esa.int/applications/data_util/SARDOCS/sp aceborne/Radar_Courses/Radar_Course_III/ [3] B. Chapman. (1995, September 8). Basic Principles of SAR Interferometry. [4] Cheney, Margaret. Introduction to Synthetic Aperture Radar (SAR) and SAR Interferometry. JPL. Available: http://southport.jpl.nasa.gov/scienceapps/dixon/report2. html [5] Basic Radar Principles and General Characteristics. National Geospacial Intelligence Agency. (2004, May 15). Available: http://pollux.nss.nima.mil/NAV_PUBS/RNM/RnmTOC .pdf [6] H. Raemer, Radar System Principles. Boca Raton: CRC Press, 1997. [7] Remote Sensing. Japan Association of Remote Sensing, 1996. Available: http://www.profc.udec.cl/~gabriel/tutoriales/rsnote/cont ents.htm [8] G. Dardyk and I. Yavneh. A Multigrid Approach to 2D Phase Unwrapping. January 12, 2003. Available: http://www.mgnet.org/mgnet/Conferences/CopperMtn0 3/Papers/dardyk.pdf [9]W. Hayt, Jr. and J. Buck. Engineering Electromagnetics. Boston: McGraw-Hill, 6th Edition, 2001. Michael LaGrand (M ’03) was born in Grand Rapids, Michigan, April 21, 1982. He will be graduating in 2004 from Calvin College with a Bachelors in Electrical Engineering.