CN110793542A - Area array optical remote sensing satellite in-orbit geometric calibration method based on generalized probe element pointing angle - Google Patents

Area array optical remote sensing satellite in-orbit geometric calibration method based on generalized probe element pointing angle Download PDF

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CN110793542A
CN110793542A CN201910951317.6A CN201910951317A CN110793542A CN 110793542 A CN110793542 A CN 110793542A CN 201910951317 A CN201910951317 A CN 201910951317A CN 110793542 A CN110793542 A CN 110793542A
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area array
probe element
pointing angle
remote sensing
coordinate system
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周楠
曹世翔
鲍云飞
邢坤
岳春宇
何红艳
高慧婷
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Beijing Institute of Space Research Mechanical and Electricity
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Abstract

The invention relates to an in-orbit geometric calibration method for an area array optical remote sensing satellite based on a generalized probe element pointing angle, belongs to the technical field of photogrammetry and remote sensing, and particularly relates to in-orbit geometric calibration for an area array optical remote sensing satellite based on a generalized probe element pointing angle. The invention provides an in-orbit geometric calibration model of an area array optical remote sensing satellite based on a generalized probe element pointing angle, which is established by analyzing the influence of each physical parameter of a strict imaging geometric model on positioning accuracy by utilizing a projection ray formed by an image point and a corresponding instantaneous projection center from imaging of the area array optical remote sensing satellite and establishing the generalized CCD probe element pointing angle under an attitude measurement reference coordinate.

Description

Area array optical remote sensing satellite in-orbit geometric calibration method based on generalized probe element pointing angle
Technical Field
The invention relates to an in-orbit geometric calibration method for an area array optical remote sensing satellite based on a generalized probe element pointing angle, belongs to the technical field of photogrammetry and remote sensing, and particularly relates to in-orbit geometric calibration for an area array optical remote sensing satellite based on a generalized probe element pointing angle.
Background
At present, a part of high-resolution optical remote sensing satellites are provided with an area array remote sensing camera, and images of a target area are obtained in a frame format mode. At present, a high-resolution satellite remote sensing earth observation technology becomes one of important means for acquiring earth space information by human beings, and a series of products produced by image data of the high-resolution satellite remote sensing earth observation technology are widely applied to the fields of military reconnaissance, topographic mapping, homeland resource investigation, urban planning and the like. In order to realize the productization of the area array framed satellite image more quickly, better serve the requirements of social sustainable development and create more social and economic benefits, firstly, the problem of accurate target positioning of the area array optical remote sensing satellite image needs to be solved, and the in-orbit geometric calibration is the key for realizing the accurate target positioning of the optical satellite image without ground control.
In order to realize the accurate positioning of the ground target of the area array frame type optical remote sensing satellite image, all imaging parameters (such as camera principal distance, image principal point position, camera installation position and the like) of the remote sensing camera during image acquisition must be accurately obtained, and a strict geometric relation between the area array frame type optical remote sensing satellite image and the ground target is established on the basis of the imaging parameters. Before satellite transmission, a camera is calibrated in a laboratory to determine system parameters such as relative and absolute positions of a CCD (charge coupled device), a principal distance and a principal point position, and the calibrated imaging parameters are provided for a user. The advantages of the geometric calibration of the laboratory are the use of professional equipment, the normalization and standardization of the operation process and high calibration precision. However, due to the influence of excessive acceleration, impulsive force and various disturbance forces during satellite launching, the change of space environments such as temperature, humidity and air pressure during satellite in-orbit running, device loss and aging caused by long-term use of an imaging remote sensor and other factors can cause different differences between imaging parameters and laboratory calibration values before satellite launching, the laboratory calibration values are used for carrying out area array optical remote sensing satellite image to ground target positioning, system errors are inevitably introduced, and the image to ground target positioning precision is reduced. Therefore, how to fully utilize the ground control information to accurately solve the imaging parameters of the optical satellite sensor during in-orbit running and realize the high-precision in-orbit geometric calibration of the satellite remote sensor is a key problem which needs to be solved urgently by photogrammetry students.
The existing on-orbit geometric calibration method generally takes a high-precision manual fixed target of a geometric calibration field or a DEM/DOM product as a ground control condition, the available geometric calibration fields are relatively few and mainly comprise Henan Songshan and Henan Anyang geometric calibration fields, the high-precision manual fixed target has high maintenance cost, the DOM/DEM product also has the problem of difficult updating and needs a large amount of investment of manpower, material resources and financial resources, the existing calibration method is a step-by-step geometric calibration method and has the defects that ① needs to provide a laboratory calibration value, ② internal and external calibration parameters have strong correlation, and a mode of automatically matching DOM and an image to be calibrated needs to be adopted to obtain a large amount of ground control points.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the method completely overcomes the correlation between internal and external parameters caused by step calibration under the condition of no need of laboratory calibration parameters and a small number of ground control points, and realizes the high-precision in-orbit geometric calibration of the area array optical remote sensing satellite.
The technical solution of the invention is as follows:
an in-orbit geometric calibration method for an area array optical remote sensing satellite based on a generalized probe element pointing angle comprises the following steps:
step 1, establishing an in-orbit geometric calibration model of an area array optical remote sensing camera based on a generalized probe element pointing angle under a posture measurement reference coordinate, wherein the in-orbit geometric calibration model is shown as a formula (1);
wherein the content of the first and second substances,
for ground control point under WGS-84 coordinate systemThree-dimensional coordinates of (a);
Figure BDA0002225861920000031
is a three-dimensional coordinate of the phase center of the GPS antenna under a WGS-84 coordinate system;
m is a scale factor;
Figure BDA0002225861920000032
a rotation matrix from a J2000 coordinate system to a WGS-84 coordinate system;
Figure BDA0002225861920000033
a rotation matrix from the star sensor coordinate system to a J2000 coordinate system;
Figure BDA0002225861920000034
a placement matrix of the star sensor under a satellite body coordinate system is provided;
Figure BDA0002225861920000035
3 offsets of the GPS antenna phase center under a satellite body coordinate system are set;
Figure BDA0002225861920000036
3 offsets of the camera node under the satellite body coordinate system are obtained;
Figure BDA0002225861920000037
the method comprises the following steps of (1) setting a mounting matrix of a camera under a satellite body coordinate system;
Figure BDA0002225861920000038
the pointing angle of the CCD probe corresponding to the ground control point in the camera coordinate system;
f is the main distance of the camera;
on the basis of the formula (1), the
(x, y, z) describes the coordinates of each probe element of the area array CCD under the attitude measurement coordinate system, and further enables:
Figure BDA00022258619200000310
(ψ'Y,ψ'X) The pointing angle of each probe element of the area array CCD under the attitude measurement coordinate system is a constant,
dividing the two sides of the medium sign in the formula (2) by-z to obtain
Figure BDA0002225861920000041
(iv) according to formula (4) (#)'Y,ψ'X) The external calibration parameters and the internal calibration parameters can be described simultaneously; the external calibration parameters include (D)x,Dy,Dz)、(dx,dy,dz)、
Figure BDA0002225861920000042
Andthe internal calibration parameters include
Figure BDA0002225861920000044
And f;
by transforming the formula (1)
Figure BDA0002225861920000045
Wherein, λ is a scale factor, λ ═ mz;
step 2, establishing a directive angle model of each probe element of the area array CCD under a satellite attitude measurement reference coordinate system as follows,
Figure BDA0002225861920000046
wherein (a)0,a1,a2,a3,a4,a5,a6,a7,a8,a9,b0,b1,b2,b3,b4,b5,b6,b7,b8,b9) The (l, s) are the row number and the column number of each probe element of the area array CCD;
and 3, solving the pointing angle model coefficient in the step 2 to realize the following steps,
a scale factor lambda is obtained from the equation (5) from each ground control point, and a pointing angle phi of each probe element of the area array CCD corresponding to the ground control point in the attitude measurement coordinate system is obtained from the equation (5)'Y,ψ'X)；
Establishing an error equation as shown in the formula (7);
V＝AW-L (7)
in the formula (I), the compound is shown in the specification,
Figure BDA0002225861920000047
W＝[a0a1a2a3a4a5a6a7a8a9b0b1b2b3b4b5b6b7b8b9]
Figure BDA0002225861920000048
then solving an unknown number W according to a least square adjustment principle;
W＝(ATA)-1ATL
and 4, solving the pointing angle of each probe element of the area array CCD under the satellite attitude measurement reference coordinate system according to the pointing angle model established in the step 2 and the pointing angle model coefficient solved in the step 3, and finishing the in-orbit geometric calibration of the area array optical remote sensing satellite.
Advantageous effects
(1) The invention provides an in-orbit geometric calibration model of an area array optical remote sensing satellite based on a generalized probe element pointing angle, which is established by analyzing the influence of each physical parameter of a strict imaging geometric model on positioning accuracy by utilizing a projection ray formed by an image point and a corresponding instantaneous projection center from imaging of the area array optical remote sensing satellite and establishing the generalized CCD probe element pointing angle under an attitude measurement reference coordinate.
(2) The method can perform accurate in-orbit geometric calibration on the optical satellite sensor by taking few control points as ground control conditions under the condition that ground control points are difficult to obtain, further eliminate the system error of the positioning result of the area array frame type satellite image to the ground target and obviously improve the positioning accuracy of the image to the ground target without ground control.
Detailed Description
The embodiment provides an in-orbit geometric calibration method of an area array optical remote sensing satellite based on a generalized probe element pointing angle, which comprises the following steps:
step 1, preparing data, acquiring an optical remote sensing satellite image of an area array to be calibrated and a corresponding reference image, selecting a control point on the image to be calibrated and the reference data, wherein the row number and the column number of an area array CCD (charge coupled device) of the control point on the image to be calibrated are (l, s), and the coordinate of the control point under a WGS84 coordinate system is (l, s)
Figure BDA0002225861920000051
Acquiring satellite attitude quaternion (q) at corresponding imaging time according to the imaging time of the image to be calibrated1,q2,q3,q4) Acquiring the coordinates of the corresponding imaging time satellite in a WGS84 coordinate system
Figure BDA0002225861920000052
Step 2, establishing an in-orbit geometric calibration model of the area array optical remote sensing camera based on the pointing angle of the generalized probe elementWherein:PN (t) is a time and nutation matrix, R (t) is a rotation matrix of the earth, and W (t) is a polar shift matrix.
Step 3, establishing a directive angle model of each probe element of the area array CCD under a satellite attitude measurement reference coordinate system:
Figure BDA0002225861920000063
step 4, solving the pointing angle model coefficient in the step 3, and utilizing the line number and the column number of the area array CCD of the control point on the image to be calibrated and the coordinates of the control point under the WGS84 coordinate system to calibrate the model according to the in-orbit geometric calibration model of the area array optical remote sensing camera
Figure BDA0002225861920000064
The first equation of the equation obtains a scaling factor lambda, and the second equation and the third equation of the equation obtain a pointing angle (psi ') of each probe element of the area array CCD corresponding to the ground control point in an attitude measurement coordinate system'Y,ψ'X) (ii) a Then, an error equation V ═ AW-L is established, which
Figure BDA0002225861920000065
W＝[a0a1a2a3a4a5a6a7a8a9b0b1b2b3b4b5b6b7b8b9]，
Figure BDA0002225861920000066
According to the least square adjustment principle, according to the formula W ═ ATA)-1ATAnd L, solving the unknown number W, wherein W is the pointing angle model coefficient.
Step 5, establishing a pointing angle model according to the step 3
Figure BDA0002225861920000067
And the orientation angle model coefficient (a) solved in step 30,a1,a2,a3,a4,a5,a6,a7,a8,a9,b0,b1,b2,b3,b4,b5,b6,b7,b8,b9) And solving the pointing angle of each probe element of the area array CCD under the satellite attitude measurement reference coordinate system to finish the in-orbit geometric calibration of the area array optical remote sensing satellite.

Claims (10)

1. An in-orbit geometric calibration method for an area array optical remote sensing satellite based on a generalized probe element pointing angle is characterized by comprising the following steps:
step 1, establishing an in-orbit geometric calibration model of an area array optical remote sensing camera based on a generalized probe element pointing angle under a posture measurement reference coordinate, wherein the in-orbit geometric calibration model is shown as a formula (1);
Figure FDA0002225861910000011
wherein the content of the first and second substances,
Figure FDA0002225861910000012
three-dimensional coordinates of the ground control point in a WGS-84 coordinate system;
Figure FDA0002225861910000013
is a three-dimensional coordinate of the phase center of the GPS antenna under a WGS-84 coordinate system;
m is a scale factor;
Figure FDA0002225861910000014
a rotation matrix from a J2000 coordinate system to a WGS-84 coordinate system;
a rotation matrix from the star sensor coordinate system to a J2000 coordinate system;
Figure FDA0002225861910000016
a placement matrix of the star sensor under a satellite body coordinate system is provided;
Figure FDA0002225861910000017
3 offsets of the GPS antenna phase center under a satellite body coordinate system are set;
Figure FDA0002225861910000018
3 offsets of the camera node under the satellite body coordinate system are obtained;
Figure FDA0002225861910000019
the method comprises the following steps of (1) setting a mounting matrix of a camera under a satellite body coordinate system;
Figure FDA00022258619100000110
the pointing angle of the CCD probe corresponding to the ground control point in the camera coordinate system;
f is the main distance of the camera;
on the basis of the formula (1), the
Figure FDA0002225861910000021
(x, y, z) describes the coordinates of each probe element of the area array CCD under the attitude measurement coordinate system, and further enables:
Figure FDA0002225861910000022
(ψ'Y,ψ'X) Is flourThe pointing angle of each probe element of the array CCD under the attitude measurement coordinate system is a constant;
dividing the two sides of the medium sign in the formula (2) by-z to obtain
Figure FDA0002225861910000023
(iv) according to formula (4) (#)'Y,ψ'X) Describing an external calibration parameter and an internal calibration parameter at the same time; the external calibration parameters include (D)x,Dy,Dz)、(dx,dy,dz)、And
Figure FDA0002225861910000025
the internal calibration parameters include
Figure FDA0002225861910000026
And f;
by transforming the formula (1)
Figure FDA0002225861910000027
Wherein, λ is a scale factor, λ ═ mz;
step 2, establishing a directive angle model of each probe element of the area array CCD under a satellite attitude measurement reference coordinate system as follows,
wherein (a)0,a1,a2,a3,a4,a5,a6,a7,a8,a9,b0,b1,b2,b3,b4,b5,b6,b7,b8,b9) For the orientation angle model coefficient, (l, s) are the row number and the column number of each probe element of the area array CCD；
And 3, solving the pointing angle model coefficient in the step 2, wherein the method comprises the following steps:
a scale factor lambda is obtained from the equation (5) from each ground control point, and a pointing angle phi of each probe element of the area array CCD corresponding to the ground control point in the attitude measurement coordinate system is obtained from the equation (5)'Y,ψ'X)；
Establishing an error equation as shown in the formula (7);
V＝AW-L (7)
in the formula (I), the compound is shown in the specification,
Figure FDA0002225861910000031
W＝[a0a1a2a3a4a5a6a7a8a9b0b1b2b3b4b5b6b7b8b9]
Figure FDA0002225861910000032
then solving an unknown number W according to a least square adjustment principle;
W＝(ATA)-1ATL
and 4, solving the pointing angle of each probe element of the area array CCD under the satellite attitude measurement reference coordinate system according to the pointing angle model established in the step 2 and the pointing angle model coefficient solved in the step 3, and finishing the in-orbit geometric calibration of the area array optical remote sensing satellite.
2. The method for geometrically calibrating the in-orbit of the area array optical remote sensing satellite based on the pointing angle of the generalized probe element as claimed in claim 1, wherein: the row number of the area array CCD of the ground control point on the image to be marked is l.
3. The method for geometrically calibrating the in-orbit of the area array optical remote sensing satellite based on the pointing angle of the generalized probe element as claimed in claim 1, wherein: the column number of the area array CCD of the ground control point on the image to be marked is s.
4. The method for geometrically calibrating the in-orbit of the area array optical remote sensing satellite based on the pointing angle of the generalized probe element as claimed in claim 1, wherein: satellite attitude quaternion (q) of imaging time1,q2,q3,q4)。
5. The method for in-orbit geometric calibration of the area array optical remote sensing satellite based on the pointing angle of the generalized probe element as claimed in claim 4, wherein:
Figure FDA0002225861910000041
6. the method for geometrically calibrating the in-orbit of the area array optical remote sensing satellite based on the pointing angle of the generalized probe element as claimed in claim 5, wherein:
Figure FDA0002225861910000042
PN (t) is a time and nutation matrix, R (t) is a rotation matrix of the earth, and W (t) is a polar shift matrix.
7. The method for geometrically calibrating the in-orbit of the area array optical remote sensing satellite based on the pointing angle of the generalized probe element as claimed in claim 1, wherein: the directive angle model of each probe element of the area array CCD under the satellite attitude measurement reference coordinate system is as follows:
8. the method for geometrically calibrating the in-orbit of the area array optical remote sensing satellite based on the pointing angle of the generalized probe element as claimed in claim 7, wherein:
error equation
V＝AW-L。
9. The in-orbit geometric calibration method for the area array optical remote sensing satellite based on the generalized probe element pointing angle as claimed in claim 8, characterized in that:
wherein the content of the first and second substances,
Figure FDA0002225861910000044
10. the in-orbit geometric calibration method for the area array optical remote sensing satellite based on the generalized probe element pointing angle as claimed in claim 9, characterized in that:
W＝[a0a1a2a3a4a5a6a7a8a9b0b1b2b3b4b5b6b7b8b9]，
Figure FDA0002225861910000045
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Application publication date: 20200214