CN103335635A - Method for adjusting tilt angles of auxiliary cameras of aerial camera - Google Patents

Abstract

The invention relates to the technical field of aerial photogrammetry, in particular to a method for adjusting tilt angles of auxiliary cameras of an aerial camera. The method comprises the steps as follows: focal distances of target montaged images are determined, and at the same time, the photograph sizes and the pixel sizes of to-be-adjusted tilting auxiliary cameras are determined; a plurality of groups of analog auxiliary images are obtained through analog computation, and each group of the analog auxiliary images are montaged, so that montaged analog images are formed; under the condition that the focal distances of the target montaged images are determined; the photograph sizes, the overlapping degrees and the edge resolutions of the images of all the montaged analog images are computed; the tilt angles of the to-be-adjusted tilting auxiliary cameras corresponding to the montaged analog images meeting constraint conditions and corresponding to the photograph sizes, the overlapping degrees and the edge resolutions of the images are taken as target adjusting angles; and installation tilt angles of four to-be-adjusted tilting auxiliary cameras are adjusted according to the target adjusting angles correspondingly. According to the method, after the tilting auxiliary cameras are adjusted to the target adjusting angles, the overlapping degrees of the obtained montaged analog images meet the constraint conditions of the overlapping degrees, and the photograph sizes of the montaged analog images are larger at the same time.

Description

The sub-camera tilt angles degree of aerial surveying camera control method

Technical field

The present invention relates to the photogrammetric measurement technical field, in particular to the sub-camera tilt angles degree of aerial surveying camera control method.

Background technology

Aerial surveying camera is to carry on the aircraft platform on a surface target thing to photograph, and obtains the instrument and equipment of digitized image.

For obtaining big film size photographs, aerial surveying camera in the correlation technique generally comprises four sub-cameras that tilt, four sub-cameras that tilt have identical film size size and pixel dimension usually, four sub-cameras that tilt have certain angle of inclination with respect to the photography platform, and four sub-cameras that tilt connect successively and surround a square, simultaneously the extended line of the photo centre of four sub-cameras that tilt intersects at a point, and the line of the foursquare central point that the intersection point of the extended line of the photo centre of four sub-cameras that tilt and four sub-cameras of inclination surround is perpendicular to described photography platform.In the correlation technique, take respectively by each sub-camera that tilts and to obtain the analog submodule image, four analog submodule image joints form has the simulation splicing image of face coverage significantly.

Wherein, satisfy the simulation splicing image that uses needs for obtaining, need rationally arrange sub-camera with respect to the angle of inclination of photography platform.In the correlation technique, under the prerequisite of film size size, focal length and the pixel dimension of determining the sub-camera of inclination, film size and the relation between the degree of overlapping according to simulation splicing image determine that sub-camera is with respect to the angle of inclination of aircraft platform, but after only determining the mounting inclination angle degree of sub-camera according to the relation between film size and the degree of overlapping, the resolution of the simulation splicing image that the analog submodule image joint that obtains by sub-camera shooting forms is lower, and then influences the accuracy of observation of picture point.

Summary of the invention

The object of the present invention is to provide the sub-camera tilt angles degree of aerial surveying camera control method, to solve the above problems.

The sub-camera tilt angles degree of a kind of aerial surveying camera control method is provided in an embodiment of the present invention, has comprised:

Steps A: determine the focal length of target splicing image, determine the film size size of the sub-camera of desire adjusting inclination and the pixel dimension that desire regulates sub-camera simultaneously;

Step B: generate sub-camera angle and regulate sequence, regulate the angle of inclination of setting in the sequence according to the sub-camera angle of described inclination, corresponding analog computation obtains many group analog submodule images, and every group of described analog submodule image all is spliced to form simulation splicing image;

Step C: splice under the focal length of image in the described target of determining, calculate film size size, degree of overlapping and the image edge resolution that images are spliced in all described simulations according to the pixel dimension that film size size and the desire of the sub-camera of described desire adjusting inclination regulate sub-camera;

Step D: with film size dimension constraint, degree of overlapping constraint and the image edge resolution constraint of predetermined simulation splicing image as constraint condition, with film size size, degree of overlapping and image edge resolution respectively the corresponding corresponding desire of simulation splicing image that satisfies described constraint condition regulate the angle of inclination of sub-camera as the target adjusting angle;

Step e: according to the corresponding mounting inclination angle degree of regulating four sub-cameras of desires adjusting inclination of described target adjusting angle.

The sub-camera tilt angles degree of the aerial surveying camera of the above embodiment of the present invention control method, before the mounting inclination angle degree of four that the regulate aerial surveying camera cameras that tilt, first-selection needs to determine to tilt the mounting inclination angle degree of sub-camera with respect to the photography platform.

For determining the mounting inclination angle degree of sub-camera with respect to the photography platform that tilt, at first determine preconditioning tilt film size size and the pixel dimension of sub-camera in the embodiment of the invention, desire in the embodiment of the invention regulates four sub-cameras that tilt that sub-camera refers to that aerial surveying camera comprises, because these four the sub-cameras that tilt are made a video recording as a whole, therefore herein with tilt four sub-cameras that tilt of sub-camera generalized representation aerial surveying camera of preconditioning, and usually four sub-cameras that tilt of aerial surveying camera are set identical film size size and pixel dimension usually.

The splicing image that the predetermined focal length that also has target splicing image in addition, the image of target splicing herein can obtain after referring to the angle that desire is regulated sub-camera regulated.

Determine the focal length of target splicing image, film size size and the desire of the sub-camera of definite desire adjusting inclination regulate after the pixel dimension of sub-camera simultaneously, generate sub-camera angle and regulate sequence, can understand in the sub-camera angle adjusting of the inclination that generates sequence and comprise a plurality of angles of inclination, the splicing image difference that the sub-image difference that the different sub-cameras that tilt in angle of inclination are shot, sub-image difference are then utilized sub-image to splice;

Therefore, utilize the sub-camera angle of the inclination that generates to regulate the angle of inclination of setting in the sequence in the embodiment of the invention, corresponding analog computation is four analog submodule images of sub-camera that tilt under each angle of inclination, and utilize the analog submodule image joint in every group to form simulation splicing image.

For equal corresponding film size size, degree of overlapping and the image edge resolution of calculating simulation splicing image of all simulation splicing images that obtains;

Further pre-determine film size dimension constraint, degree of overlapping constraint and the image edge resolution constraint of simulation splicing image;

With the constraint of film size dimension constraint, degree of overlapping and image edge resolution constraint as constraint condition, with film size size, degree of overlapping and image edge resolution respectively the corresponding corresponding desire of simulation splicing image that satisfies described constraint condition regulate sub-camera tilt angles degree as the target adjusting angle; According to the corresponding mounting inclination angle degree of regulating four sub-cameras of desires adjusting inclination of described target adjusting angle.

In the embodiment of the invention, film size size, degree of overlapping and image edge resolution according to simulation splicing image can be determined the angle of inclination that desire regulates sub-camera, splice the resolution raising of image by the simulation that the constraint of setting of image edge resolution can make splicing obtain, and then improve the accuracy of observation of picture point.Thereby overcome only set the angle of inclination of sub-camera according to the relation between film size and the degree of overlapping in the correlation technique after, the resolution of the simulation splicing image that the analog submodule image joint that obtains by sub-camera shooting forms is lower, and then influences the lower technical matters of accuracy of observation of picture point.And in the embodiment of the invention outside setting the edge resolution constraint, also be set with film size dimension constraint, degree of overlapping constraint; Can make sub-camera adjustments behind the target adjusting angle by film size dimension constraint, degree of overlapping constraint, the film size size that the degree of overlapping of the simulation of acquisition splicing image satisfies degree of overlapping constraint simulation splicing simultaneously image is bigger.

Description of drawings

Fig. 1 shows the process flow diagram of the sub-camera tilt angles degree of embodiment of the invention aerial surveying camera control method;

Fig. 2 shows the synoptic diagram that concerns on embodiment of the invention virtual projection surface level and analog submodule image projecting plane;

Fig. 3 shows the synoptic diagram of simulation splicing image in the embodiment of the invention virtual projection surface level;

Fig. 4 shows the synoptic diagram of a work song camera image in the embodiment of the invention virtual projection surface level;

Fig. 5 shows a work song camera image and a work song camera image overlapping relation synoptic diagram in the embodiment of the invention virtual projection surface level;

Fig. 6 shows the projection relation synoptic diagram of four analog submodule images and virtual image.

Embodiment

Also by reference to the accompanying drawings the present invention is described in further detail below by specific embodiment.

The embodiment of the invention provides the sub-camera tilt angles degree of a kind of aerial surveying camera control method, as shown in Figure 1, comprising:

Step S11: determine the focal length of target splicing image, determine the film size size of the sub-camera of desire adjusting inclination and the pixel dimension that desire regulates sub-camera simultaneously;

Step S12: generate sub-camera angle and regulate sequence, regulate the angle of inclination of setting in the sequence according to the sub-camera angle of described inclination, corresponding analog computation obtains many group analog submodule images, and every group of described analog submodule image all is spliced to form simulation splicing image;

Step S13: splice under the focal length of image in the described target of determining, calculate film size size, degree of overlapping and the image edge resolution that images are spliced in all described simulations according to the pixel dimension that film size size and the desire of the sub-camera of described desire adjusting inclination regulate sub-camera;

Step S14: with film size dimension constraint, degree of overlapping constraint and the image edge resolution constraint of predetermined simulation splicing image as constraint condition, with film size size, degree of overlapping and image edge resolution respectively the corresponding corresponding desire of simulation splicing image that satisfies described constraint condition regulate the angle of inclination of sub-camera as the target adjusting angle;

Step S15: according to the corresponding mounting inclination angle degree of regulating four sub-cameras of desires adjusting inclination of described target adjusting angle.

Step S12 in the embodiment of the invention comprises:

Step S121: with four described desires regulate son magazine one of them as sub-camera initiatively, other three as the follower camera;

Step S122: generate the adjusting angle of inclination corresponding with the sub-camera of active;

Step S123: determine the initiatively analog submodule image of sub-camera according to described adjusting angle of inclination;

Step S124: according to the installation site relation of the sub-camera of described active and three follower cameras, correspondence is determined the analog submodule image of three follower cameras;

Wherein, the quantity with the adjusting angle of inclination that initiatively sub-camera is corresponding of generation is a plurality of, and four analog submodule images at corresponding each described adjusting angle of inclination are set to one group, and four analog submodule image joints in every group form simulation splicing image.

Particularly, four analog submodule image joints in described every group form simulation splicing images, comprising:

Determine the virtual projection surface level according to preset rules;

Four equal correspondences of described analog submodule image in every group are projected described virtual projection surface level, obtain the virtual subnet image;

Four described virtual subnet images are spliced to form simulation splicing image at described virtual projection surface level.

Preferably, the pixel dimension of regulating sub-camera according to film size size and the desire of the sub-camera of described desire adjusting inclination among the described step S13 is calculated film size size, degree of overlapping and the image edge resolution of all described simulations splicing images, comprising:

The plane at the corresponding initiatively analog submodule image place of sub-camera in every group of four analog submodule images as analog submodule image projecting plane, had certain angle between described analog submodule image projecting plane and the described virtual projection surface level;

According to the relation of the angle between described virtual projection surface level and the described analog submodule image projecting plane, according to the focal length of described target splicing image, set up the coordinate corresponding relation between described virtual projection surface level and the described analog submodule image projecting plane simultaneously;

According to described coordinate corresponding relation, determine that 4 every group described analog submodule images project the coordinate of each point of the described virtual subnet image on the described virtual projection surface level, determine that simultaneously every group of 4 analog submodule images are at the coordinate of each point of the simulation splicing image of described virtual projection surface level formation;

Regulate the film size size of the sub-camera of inclination and the pixel dimension that desire regulates sub-camera according to coordinate, the desire of the simulation splicing image of determining, calculate film size size and the degree of overlapping of described simulation splicing image;

From described analog submodule image, choose the decay observation station; According to described coordinate corresponding relation, calculate the virtual coordinates value of described decay observation station in described virtual projection surface level; Calculate image edge resolution according to described virtual coordinates value by preset rules.

Coordinate, the desire of the simulation splicing image that described basis is determined regulated the film size size of the sub-camera of inclination and the pixel dimension that desire regulates sub-camera, calculates the degree of overlapping of described simulation splicing image, comprising:

Regulate film size size and the desire of sub-camera in the desire of determining and regulate under the pixel dimension of sub-camera, according to described coordinate corresponding relation, in described virtual projection surface level, calculate the sub-area of 4 described virtual subnet images in every group respectively;

According to the simulation splicing image that 4 every group described virtual subnet images form, determine the overlapping area of each virtual subnet image;

Calculate the degree of overlapping that image is spliced in simulation according to the sub-area of described virtual subnet image and the overlapping area of each virtual subnet image.

Described degree of overlapping is constrained between the analog submodule image degree of overlapping greater than 0.1; Described image edge resolution constraint is that the attenuation coefficient of analog submodule image edge resolution is less than or equal to 1.4.

Describedly concern according to the angle between described virtual projection surface level and the described analog submodule image projecting plane, the focal length that splices image simultaneously according to described target, set up the coordinate corresponding relation between described virtual projection surface level and the described analog submodule image projecting plane, as shown in Figure 2, comprising:

Set the position S of photo centre, the tilt photo centre position of the sub-camera of sub magazine active of the position S of described photo centre and preconditioning is corresponding;

The point that the position S of described photo centre and described analog submodule image projecting plane intersect vertically is the first initial point O, sets up the O-xyz coordinate system according to the described first initial point O on analog submodule image projecting plane;

The point that the position S of described photo centre and described virtual projection surface level intersect vertically is the second initial point O ₀, according to the described second initial point O ₀Set up O at the virtual projection surface level ₀-x ₀y ₀z ₀Coordinate system;

X axle indicated direction and described O in the wherein said O-xyz coordinate system ₀-x ₀y ₀z ₀X in the coordinate system ₀The axle indicated direction is parallel;

According to collinearity equation, the coordinate corresponding relation of setting up between described virtual projection surface level and the described analog submodule image projecting plane is

$x_0=-f\frac{a_{1}x+b_{1}y-c_{1}f}{a_{3}x+b_{3}y-c_{3}f}$

$y_0=-f\frac{a_{2}x+b_{2}y-c_{2}f}{a_{3}x+b_{3}y-c_{3}f}$

Wherein f is predefined focal length;

(a _i, b _i, c _i) be the angular direction cosine of sub-camera under current angle of inclination, set the rotation angle of sub-camera under current angle of inclination and be

Wherein

Be given value, then according in photogrammetric to the definition of rotation matrix, obtain:

$R_{\mathrm{\ω}}=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\ω}& -\sin \mathrm{\ω}\\ 0& \sin \mathrm{\ω}& \cos \mathrm{\ω}\end{array}\right],$ $R_{\mathrm{\κ}}=\left[\begin{array}{ccc}\cos \mathrm{\κ}& -\sin \mathrm{\κ}& 0\\ \sin \mathrm{\κ}& \cos \mathrm{\κ}& 0\\ 0& 0& 1\end{array}\right]$

Describedly from described analog submodule image, choose the decay observation station; According to described coordinate corresponding relation, calculate the virtual coordinates value of described decay observation station in described virtual projection surface level; Calculate image edge resolution according to described virtual coordinates value by preset rules, comprising:

In described analog submodule image, choose decay observation station M, its coordinate figure in described O-xyz coordinate system be set at (m, n);

Described decay observation station M is corresponded to described O ₀-x ₀y ₀z ₀Its coordinate figure of coordinate system is (m ₁, n ₁);

In described O-xyz coordinate system, in described analog submodule image, choose neighbor pixel N along x axle bearing of trend, in described O-xyz coordinate system, set its coordinate figure and be (m+d, n);

Described neighbor pixel N is corresponded to described O ₀-x ₀y ₀z ₀Its coordinate figure of coordinate system is (m ₂, n ₂);

Wherein d is predefined pixel dimension, and n ₁≈ n ₂, the observation station that then decays M in the virtual projection surface level along x ₀Axial image edge resolution is (m ₂-m ₁)/d;

In described O-xyz coordinate system, in described analog submodule image, choose neighbor pixel Q along y axle bearing of trend, in described O-xyz coordinate system, set its coordinate figure and be (m, n+d);

Described neighbor pixel Q is corresponded to described O ₀-x ₀y ₀z ₀Its coordinate figure of coordinate system is (m ₃, n ₃);

M wherein ₁≈ m ₃, the observation station that then decays M is (n along the axial image edge resolution of y0 in the virtual projection surface level ₃-n ₁)/d.

Specifically illustrate in the embodiment of the invention, how to determine the mounting inclination angle degree of sub-camera.

Particularly, it is example that 4 sub-cameras that tilt are installed on the aerial surveying camera, these 4 sub-cameras that tilt are the preconditioning sub-camera that tilts, under the angle of inclination of the sub-camera of setting of inclination, the analog submodule image of corresponding four sub-cameras that tilt splices image as shown in Figure 3 in the simulation that the virtual projection surface level forms, and wherein this simulation splicing image is spliced to form by a work song camera image, two work song camera images, three work song camera images and four work song camera images.

In addition, one work song camera, two work song cameras, three work song cameras and four work song cameras have identical film size size and pixel dimension, four sub-cameras that tilt have certain angle of inclination with respect to the photography platform, and four sub-cameras that tilt connect successively and surround a square, simultaneously the extended line of the photo centre of four sub-cameras that tilt intersects at a point, and the line of the foursquare central point that the intersection point of the extended line of the photo centre of four sub-cameras that tilt and four sub-cameras of inclination surround is perpendicular to described photography platform.

About degree of overlapping:

Because the installation site of a work song camera, two work song cameras, three work song cameras and four work song cameras relation, make these 4 to tilt sub-camera in the simulation splicing image that the virtual projection surface level forms, one work song camera image and two work song camera images are symmetrically distributed in y axle both sides, and three work song camera images and four work song camera images are symmetrically distributed in y axle both sides; One work song camera image and three work song camera images are symmetrically distributed in x axle both sides, and two work song camera images and four work song camera images are symmetrically distributed in x axle both sides.

Be example with a work song camera image, as shown in Figure 4, four end points of a work song camera image are A, B, C and D, at O ₀-x ₀y ₀z ₀In the coordinate system, AB and y ₀The axle intersection point is E, CD and y ₀The axle intersection point is F, AD and x ₀The axle intersection point is G, BC and x ₀The axle intersection point is H.

The lap of one work song camera image and two work song camera images as shown in Figure 4, by symmetric relation as can be known, the overlay region area is the twice of quadrilateral BCFE area, establishes S ₁=2*S _BCFE, S ₂=S _ABCD, then the degree of overlapping between a work song camera image and two work song camera images is R ₁=S ₁/ S ₂

The lap of one work song camera image and three work song camera images in like manner, is established S as shown in Figure 5 ₃=2*S _CDGH, S ₂=S _ABCD, then the degree of overlapping between 1, No. 3 analog submodule image is R ₂=S ₃/ S ₂

According to the different inclination angle of sub-camera, can calculate different analog submodule image overlap degree.

About image edge resolution:

In the coordinate corresponding relation of determining, can calculate the virtual coordinates value of each pixel in the virtual projection surface level in the analog submodule image, because the influence at sub-camera inclination angle, the closer to the place at virtual projection surface level edge, the resolution attenuation coefficient of analog submodule image is more big.

Further, the film size of setting the sub-camera of desire adjusting inclination in the present embodiment is of a size of 9228*6000, the pixel dimension that desire regulates sub-camera is 6um, the focal length of target splicing image is 80mm, in the space coordinates of calibration field, ground, as shown in Figure 6, provided the projection relation synoptic diagram of four analog submodule images and virtual image, f among Fig. 6 ₁, f ₂, f ₃, f ₄And f _vThe focal length of representing five sub-cameras respectively.

Set the sub-camera tilt angles degree of different inclinations, under different sub-camera tilt angles degree, obtain degree of overlapping and image edge resolution distribution table between the analog submodule image, as shown in the table, phi is illustrated in calibration field, the ground space coordinates of foundation, and angle between sub-camera and the y axle tilts; Omega represent and the x axle between angle; Be example with a work song camera image, the BC limit is minor face, and the DC limit is long limit, and then long limit resolution is represented the image resolution of CD limit virtual subnet image, and minor face resolution is represented the image resolution of BC limit virtual subnet image.

As constraint condition, particularly, degree of overlapping is constrained between the analog submodule image degree of overlapping greater than 0.1 with film size dimension constraint, degree of overlapping constraint and the image edge resolution constraint set; Described image edge resolution constraint is that the attenuation coefficient of analog submodule image edge resolution is less than or equal to 1.4;

The degree of overlapping of the simulation splicing image that described film size dimension constraint refers to obtain and image edge resolution are when correspondence satisfies degree of overlapping constraint and image edge resolution respectively, and the film size size of simulation splicing image is bigger.

To satisfy the angle of inclination of sub-camera of described constraint condition as the target adjusting angle; Regulate the angle of inclination of the sub-camera of inclination of described correspondence according to described target adjusting angle.

In as above shown in the table, degree of overlapping is greater than 0.1 between the film size maximization of splicing back, analog submodule image, the attenuation coefficient of analog submodule image edge resolution is no more than 1.4 these three conditions, can draw optimum inclination angle is phi=17 °, omega=11 °, splicing back film size is 19206*11184, is phi=17 ° according to optimum inclination angle, the omega=11 ° of pitch angle of regulating sub-camera.

After utilizing the sub-camera tilt angles degree of the aerial surveying camera control method of the embodiment of the invention to regulate the angle of inclination of sub-camera, the simulation splicing image that the analog submodule image joint that each sub-camera obtains forms satisfies predefined film size dimension constraint, degree of overlapping constraint and the constraint of image edge rate simultaneously, the film size of the simulation splicing image that obtains is bigger, and the resolution of simulation splicing image improves, and then improves the accuracy of observation of picture point.

Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with the general calculation device, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the memory storage and be carried out by calculation element, perhaps they are made into each integrated circuit modules respectively, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.

The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various changes and variation.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (8)

1. the sub-camera tilt angles degree of an aerial surveying camera control method is characterized in that, comprising:

Steps A: determine the focal length of target splicing image, determine the film size size of the sub-camera of desire adjusting inclination and the pixel dimension that desire regulates sub-camera simultaneously;

Step B: generate sub-camera angle and regulate sequence, regulate the angle of inclination of setting in the sequence according to the sub-camera angle of described inclination, corresponding analog computation obtains many group analog submodule images, and every group of described analog submodule image all is spliced to form simulation splicing image;

Step C: splice under the focal length of image in the described target of determining, calculate film size size, degree of overlapping and the image edge resolution that images are spliced in all described simulations according to the pixel dimension that film size size and the desire of the sub-camera of described desire adjusting inclination regulate sub-camera;

Step D: with film size dimension constraint, degree of overlapping constraint and the image edge resolution constraint of predetermined simulation splicing image as constraint condition, with film size size, degree of overlapping and image edge resolution respectively the corresponding corresponding desire of simulation splicing image that satisfies described constraint condition regulate the angle of inclination of sub-camera as the target adjusting angle;

Step e: according to the corresponding mounting inclination angle degree of regulating four sub-cameras of desires adjusting inclination of described target adjusting angle.

2. method according to claim 1 is characterized in that, described step B comprises:

With four described desires regulate son magazine one of them as sub-camera initiatively, other three as the follower camera;

Generate the adjusting angle of inclination corresponding with the sub-camera of active;

Determine the initiatively analog submodule image of sub-camera according to described adjusting angle of inclination;

According to the installation site corresponding relation of the sub-camera of described active and three follower cameras, correspondence is determined the analog submodule image of three follower cameras;

Wherein, the quantity with the adjusting angle of inclination that initiatively sub-camera is corresponding of generation is a plurality of, and four analog submodule images at corresponding each described adjusting angle of inclination are set to one group, and four analog submodule image joints in every group form simulation splicing image.

3. method according to claim 2 is characterized in that, four analog submodule image joints in described every group form simulation splicing images, comprising:

Determine the virtual projection surface level according to preset rules;

Four equal correspondences of described analog submodule image in every group are projected described virtual projection surface level, obtain the virtual subnet image;

Four described virtual subnet images are spliced to form simulation splicing image at described virtual projection surface level.

4. method according to claim 3, it is characterized in that, the pixel dimension of regulating sub-camera according to film size size and the desire of the sub-camera of described desire adjusting inclination among the described step C is calculated film size size, degree of overlapping and the image edge resolution of all described simulations splicing images, comprising:

The plane at the corresponding initiatively analog submodule image place of sub-camera in every group of four analog submodule images as analog submodule image projecting plane, had certain angle between described analog submodule image projecting plane and the described virtual projection surface level;

According to the relation of the angle between described virtual projection surface level and the described analog submodule image projecting plane, according to the focal length of described target splicing image, set up the coordinate corresponding relation between described virtual projection surface level and the described analog submodule image projecting plane simultaneously;

According to described coordinate corresponding relation, determine that 4 every group described analog submodule images project the coordinate of each point of the described virtual subnet image on the described virtual projection surface level, determine that simultaneously every group of 4 analog submodule images are at the coordinate of each point of the simulation splicing image of described virtual projection surface level formation;

Regulate the film size size of the sub-camera of inclination and the pixel dimension that desire regulates sub-camera according to coordinate, the desire of the simulation splicing image of determining, calculate film size size and the degree of overlapping of described simulation splicing image;

From described analog submodule image, choose the decay observation station; According to described coordinate corresponding relation, calculate the virtual coordinates value of described decay observation station in described virtual projection surface level; Calculate image edge resolution according to described virtual coordinates value by preset rules.

5. method according to claim 4 is characterized in that, regulates the film size size of the sub-camera of inclination and the pixel dimension that desire regulates sub-camera according to coordinate, the desire of the simulation splicing image of determining, and calculates the degree of overlapping of described simulation splicing image, comprising:

Regulate film size size and the desire of sub-camera in the desire of determining and regulate under the pixel dimension of sub-camera, according to described coordinate corresponding relation, in described virtual projection surface level, calculate the sub-area of 4 described virtual subnet images in every group respectively;

According to the simulation splicing image that 4 every group described virtual subnet images form, determine the overlapping area of each virtual subnet image;

Calculate the degree of overlapping that image is spliced in simulation according to the sub-area of described virtual subnet image and the overlapping area of each virtual subnet image.

6. method according to claim 1 is characterized in that, described degree of overlapping is constrained between the analog submodule image degree of overlapping greater than 0.1; Described image edge resolution constraint is that the attenuation coefficient of analog submodule image edge resolution is less than or equal to 1.4.

7. method according to claim 4, it is characterized in that, describedly concern according to the angle between described virtual projection surface level and the described analog submodule image projecting plane, the focal length that splices image simultaneously according to described target, set up the coordinate corresponding relation between described virtual projection surface level and the described analog submodule image projecting plane, comprising:

Set the position S of photo centre, the tilt photo centre position of the sub-camera of sub magazine active of the position S of described photo centre and preconditioning is corresponding;

The point that the position S of described photo centre and described analog submodule image projecting plane intersect vertically is the first initial point O, sets up the O-xyz coordinate system according to the described first initial point O on analog submodule image projecting plane;

The point that the position S of described photo centre and described virtual projection surface level intersect vertically is the second initial point O ₀, according to the described second initial point O ₀Set up O at the virtual projection surface level ₀-x ₀y ₀z ₀Coordinate system;

X axle indicated direction and described O in the wherein said O-xyz coordinate system ₀-x ₀y ₀z ₀X in the coordinate system ₀The axle indicated direction is parallel;

According to collinearity equation, the coordinate corresponding relation of setting up between described virtual projection surface level and the described analog submodule image projecting plane is

$x_0=-f\frac{a_{1}x+b_{1}y-c_{1}f}{a_{3}x+b_{3}y-c_{3}f}$

$y_0=-f\frac{a_{2}x+b_{2}y-c_{2}f}{a_{3}x+b_{3}y-c_{3}f}$

Wherein f is predefined focal length;

(a _i, b _i, c _i) be the angular direction cosine of sub-camera under current angle of inclination, set the rotation angle of sub-camera under current angle of inclination and be Wherein

Be given value, then according in photogrammetric to the definition of rotation matrix, obtain:

$R_{\mathrm{\ω}}=\left[\begin{array}{ccc}1& 0& 0\\ 0& \cos \mathrm{\ω}& -\sin \mathrm{\ω}\\ 0& \sin \mathrm{\ω}& \cos \mathrm{\ω}\end{array}\right],$ $R_{\mathrm{\κ}}=\left[\begin{array}{ccc}\cos \mathrm{\κ}& -\sin \mathrm{\κ}& 0\\ \sin \mathrm{\κ}& \cos \mathrm{\κ}& 0\\ 0& 0& 1\end{array}\right]$

8. method according to claim 7 is characterized in that, describedly chooses the decay observation station from described analog submodule image; According to described coordinate corresponding relation, calculate the virtual coordinates value of described decay observation station in described virtual projection surface level; Calculate image edge resolution according to described virtual coordinates value by preset rules, comprising:

In described analog submodule image, choose decay observation station M, its coordinate figure in described O-xyz coordinate system be set at (m, n);

Described decay observation station M is corresponded to described O ₀-x ₀y ₀z ₀Its coordinate figure of coordinate system is (m ₁, n ₁);

In described O-xyz coordinate system, in described analog submodule image, choose neighbor pixel N along x axle bearing of trend, in described O-xyz coordinate system, set its coordinate figure and be (m+d, n);

Described neighbor pixel N is corresponded to described O ₀-x ₀y ₀z ₀Its coordinate figure of coordinate system is (m ₂, n ₂);

Wherein d is predefined pixel dimension, and n ₁≈ n ₂, the observation station that then decays M is (m along the axial image edge resolution of x0 in the virtual projection surface level ₂-m ₁)/d;

In described O-xyz coordinate system, in described analog submodule image, choose neighbor pixel Q along y axle bearing of trend, in described O-xyz coordinate system, set its coordinate figure and be (m, n+d);

Described neighbor pixel Q is corresponded to described O ₀-x ₀y ₀z ₀Its coordinate figure of coordinate system is (m ₃, n ₃);

M wherein ₁≈ m ₃, the observation station that then decays M is (n along the axial image edge resolution of y0 in the virtual projection surface level ₃-n ₁)/d.

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