CN109708649B - Attitude determination method and system for remote sensing satellite - Google Patents
Attitude determination method and system for remote sensing satellite Download PDFInfo
- Publication number
- CN109708649B CN109708649B CN201811494234.0A CN201811494234A CN109708649B CN 109708649 B CN109708649 B CN 109708649B CN 201811494234 A CN201811494234 A CN 201811494234A CN 109708649 B CN109708649 B CN 109708649B
- Authority
- CN
- China
- Prior art keywords
- satellite
- dimensional
- remote sensing
- attitude
- matching
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Image Processing (AREA)
- Navigation (AREA)
- Image Analysis (AREA)
Abstract
A method and a system for determining the attitude of a remote sensing satellite are provided, the method determines the attitude of the satellite based on the load of an optical camera of the remote sensing satellite and a digital earth surface model, namely, the remote sensing camera is used as a scene sensor to obtain a two-dimensional image of a certain area, the two-dimensional image is matched with a high-precision three-dimensional earth surface model, external orientation elements of the remote sensing camera are obtained by combining satellite orbit information, and the attitude of a satellite platform is calculated and determined. The method can overcome the influence of image distortion and visual angle caused by earth curvature, topographic relief and other surface conditions when two-dimensional and two-dimensional images are matched in the traditional method, and reduces the rigorous requirement of carrying the optical load spectrum and containing the control point bottom map spectrum to be consistent. By adopting the satellite attitude determination method, not only can a basis be provided for on-orbit calibration of the star sensor, but also the satellite attitude can be determined by replacing the star sensor under specific scenes that the star sensor cannot be used and the like.
Description
Technical Field
The invention belongs to the field of satellite control, and relates to a method and a system for determining an attitude of a remote sensing satellite.
Background
The attitude sensor is an instrument for realizing satellite attitude measurement and control. The high-precision satellite platform attitude measurement is the premise and the basis of satellite attitude control, navigation and positioning, in particular to a remote sensing photogrammetry technology. The traditional satellite attitude determination process needs the joint work of a plurality of optical attitude sensors, and occupies larger volume, mass and power consumption. The star sensor is an optical attitude sensor widely applied at present, the attitude determination precision of the star sensor is high, but various error sources still exist, and the high angle measurement precision can be obtained only by carrying out error calibration compensation on the star sensor. The calibration of the star sensor is generally carried out by using a ground calibration test device to determine an installation matrix, a focal length, a central point offset and the like of the star sensor, and because an environment building and measuring and controlling system corresponding to the ground calibration is very complicated and expensive, and various space environments of the aircraft running in the orbit cannot be completely and really simulated, however, with the increase of the working time of the aircraft in a radiation environment, various calibration parameters of the star sensor are changed due to the increase of aberration, structural deformation and the like of an optical system of the star sensor, and the on-orbit calibration of the star sensor is needed. Moreover, the attitude output frequency of the star sensor is generally lower than 30 Hz, and the integral time is long in the imaging process of each star map, so that the shaking condition of the platform during each exposure cannot be measured.
For a remote sensing satellite, a remote sensing camera is used as a main load to obtain a space high-resolution image, and compared with a star sensor and the like, the method has the advantages of short integration time, higher resolution and larger visual angle, so that the remote sensing load can be used as an attitude sensor, the attitude information of the satellite is extracted from satellite remote sensing image information, and the attitude of the satellite is determined through space vector conversion, so that the method is used as a new method for obtaining the satellite attitude information. The image processing method has the advantages that the image information acquired by the satellite remote sensing platform is directly subjected to image processing, the realization of the conventional task of the satellite is guaranteed, the acquired image information can be used for calculating the attitude deviation of the satellite in time, and when some attitude sensors of the satellite fail, high-precision attitude information can be continuously acquired, so that necessary conditions are provided for the normal work of the satellite.
The way of measuring the attitude by using the optical payload is proposed by the scholars, and the method is widely applied to the deep space exploration field such as moon and mars exploration. Taking a patent (CN201510763374.3) as an example, a satellite platform is used to carry a star sensor and an optical camera; selecting a landmark artificial or natural ground object as a ground control point; imaging the ground control point by using an optical camera to obtain a panchromatic waveband image containing the ground control point image point, and obtaining the photographing light of the image point of the ground control point on the panchromatic waveband image under the earth fixed ground reference coordinate system; and acquiring an attitude matrix of the satellite platform according to the photographing light and the installation matrix of the optical camera. The method often requires the load spectrum of the optical camera to be consistent with the spectrum of the base map image containing the ground control point, which seriously limits the popularization and practical application of the method. Similar to the patent, the method based on payload measurement mainly utilizes two-dimensional images to be matched with two-dimensional reference images, and then calculates satellite attitude information according to an imaging geometric model. Although the two-dimensional image information of the payload is simple to calculate, the matching precision is affected or even cannot be matched due to the change of shooting angles, shadows caused by illumination change and D/N value change, the measurement precision is seriously affected, and due to the fact that the satellite has rolling/pitching change and is different from aerial photography attitude measurement, when the satellite attitude deviates or is observed through side sway, the obtained image is not an orthoimage, and due to the fact that earth curvature, terrain fluctuation and other surface conditions, the obtained two-dimensional image has distortion, the reference image is usually an orthoimage, the matching error is increased or even cannot be matched. Therefore, the method cannot be effectively used for measuring the attitude of the earth remote sensing satellite.
Disclosure of Invention
The invention aims to: the method comprises the steps of matching a two-dimensional image of a certain area acquired by a remote sensing camera with a high-precision three-dimensional earth surface model, obtaining external orientation elements of the camera by combining the height of a satellite, and calculating and determining the attitude of a satellite platform.
The technical scheme adopted by the invention is as follows:
a method for determining the attitude of a remote sensing satellite comprises the following steps:
(1) giving a satellite orbit position and a three-dimensional digital earth surface model; the method specifically comprises the following steps: the satellite orbit position is RSThe position of the earth center inertial system of the satellite; the spatial resolution of the three-dimensional digital earth surface model is less than 1 meter, and the accuracy of the spherical error is less than 5 meters.
(2) Acquiring a two-dimensional optical image of a remote sensing satellite load, specifically: an image of a certain area photographed by an area-array CMOS camera as a main load is acquired.
(3) Determining a region corresponding to a two-dimensional optical image shot by remote sensing satellite load in a three-dimensional digital earth surface model based on the satellite orbit position;
(4) taking attitude data of a remote sensing satellite when a two-dimensional optical image is shot as an initial exterior orientation element, matching the obtained two-dimensional optical image with a three-dimensional digital earth surface model of the determined area by adopting an image registration method from a two-dimensional image to a three-dimensional model to obtain a matching result matrix, and thus determining the exterior orientation element;
(5) determining the attitude of the remote sensing satellite according to the exterior orientation element determined in the step (4);
(6) taking the satellite attitude determined in the step (5) as an exterior orientation element, back-projecting the three-dimensional digital earth surface model to a two-dimensional image space, and calculating matching similarity in the two-dimensional image space;
(7) comparing a preset threshold with the matching similarity, judging whether the accuracy of the exterior orientation element meets the requirement, if the matching similarity is lower than the threshold, the accuracy does not meet the requirement, replacing the initial exterior orientation element with the updated exterior orientation element, and returning to the step (4); and if the matching similarity is greater than or equal to the threshold value, the currently determined satellite attitude meets the requirement.
And (4) taking attitude data of a remote sensing satellite when the remote sensing satellite shoots a two-dimensional optical image as an initial exterior orientation element, and matching the obtained two-dimensional optical image with a three-dimensional digital earth surface model of the determined area by adopting an image registration method from the two-dimensional image to the three-dimensional model, specifically, matching by adopting a geometric hash CGH method, a feature matching method or a model matching method.
The step (5) of determining the attitude of the remote sensing satellite according to the exterior orientation elements specifically comprises the following steps: and fitting the plurality of groups of external orientation elements by a least square method or a Kalman filtering method to obtain the attitude of the remote sensing satellite.
Further, the invention also provides an attitude determination system realized based on the attitude determination method of the remote sensing satellite, which comprises the following steps:
the track position and three-dimensional model determining module: for a given satellite orbital position and three-dimensional digital earth surface model;
a two-dimensional image acquisition module: the system comprises a two-dimensional optical image acquisition module, a data acquisition module and a data processing module, wherein the two-dimensional optical image acquisition module is used for acquiring a two-dimensional optical image of a remote sensing satellite load;
a region correspondence module: determining a region corresponding to a two-dimensional optical image shot by remote sensing satellite load in a three-dimensional digital earth surface model based on the satellite orbit position;
a matching module: the remote sensing satellite orientation system is used for taking attitude data of a remote sensing satellite when a two-dimensional optical image is shot as an initial exterior orientation element, matching the obtained two-dimensional optical image with a three-dimensional digital earth surface model of a determined area by adopting an image registration method from the two-dimensional image to a three-dimensional model to obtain a matching result matrix, and thus determining the exterior orientation element;
a satellite attitude determination module: the remote sensing satellite attitude determination module is used for determining the attitude of the remote sensing satellite according to the external orientation element determined by the matching module;
a matching similarity determination module: the device is used for taking the satellite attitude determined by the satellite attitude determination module as an exterior orientation element, back-projecting the three-dimensional digital earth surface model to a two-dimensional image space, and calculating matching similarity in the two-dimensional image space;
a determination module: the matching similarity is used for comparing a preset threshold with the matching similarity, judging whether the accuracy of the exterior orientation element meets the requirement, if the matching similarity is lower than the threshold, the accuracy does not meet the requirement, and replacing the initial exterior orientation element with the updated exterior orientation element; and if the matching similarity is greater than or equal to the threshold value, the currently determined satellite attitude meets the requirement.
Furthermore, the invention also provides a storage medium, which comprises a stored program, wherein when the program runs, the equipment where the storage medium is located is controlled to execute the attitude determination method of the remote sensing satellite.
Further, a processor is used for running a program, wherein the program is used for executing the attitude determination method of the remote sensing satellite during running.
The invention provides a satellite attitude determination method based on remote sensing satellite optical camera load and an earth digital surface model, which has the advantages and effects that:
the method can overcome the influences of image distortion and visual angle caused by earth curvature, topographic relief and other surface conditions when two-dimensional images are matched with two-dimensional images in the traditional method, and reduce the rigorous requirement of carrying the optical load spectrum and containing the control point bottom map spectrum to be consistent. Moreover, the satellite attitude determination method provided by the invention can provide a basis for on-orbit calibration of the star sensor, and can replace the star sensor in specific scenes such as incapability of using the star sensor.
Drawings
FIG. 1 is a flow chart of the method of the present invention.
Fig. 2 is a flowchart of a context-based geometric hash (CGH) registration method.
Detailed Description
The invention provides a method and a system for determining the attitude of a remote sensing satellite, wherein the method is based on the determination of the attitude of a satellite by using the load of an optical camera of the remote sensing satellite and an earth digital surface model, namely, the remote sensing camera is used as a scene sensor to obtain a two-dimensional image of a certain area, the two-dimensional image is matched with a high-precision three-dimensional earth surface model, the external orientation element of the remote sensing camera is obtained by combining satellite orbit information, and the attitude of a satellite platform is calculated and determined.
Specifically, as shown in fig. 1, the method for determining the attitude of the remote sensing satellite provided by the invention is implemented based on the load of the optical camera of the remote sensing satellite and the model of the digital surface of the earth, and comprises the following steps:
(1) giving a satellite orbit position and a three-dimensional digital earth surface model; the method specifically comprises the following steps: the satellite orbit position is RSThe position of the earth center inertial system of the satellite; the spatial resolution of the three-dimensional digital earth surface model is less than 1 meter, and the accuracy of the spherical error is less than 5 meters.
(2) Acquiring a two-dimensional optical image of a remote sensing satellite load; in the invention, the remote sensing satellite load is a scene sensor, and the method specifically comprises the following steps: an image of a certain area photographed by an area-array CMOS camera as a main load is acquired.
(3) Determining a region corresponding to a two-dimensional optical image shot by remote sensing satellite load in a three-dimensional digital earth surface model based on the satellite orbit position; setting the initial attitude to AobI.e., the rotation angle with respect to the body coordinate system centered on the satellite, the corresponding region position information is obtained
The following formula can be used to obtain the target,
wherein A isioThe transformation matrix from the satellite orbit coordinate system to the equatorial inertia system of the geocentric can be obtained by the position and the speed of the satellite;
as a satellite position vector, as a known quantity related to orbital information; in the present invention, it is considered that the camera is fixed with respect to the satellite body system, that is, the camera is fixedly mounted on the satellite, and therefore, the camera mounting position
And a camera mounting matrix McbAnd if the values are known values, the region position information corresponding to the two-dimensional optical image shot by the remote sensing satellite load can be obtained through the formula.
(4) Attitude data A when a remote sensing satellite shoots a two-dimensional optical imageobAs an initial exterior orientation element, matching the acquired two-dimensional optical image with a three-dimensional digital earth surface model of the determined region by adopting an image registration method from a two-dimensional image to a three-dimensional model to obtain a matching result matrix, thereby determining the exterior orientation element; the matching can be performed by a geometric hash CGH method, a feature matching method or a model-based matching method.
The following describes the matching by the geometric hash CGH method.
In the embodiment, the image registration method adopts a context-based geometric hash (CGH) registration method, and the registration steps are as follows, as shown in fig. 2:
A. a pre-treatment stage
a. Corner features (vertices and lines of intersection at the vertices) of the model are extracted.
b. And selecting any two points (x, y) in the feature points of the same plane in the model as base points, carrying out normalization processing, and selecting the middle point of the base points (x, y) as an origin point to establish an orthogonal coordinate system.
c. Calculating coordinates (u) of the orthogonal coordinate system established in (2) by other corner features in the modeli,vi) Where i is a certain corner feature.
d. And storing the model information, the base coordinate information, the context characteristic information and the like into a hash table.
B. Identification phase
a. Extracting corner features in a scene, firstly extracting straight lines through a Kovesi's algorithm, extracting angular points and angular arms from intersection points of the straight lines based on neighbor constraint, and finally removing angular points with errors based on geometric constraint and radiation constraint.
b. Selecting two angular points in the corner features as base points (i ', j'), wherein the selection of the base points needs to simultaneously meet the scale constraint and the position constraint, the scale constraint refers to only considering the base points with the scale close to that of the base points in the hash table, the position constraint refers to limiting the possible positions of the base points in a proper search space, the base points are normalized after being selected, and the middle points of the base points (i ', j') are selected to establish an orthogonal coordinate system.
c. And performing quantization processing on other corner points in the model in the coordinate system. And then, for each quantized coordinate, looking up a base point and a corresponding model in the hash table, voting and scoring, wherein the score comprises a univariate item and a context item, the univariate item is used for measuring the position difference of the matching point, and the context item is used for measuring the length and angle difference of the corresponding context feature.
d. And establishing a histogram for the voting scoring result, and setting a threshold value. If the voting result is higher than the threshold, there is a matching model in the scene. The votes are compared to the similarity scores to determine the best match.
(5) Determining the attitude of the remote sensing satellite according to the exterior orientation element determined in the step (4); the method specifically comprises the following steps: and fitting the plurality of groups of external orientation elements by a least square method or a Kalman filtering method to obtain the attitude of the remote sensing satellite.
(6) Taking the satellite attitude determined in the step (5) as an exterior orientation element, back-projecting the three-dimensional digital earth surface model to a two-dimensional image space, and calculating matching similarity in the two-dimensional image space by adopting a feature point-based method, namely counting the number of matched feature points in the two images and calculating the proportion of the number of similar feature points;
(7) comparing a preset threshold with the matching similarity, judging whether the accuracy of the exterior orientation element meets the requirement, if the matching similarity is lower than the threshold, the accuracy does not meet the requirement, replacing the initial exterior orientation element with the updated exterior orientation element, and returning to the step (4); and if the matching similarity is greater than or equal to the threshold value, the currently determined satellite attitude meets the requirement.
The invention further describes the satellite attitude determination method based on the load of the remote sensing satellite optical camera and the earth digital surface model in detail by combining the specific embodiment and the attached drawings of the specification.
In the embodiment, the three-dimensional model adopts a three-dimensional digital earth surface model with the spatial resolution of 0.5 m and the spherical error precision of 3 m, the obtained two-dimensional image is matched with the three-dimensional model to obtain 79 groups of matching points, and the attitude matrix is set as R, so that the three-dimensional model is obtained through calculation
Judging that the threshold value is not met by using the matching similarity, substituting the R value for the initial exterior orientation element to be brought into the matching calculation of the two-dimensional image and the three-dimensional model, and continuing to perform the similarity matching calculation until the precision requirement is met, thus finally obtaining the similarity matching calculation method
Is a satellite attitude matrix.
The embodiment overcomes the influence of image distortion and visual angle caused by earth curvature, topographic relief and other surface conditions when two-dimensional images and two-dimensional images are matched in the traditional method, and reduces the strict requirement that the carried optical load spectrum is consistent with the spectrum containing the control point bottom map. Moreover, the satellite attitude determination method can provide a basis for on-orbit calibration of the star sensor, and can replace the star sensor in specific scenes such as incapability of using the star sensor.
The foregoing description of the preferred embodiments of the present invention has been included to describe the features of the invention in detail, and is not intended to limit the inventive concepts to the particular forms of the embodiments described, as other modifications and variations within the spirit of the inventive concepts will be protected by this patent. The subject matter of the present disclosure is defined by the claims, not by the detailed description of the embodiments.
Claims (10)
1. A method for determining the attitude of a remote sensing satellite is characterized by comprising the following steps:
(1) giving a satellite orbit position and a three-dimensional digital earth surface model;
(2) acquiring a two-dimensional optical image of a remote sensing satellite load;
(3) determining a region corresponding to a two-dimensional optical image shot by remote sensing satellite load in a three-dimensional digital earth surface model based on the satellite orbit position;
(4) taking attitude data of a remote sensing satellite when a two-dimensional optical image is shot as an initial exterior orientation element, matching the obtained two-dimensional optical image with a three-dimensional digital earth surface model of the determined area by adopting an image registration method from a two-dimensional image to a three-dimensional model to obtain a matching result matrix, and thus determining the exterior orientation element;
(5) determining the attitude of the remote sensing satellite according to the exterior orientation element determined in the step (4);
(6) taking the satellite attitude determined in the step (5) as an exterior orientation element, back-projecting the three-dimensional digital earth surface model to a two-dimensional image space, and calculating matching similarity in the two-dimensional image space;
(7) comparing a preset threshold with the matching similarity, judging whether the accuracy of the exterior orientation element meets the requirement, if the matching similarity is lower than the threshold, the accuracy does not meet the requirement, replacing the initial exterior orientation element with the updated exterior orientation element, and returning to the step (4); and if the matching similarity is greater than or equal to the threshold value, the currently determined satellite attitude meets the requirement.
2. The attitude determination method for a remote sensing satellite according to claim 1, characterized in that: the step (1) of giving a satellite orbit position and a three-dimensional digital earth surface model specifically comprises the following steps: the satellite orbit position is RSThe position of the earth center inertial system of the satellite; the spatial resolution of the three-dimensional digital earth surface model is less than 1 meter, and the accuracy of the spherical error is less than 5 meters.
3. The attitude determination method for a remote sensing satellite according to claim 1, characterized in that: the step (2) of obtaining the two-dimensional optical image of the remote sensing satellite load specifically comprises the following steps: an image of a certain area photographed by an area-array CMOS camera as a main load is acquired.
4. The attitude determination method for a remote sensing satellite according to claim 1, characterized in that: and (4) taking attitude data of a remote sensing satellite when the remote sensing satellite shoots a two-dimensional optical image as an initial exterior orientation element, and matching the obtained two-dimensional optical image with a three-dimensional digital earth surface model of the determined area by adopting an image registration method from the two-dimensional image to the three-dimensional model, specifically, matching by adopting a geometric hash CGH method, a feature matching method or a model matching method.
5. The attitude determination method for a remote sensing satellite according to claim 1, characterized in that: the step (5) of determining the attitude of the remote sensing satellite according to the exterior orientation elements specifically comprises the following steps: and fitting the plurality of groups of external orientation elements by a least square method or a Kalman filtering method to obtain the attitude of the remote sensing satellite.
6. A satellite attitude determination system realized based on the attitude determination method of the remote sensing satellite of any one of claims 1 to 5, characterized by comprising:
the track position and three-dimensional model determining module: for a given satellite orbital position and three-dimensional digital earth surface model;
a two-dimensional image acquisition module: the system comprises a two-dimensional optical image acquisition module, a data acquisition module and a data processing module, wherein the two-dimensional optical image acquisition module is used for acquiring a two-dimensional optical image of a remote sensing satellite load;
a region correspondence module: determining a region corresponding to a two-dimensional optical image shot by remote sensing satellite load in a three-dimensional digital earth surface model based on the satellite orbit position;
a matching module: the remote sensing satellite orientation system is used for taking attitude data of a remote sensing satellite when a two-dimensional optical image is shot as an initial exterior orientation element, matching the obtained two-dimensional optical image with a three-dimensional digital earth surface model of a determined area by adopting an image registration method from the two-dimensional image to a three-dimensional model to obtain a matching result matrix, and thus determining the exterior orientation element;
a satellite attitude determination module: the remote sensing satellite attitude determination module is used for determining the attitude of the remote sensing satellite according to the external orientation element determined by the matching module;
a matching similarity determination module: the device is used for taking the satellite attitude determined by the satellite attitude determination module as an exterior orientation element, back-projecting the three-dimensional digital earth surface model to a two-dimensional image space, and calculating matching similarity in the two-dimensional image space;
a determination module: the matching similarity is used for comparing a preset threshold with the matching similarity, judging whether the accuracy of the exterior orientation element meets the requirement, if the matching similarity is lower than the threshold, the accuracy does not meet the requirement, and replacing the initial exterior orientation element with the updated exterior orientation element; and if the matching similarity is greater than or equal to the threshold value, the currently determined satellite attitude meets the requirement.
7. The satellite attitude determination system of claim 6, wherein: the orbit position and three-dimensional model determining module gives a satellite orbit position and a three-dimensional digital earth surface model, and specifically comprises the following steps: the satellite orbit position is RSThe position of the earth center inertial system of the satellite; the spatial resolution of the three-dimensional digital earth surface model is less than 1 meter, and the accuracy of the spherical error is less than 5 meters.
8. The satellite attitude determination system of claim 6, wherein: taking attitude data of a remote sensing satellite when a two-dimensional optical image is shot as an initial exterior orientation element, and matching the obtained two-dimensional optical image with a three-dimensional digital earth surface model of the determined area by adopting an image registration method from the two-dimensional image to the three-dimensional model, specifically adopting a geometric hash CGH method, a feature matching method or a model matching method for matching.
9. A storage medium, characterized by: the storage medium comprises a stored program, wherein when the program runs, the equipment where the storage medium is located is controlled to execute the attitude determination method of the remote sensing satellite according to any one of claims 1-5.
10. A processor, characterized in that: the processor is configured to execute a program, wherein the program executes the method for determining the attitude of the remote sensing satellite according to any one of claims 1 to 5 when the program is executed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811494234.0A CN109708649B (en) | 2018-12-07 | 2018-12-07 | Attitude determination method and system for remote sensing satellite |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811494234.0A CN109708649B (en) | 2018-12-07 | 2018-12-07 | Attitude determination method and system for remote sensing satellite |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109708649A CN109708649A (en) | 2019-05-03 |
| CN109708649B true CN109708649B (en) | 2021-02-09 |
Family
ID=66254014
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811494234.0A Active CN109708649B (en) | 2018-12-07 | 2018-12-07 | Attitude determination method and system for remote sensing satellite |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109708649B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203424B (en) * | 2019-05-05 | 2021-04-20 | 中国人民解放军63921部队 | Method and device for estimating spacecraft spin motion by using speed measurement data |
| CN110096454B (en) * | 2019-05-15 | 2021-06-01 | 武昌理工学院 | Remote sensing data fast storage method based on nonvolatile memory |
| CN110208271B (en) * | 2019-06-06 | 2021-10-22 | 中国人民解放军陆军工程大学 | Phased array antenna damage detection method, phased array antenna damage detection device and terminal |
| CN110472085B (en) * | 2019-07-19 | 2023-06-20 | 平安科技（深圳）有限公司 | Three-dimensional image searching method, system, computer device and storage medium |
| CN111121765B (en) * | 2019-12-16 | 2021-09-24 | 上海航天控制技术研究所 | Method for skillfully observing earth and monitoring GEO target by using common remote sensing satellite platform |
| CN113264201A (en) * | 2020-10-29 | 2021-08-17 | 北京空间飞行器总体设计部 | Implementation method for active push-broom imaging of agile satellite |
| CN114693988B (en) * | 2020-12-31 | 2024-05-03 | 上海湃星信息科技有限公司 | Satellite autonomous pose judging method, system and storage medium |
| CN113091753B (en) * | 2021-03-02 | 2022-08-12 | 上海卫星工程研究所 | Satellite attitude guidance method and system for satellite sensitive view field protection |
| CN117367331B (en) * | 2023-12-04 | 2024-03-12 | 山西阳光三极科技股份有限公司 | Radar monitoring method and device for mining area earth surface deformation and electronic equipment |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1871622A (en) * | 2003-10-21 | 2006-11-29 | 日本电气株式会社 | Image collation system and image collation method |
| CN106447585A (en) * | 2016-09-21 | 2017-02-22 | 武汉大学 | Urban area and indoor high-precision visual positioning system and method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6894707B2 (en) * | 2017-01-06 | 2021-06-30 | キヤノン株式会社 | Information processing device and its control method, program |
-
2018
- 2018-12-07 CN CN201811494234.0A patent/CN109708649B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1871622A (en) * | 2003-10-21 | 2006-11-29 | 日本电气株式会社 | Image collation system and image collation method |
| CN106447585A (en) * | 2016-09-21 | 2017-02-22 | 武汉大学 | Urban area and indoor high-precision visual positioning system and method |
Non-Patent Citations (3)
| Title |
|---|
| 基于Harris和几何哈希法的目标匹配;周陈龙等;《计算机工程》;20131115;第39卷(第11期);第205-208页 * |
| 基于三维地形重建与匹配的飞行器视觉导航方法研究;朱遵尚;《中国博士学位论文全文数据库工程科技II辑》;20170215(第2期);C031-47-第105页、第115-131页 * |
| 基于成像载荷的卫星姿态确定;张春阳;《中国优秀硕士学位全文数据库工程科技II辑》;20140315(第3期);C031-154-第10页、第49-52页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109708649A (en) | 2019-05-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109708649B (en) | Attitude determination method and system for remote sensing satellite | |
| CN110296691B (en) | IMU calibration-fused binocular stereo vision measurement method and system | |
| CN106780699B (en) | Visual SLAM method based on SINS/GPS and odometer assistance | |
| US10311297B2 (en) | Determination of position from images and associated camera positions | |
| CN107449444B (en) | Multi-star map attitude associated star sensor internal parameter calibration method | |
| CN109443359B (en) | Geographical positioning method of ground panoramic image | |
| US9285460B2 (en) | Method and system for estimating information related to a vehicle pitch and/or roll angle | |
| CN107560603B (en) | Unmanned aerial vehicle oblique photography measurement system and measurement method | |
| CN106529538A (en) | Method and device for positioning aircraft | |
| CN114216454B (en) | Unmanned aerial vehicle autonomous navigation positioning method based on heterogeneous image matching in GPS refusing environment | |
| CN104501779A (en) | High-accuracy target positioning method of unmanned plane on basis of multi-station measurement | |
| CN107330927B (en) | Airborne visible light image positioning method | |
| CN111156989B (en) | Space debris real-time astronomical positioning method based on automatic pointing determination | |
| CN113624231B (en) | Inertial vision integrated navigation positioning method based on heterogeneous image matching and aircraft | |
| CN111238540A (en) | Lopa gamma first camera-satellite sensitive installation calibration method based on fixed star shooting | |
| CN112489032A (en) | Unmanned aerial vehicle-mounted small target detection and positioning method and system under complex background | |
| Tjahjadi et al. | Single frame resection of compact digital cameras for UAV imagery | |
| CN114332225A (en) | Lane line matching positioning method, electronic device and storage medium | |
| RU2571300C2 (en) | Method for remote determination of absolute azimuth of target point | |
| CN109064510B (en) | Total station and star point centroid extraction method of star image thereof | |
| CN108594255A (en) | A kind of laser ranging auxiliary optical image association error compensation method and system | |
| CN110411449B (en) | Aviation reconnaissance load target positioning method and system and terminal equipment | |
| CN117253029A (en) | Image matching positioning method based on deep learning and computer equipment | |
| CN111156990A (en) | Space debris real-time astronomical positioning and photometry method based on automatic pointing determination | |
| CN115930948A (en) | Orchard robot fusion positioning method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |