CN112764455B - Hyperspectral camera data time synchronization method, system, device and storage medium - Google Patents
Hyperspectral camera data time synchronization method, system, device and storage medium Download PDFInfo
- Publication number
- CN112764455B CN112764455B CN202011580628.5A CN202011580628A CN112764455B CN 112764455 B CN112764455 B CN 112764455B CN 202011580628 A CN202011580628 A CN 202011580628A CN 112764455 B CN112764455 B CN 112764455B
- Authority
- CN
- China
- Prior art keywords
- data
- time
- image
- signal
- time data
- 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
- 238000000034 method Methods 0.000 title claims abstract description 53
- 230000001360 synchronised effect Effects 0.000 claims abstract description 21
- 230000000630 rising effect Effects 0.000 claims description 32
- 238000004590 computer program Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 6
- 238000004422 calculation algorithm Methods 0.000 claims description 5
- 238000004891 communication Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 238000013507 mapping Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 238000000701 chemical imaging Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/04—Generating or distributing clock signals or signals derived directly therefrom
- G06F1/12—Synchronisation of different clock signals provided by a plurality of clock generators
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/50—Information retrieval; Database structures therefor; File system structures therefor of still image data
- G06F16/58—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually
- G06F16/5866—Retrieval characterised by using metadata, e.g. metadata not derived from the content or metadata generated manually using information manually generated, e.g. tags, keywords, comments, manually generated location and time information
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06M—COUNTING MECHANISMS; COUNTING OF OBJECTS NOT OTHERWISE PROVIDED FOR
- G06M3/00—Counters with additional facilities
- G06M3/08—Counters with additional facilities for counting the input from several sources; for counting inputs of different amounts
Landscapes
- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- Library & Information Science (AREA)
- Data Mining & Analysis (AREA)
- Databases & Information Systems (AREA)
- Electric Clocks (AREA)
- Studio Devices (AREA)
Abstract
The application relates to a hyperspectral camera data time synchronization method, a hyperspectral camera data time synchronization system, a hyperspectral camera data time synchronization device and a hyperspectral camera data time synchronization storage medium. The method comprises the following steps: the hyperspectral camera data time synchronization system calculates time data corresponding to image data according to a first target image signal and a PPS signal in the image information by acquiring image information acquired by a hyperspectral camera and a pulse signal per second (PPS) acquired by a Global Positioning System (GPS) device, and splices the image data and the time data to obtain synchronous data. Because the first target image signal is an image frame valid bit, the frame valid bit is the time signal closest to the acquired linear array data after exposure, the time synchronization data calculated by taking the signal as a reference can be the most accurate, the accuracy of data synchronization is improved, a special camera or processor is not required to be customized, the cost of data synchronization is reduced, and after each time of image data and time data synchronization, the data are spliced and stored, so that the later time matching work is greatly saved.
Description
Technical Field
The present application relates to the field of mapping technologies, and in particular, to a method, a system, an apparatus, and a storage medium for data time synchronization of a hyperspectral camera.
Background
Due to the advantages of small size, light weight and lifting conditions of the unmanned aerial vehicle, the hyperspectral imaging technology can acquire the advantages of continuous and narrow-band image data with hyperspectral resolution, and the unmanned aerial vehicle and the hyperspectral camera can be integrated and applied to the field of remote sensing mapping.
In the mapping process, in order to obtain the space-time position of the unmanned aerial vehicle at the moment of photographing, the precise time of the aerial survey camera carried on the unmanned aerial vehicle during exposure needs to be obtained. And the precise time of the aerial survey camera in exposure needs to be synchronized with the hyperspectral image data and the unmanned aerial vehicle GPS time data.
In the prior art, the synchronization method of hyperspectral image data and GPS time data of an unmanned aerial vehicle comprises the step of completing synchronization processing of the image data and the GPS time data by customizing a professional screen display (On Screen Display, OSD) chip or adopting a professional customized camera.
However, the technology of customizing a professional OSD chip or customizing a professional camera is complicated and the cost is relatively high.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a hyperspectral camera data time synchronization method, system, apparatus, and storage medium that can be implemented at a lower cost.
In a first aspect, there is provided a hyperspectral camera data time synchronization method, the method comprising:
acquiring image information acquired by a hyperspectral camera and pulse signals PPS per second acquired by GPS equipment; the image information includes image data and a plurality of image signals;
calculating time data corresponding to the image data according to the first target image signal and the PPS signal; the first target image signal is an image frame valid bit signal;
and splicing the image data and the time data to obtain synchronous data.
In one embodiment, the calculating the time data corresponding to the image data according to the first target image signal and the PPS signal includes:
when the rising edge of the PPS signal arrives, acquiring first time data, and resetting a system counter;
determining second time data of the first target image signal according to the count values of the system clock and the system counter when the rising edge of the first target image signal arrives;
and obtaining time data corresponding to the image data according to the first time data and the second time data.
In one embodiment, the determining the second time data of the first target image signal according to the count values of the system clock and the system counter when the rising edge of the first target image signal arrives includes:
and (3) calculating the quotient of the count of the system counter and the system clock to obtain second time data of the first target image signal.
In one embodiment, the method further comprises:
obtaining a reference time; the reference time is calculated by taking Greenwich mean time as a reference according to a preset algorithm;
obtaining time data corresponding to the image data according to the first time data and the second time data, wherein the time data comprises:
and obtaining time data corresponding to the image data according to the first time data, the second time data and the reference time.
In one embodiment, after receiving the image information acquired by the hyperspectral camera, the method further includes:
when the rising edge of the second target image signal arrives, storing the image data into a preset storage space; the second target image signal is an image line valid bit signal.
In one embodiment, the splicing the image data and the time data to obtain the synchronization data includes:
and splicing the image data and the time data in the preset storage space according to a preset splicing sequence to obtain synchronous data.
In one embodiment, the method further comprises:
under the condition that the PPS signal is lost, acquiring the count value of a system counter corresponding to the PPS signal loss moment;
and calculating time data corresponding to the image data according to the received PPS signal, the count value of the system counter, the first target image signal and the reference time.
In a second aspect, a hyperspectral camera data time synchronization system is provided, the system comprises a hyperspectral camera, a GPS device, an FPGA module and a storage module;
the hyperspectral camera is used for collecting image information; the image information includes image data and a plurality of image signals;
the GPS equipment is used for collecting pulse signals PPS per second;
the FPGA module is used for calculating time data corresponding to the image data according to the image data and the PPS signals;
the storage module is used for storing the image data and the time data, and splicing the image data and the time data to obtain synchronous data.
In a third aspect, there is provided a hyperspectral camera data time synchronization apparatus, the apparatus comprising:
the receiving module is used for acquiring image information acquired by the hyperspectral camera and pulse signals PPS per second acquired by the GPS equipment; the image information includes image data and a plurality of image signals;
the calculating module is used for calculating time data corresponding to the image data according to the first target image signal and the PPS signal; the first target image signal is an image frame significant bit signal of the image signal;
and the splicing module is used for splicing the image data and the time data to obtain synchronous data.
In a fourth aspect, there is provided a computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the hyperspectral camera data time synchronization method of any of the first aspects described above.
According to the hyperspectral camera data time synchronization method, the hyperspectral camera data time synchronization system calculates time data corresponding to image data according to the first target image signal and the PPS signal in the image information by acquiring the image information acquired by the hyperspectral camera and the pulse per second signal PPS acquired by the GPS equipment, and splices the image data and the time data to obtain synchronous data. Because the first target image signal is an image frame valid bit, the frame valid bit is the time signal closest to the acquired linear array data after exposure, the time synchronization data calculated by taking the signal as a reference can be the most accurate, the accuracy of the hyperspectral camera data time synchronization is improved, a special camera or a processor is not required to be customized, the cost of the hyperspectral camera data time synchronization is reduced, and furthermore, after each time of the image data and the time hyperspectral camera data time synchronization, the data are spliced and stored, and the later time matching work is greatly saved.
Drawings
FIG. 1 is a diagram of an application environment for a hyperspectral camera data time synchronization method in one embodiment;
FIG. 2 is a flow chart of a method for data time synchronization of a hyperspectral camera in one embodiment;
FIG. 3 is a flow chart of a method for data time synchronization of a hyperspectral camera in one embodiment;
FIG. 4 is a flow chart of a method for data time synchronization of a hyperspectral camera in one embodiment;
FIG. 5 is a flow chart of a method for data time synchronization of a hyperspectral camera in one embodiment;
FIG. 6 is a block diagram of a hyperspectral camera data time synchronization apparatus in one embodiment;
FIG. 7 is a block diagram of a hyperspectral camera data time synchronization apparatus in one embodiment;
fig. 8 is an internal structural diagram of a computer device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.
The hyperspectral camera data time synchronization method provided by the application can be applied to an application environment shown in fig. 1. The unmanned aerial vehicle 01 is integrated with a hyperspectral camera data time synchronization system, and the hyperspectral camera data time synchronization system comprises a hyperspectral camera 1, a GPS device 2, an FPGA module 3 and a storage module 4. The hyperspectral camera 1 and the GPS device 2 are respectively in communication connection with the FPGA module 3, the hyperspectral camera 1 is in communication connection with the storage module 4, and the FPGA module 3 is in communication connection with the storage module 4.
The following will specifically describe the technical solutions of the present application and how the technical solutions of the present application solve the above technical problems by means of examples and with reference to the accompanying drawings. The following embodiments may be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments. It should be noted that, in the hyperspectral camera data time synchronization method provided in the embodiments of fig. 2 to 5 of the present application, the execution body is a hyperspectral camera data time synchronization system, and may also be a hyperspectral camera data time synchronization device, where the hyperspectral camera data time synchronization device may be a part or all of the hyperspectral camera data time synchronization system in a software, hardware or a combination of software and hardware manner. In the following method embodiments, the execution subject is a hyperspectral camera data time synchronization system.
In one embodiment, as shown in fig. 2, a method for synchronizing data of a hyperspectral camera in time is provided, which relates to a process that a hyperspectral camera data time synchronizing system acquires image information acquired by the hyperspectral camera and pulse signals per second PPS acquired by GPS equipment, calculates time data corresponding to the image data according to a first target image signal and PPS signal of the image information, and thus, splices the image data and the time data to obtain synchronous data, and includes the following steps:
s201, acquiring image information acquired by a hyperspectral camera and pulse signals PPS per second acquired by GPS equipment; the image information includes image data and a plurality of image signals.
The hyperspectral camera data time synchronization system collects currently required image information through a hyperspectral camera, and collects pulse per second signals PPS through built-in GPS equipment.
In this embodiment, optionally, the hyperspectral camera 1 adopts an internal triggering mode, the hyperspectral camera 1 transmits an image by adopting a camera_link interface, and the interface can be resolved into 24-bit image bits and 4-bit signal bits through a decoding chip after transmitting data. The signal bits are respectively a data valid bit DVAL, a frame valid bit FVAL, a line valid bit LVAL and a reserved bit. When DVAL signal is high level, image data signal is valid, when FVAL signal is high level, image linear array data is valid, when LVAL is high level, different wave band linear array data after light splitting is valid. The hyperspectral camera data time synchronization system acquires the image information acquired by the hyperspectral camera, acquires the PPS signal by the GPS equipment, and transmits the image signal and the PPS signal in the image information to the FPGA module for calculating the time data.
S202, calculating time data corresponding to image data according to a first target image signal and a PPS signal; the first target image signal is an image frame valid bit signal.
The first target image signal is a frame valid bit fva, and the frame valid bit FVAL signal is a time signal closest to the post-exposure acquisition linear array data, so that the time synchronization data calculated by taking the frame valid bit FVAL signal as a reference will be the most accurate.
In this embodiment, the hyperspectral camera data time synchronization system performs calculation of time data corresponding to image data according to the acquired first target image signal and PPS signal. Optionally, the PPS signal is a pulse-per-second signal, when the rising edge of the PPS signal arrives, the number of pulses generated by the PPS signal is calculated, that is, the integer bit time of the PPS signal is calculated, and when the rising edge of the frame valid bit signal arrives, the decimal time of the image data is calculated, optionally, the hyperspectral camera data time synchronization system may perform calculation of the decimal time according to the system clock, and determine the time data corresponding to the image data based on the calculated integer bit time and the decimal time.
And S203, splicing the image data and the time data to obtain synchronous data.
In this embodiment, the image frame data is spliced with the obtained time data. Optionally, the hyperspectral camera data time synchronization system may store the image data to the storage module when the image data is acquired, and store the time data to the storage module after calculating the time data corresponding to the image data, and implement splice storage with the image data. Or, the hyperspectral camera data time synchronization system can store the time data into the storage module after calculating the time data corresponding to the image data, acquire the image data, and splice and store the image data and the time data. The splicing order of the image data and the time data can be determined according to the actual situation, which is not limited in this embodiment.
In the hyperspectral camera data time synchronization method, the hyperspectral camera data time synchronization system calculates time data corresponding to image data according to a first target image signal and a PPS signal in the image information by acquiring the image information acquired by the hyperspectral camera and the pulse per second signal PPS acquired by the global positioning system GPS equipment, and splices the image data and the time data to obtain synchronous data. Because the first target image signal is an image frame valid bit, the frame valid bit is the time signal closest to the acquired linear array data after exposure, the time synchronization data calculated by taking the signal as a reference can be the most accurate, the accuracy of the hyperspectral camera data time synchronization is improved, a special camera or a processor is not required to be customized, the cost of the hyperspectral camera data time synchronization is reduced, and furthermore, after each time of the image data and the time hyperspectral camera data time synchronization, the data are spliced and stored, and the later time matching work is greatly saved.
In one embodiment, as shown in fig. 3, the calculating the time data corresponding to the image data according to the first target image signal and the PPS signal includes:
s301, when the rising edge of the PPS signal arrives, acquiring first time data and resetting a system counter.
The FPGA module is internally provided with a system counter, and when the rising edge of the PPS signal arrives, the system counter is cleared, namely the system counter is reset. In this embodiment, when the hyperspectral camera data time synchronization system arrives at the rising edge of the PPS signal, the first time data of the PPS signal is acquired, and since the PPS signal is a pulse per second signal, that is, the PPS signal generates one rising edge signal every second, the pulse signal generated by the PPS is acquired while the system counter is cleared, that is, the whole second data generated by the PPS is acquired as the time data of the integer part of the current image data, and the system counter of the system counter itself is cleared, and the counting is restarted, which is not limited in this embodiment.
S302, when the rising edge of the first target image signal arrives, determining second time data of the first target image signal according to the system clock and the count value of the system counter.
The first target image signal refers to a frame valid bit, and when the rising edge of the frame valid bit is detected to be reached, the count value of a system counter is determined, and second time data is calculated according to a preset system clock. In this embodiment, the preset system clock refers to the counting frequency of the system per second, for example, the system clock may be 200MHz, meaning that 200M counts of system time are counted in one second. Then the time data of the fractional part of the current first target image signal can be calculated according to the preset system clock and the count value of the current system counter.
In one embodiment, the second time data of the first target image signal may alternatively be obtained by quotient of the count of the system counter and the system clock.
In this embodiment, for example, when the rising edge of the first target image signal is reached, the count value of the system counter is 100M, and the system clock is set to 200MHZ, that is, when the system counter counts 200M, it is one second, and then counts 100M, and by 100M/200 m=0.5, the time data of the fractional portion corresponding to the current image data can be calculated to be 0.5s. It should be noted that, the hyperspectral camera data time synchronization system may perform the above calculation based on the built-in division register, and the accuracy of the calculation result may be affected by the system clock and the bit width of the division register, which is not limited in this embodiment.
S303, obtaining time data corresponding to the image data according to the first time data and the second time data.
In this embodiment, the hyperspectral camera data time synchronization system determines the time data corresponding to the image data according to the calculated first time data of the integer part and the calculated second time data of the decimal part, alternatively, the hyperspectral camera data time synchronization system may superimpose the first time data and the second time data, and calculate the time data corresponding to the image data, which is not limited in this embodiment.
In this embodiment, the time data of the fractional part of the image data is calculated according to the time when the rising edge of the frame valid bit reaches, the time data of the integer part of the image data is determined according to the PPS signal, the frame valid bit FVAL signal is the time signal closest to the time signal of the line array data acquired after exposure, the time synchronization data calculated by taking the frame valid bit FVAL signal as the reference will be the most accurate, the PPS signal is the pulse per second signal, so the acquired time data of the integer part is also more accurate, and the time data acquired based on the two is more accurate on the premise of not depending on a professional camera or a professional processor.
Optionally, in order to synchronize time data corresponding to the image data with the world time, in one embodiment, the method further includes:
obtaining a reference time; the reference time is calculated by taking Greenwich mean time as a reference according to a preset algorithm.
The reference time refers to year, month, day, time, minute, second, longitude and latitude, satellite heading, speed, magnetic declination and the like based on Greenwich time.
In this embodiment, the time information in the GPRMC information is extracted through the POS antenna via the serial port, and enters the FPGA module to perform analysis of converting the ASCII code into 16 system, and the time information is brought into the FPGA module by Cai Le formula, so as to calculate the current number of weeks. In this case, the time base at the time of 0 Zhou Miao can be obtained by adding the extracted time-division second information. And taking the time reference as a time reference, and obtaining complete time synchronization information through the first time data and the second time data of the PPS second pulse.
In this embodiment, the hyperspectral camera data time synchronization system can obtain complete time synchronization information of image data under world time based on the reference time, the first time data and the second time data, so that time data corresponding to the image data is more accurate and complete.
Then, obtaining the time data corresponding to the image data according to the first time data and the second time data includes:
and obtaining time data corresponding to the image data according to the first time data, the second time data and the reference time.
In this embodiment, the hyperspectral camera data time synchronization system determines the time data corresponding to the image data according to the calculated first time data of the integer part, the calculated second time data of the decimal part, and the calculated reference time, and optionally, the hyperspectral camera data time synchronization system may superimpose the first time data, the second time data, and the reference time data, and calculate the time data corresponding to the image data.
In this embodiment, the hyperspectral camera data time synchronization system obtains time data corresponding to image data according to the reference time, the first time data and the second time data, and the obtained time data is accurate.
The hyperspectral camera data time synchronization system may also store the image data while calculating the time data corresponding to the image data, and in one embodiment, after receiving the image information collected by the hyperspectral camera, the method further includes:
when the rising edge of the second target image signal arrives, storing the image data into a preset storage space; the second target image signal is an image line valid bit signal.
The second target image signal refers to a line valid bit LVAL, and when the line valid bit LVAL is high, the line array data of different wave bands after light splitting is valid. That is, the hyperspectral camera data time synchronization system can only acquire valid image data at the rising edge of the line valid bit LVAL.
In this embodiment, the hyperspectral camera data time synchronization system acquires current image data when detecting that the rising edge of the line valid bit LVAL is reached, and stores the image data in the storage module.
In this embodiment, the hyperspectral camera data time synchronization system can calculate the data time, and store the image data into the storage module when the rising edge of the line valid bit is detected, so that the image data can be stored in time, and resource waste caused by the fact that the image data cannot be stored in time is avoided.
After storing the image data, in one embodiment, the splicing the image data and the time data to obtain the synchronous data includes:
and splicing the image data and the time data in the preset storage space according to a preset splicing sequence to obtain synchronous data.
The preset splicing sequence refers to the splicing sequence of the image data before and the time data after which are determined according to actual conditions.
In this embodiment, the hyperspectral camera data time synchronization system stores image data in the storage module in the process of calculating time data, after calculating the time data corresponding to the current image data, the time data is also stored in the storage module, and the storage module performs a stitching operation on the current image data and the time data to obtain the current image data and the time data after current synchronization, which is not limited in this embodiment.
In this embodiment, after the image data is obtained and the time data is calculated, the image data and the time data are spliced once, instead of matching and splicing the data after all the image data and the time data are stored, so that the work of respectively storing the image frame data and the GPS time data and then splicing is avoided, and the later splicing time is saved.
In the process of receiving the PPS signal, the condition that the unmanned aerial vehicle is in a severe environment and causes the PPS signal to be lost is not avoided, and in one embodiment, as shown in fig. 4, the method further includes:
s401, when the PPS signal is lost, a count value of a system counter corresponding to the PPS signal loss time is obtained.
In this embodiment, the PPS signal is provided by the GPS device, which may result in loss of PPS signal if the drone flies into an area where the GPS signal is weak. In this case, a system counter is built in the hyperspectral camera data time synchronization system to perform auxiliary second pulse counting. For example, if the system selects a frequency of 200MHz, the counter counts each 200M seconds, and then the second pulses are accumulated to obtain the integral seconds of the image frame.
Optionally, the PPS signal provided by the GPS device and the second pulse signal provided by the system counter in the hyperspectral camera data time synchronization system are two independent parts, and when they still cannot be unified after several clock cycles, it is indicated that the PPS signal is lost at this time, and the calculation of the time data needs to be performed based on the time of the system counter of the hyperspectral camera data time synchronization system, which is not limited in this embodiment.
S402, calculating time data corresponding to the image data according to the received PPS signal, the count value of the system counter, the first target image signal and the reference time.
In this embodiment, the count value of the system counter, the second time data obtained by calculating the first target image signal, and the preset reference time are overlapped to obtain the time data corresponding to the image data according to the time corresponding to the PPS signal before the loss, which is not limited in this embodiment.
In this embodiment, under the condition that the PPS signal is lost, the acquisition of the time synchronization data may be assisted by a system counter in the hyperspectral camera data time synchronization system, so that the time data corresponding to the image data is more accurate, the situation that the time data cannot be calculated is avoided, and the reliability and stability of the hyperspectral camera data time synchronization system are improved.
In order to better explain the above method, as shown in fig. 5, the present embodiment provides a method for data time synchronization of a hyperspectral camera, which specifically includes:
s101, acquiring image information acquired by a hyperspectral camera and pulse signals PPS per second acquired by GPS equipment;
s102, when the rising edge of the PPS signal arrives, acquiring first time data, and resetting a system counter;
s103, when the rising edge of the first target image signal arrives, determining second time data of the first target image signal according to the system clock and the count value of the system counter;
s104, acquiring reference time; the reference time is calculated by taking Greenwich mean time as a reference according to a preset algorithm;
s105, obtaining time data corresponding to the image data according to the first time data, the second time data and the reference time;
s106, when the rising edge of the second target image signal arrives, storing the image data into a preset storage space;
and S107, splicing the image data and the time data in the preset storage space according to a preset splicing sequence to obtain synchronous data.
In this embodiment, since the first target image signal is an image frame valid bit, and the frame valid bit is the time signal closest to the acquired linear array data after exposure, the time synchronization data calculated based on the signal is the most accurate, so that the accuracy of the time synchronization of the hyperspectral camera data is improved, a professional camera or a processor is not required to be customized, the cost of the time synchronization of the hyperspectral camera data is reduced, and furthermore, after each time of the time synchronization of the image data and the time hyperspectral camera data, the data is spliced and stored, and the later time matching work is greatly saved.
The data time synchronization method of the hyperspectral camera provided by the embodiment is similar to the embodiment of the method in terms of its implementation principle and technical effect, and is not repeated here.
It should be understood that, although the steps in the flowcharts of fig. 2-5 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 2-5 may include multiple steps or stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the steps or stages are performed necessarily performed in sequence, but may be performed alternately or alternately with at least a portion of the steps or stages in other steps or other steps.
In one embodiment, as shown in fig. 1, a hyperspectral camera data time synchronization system is provided, which comprises a hyperspectral camera, a GPS device, an FPGA module and a storage module;
the hyperspectral camera is used for collecting image information; the image information includes image data and a plurality of image signals;
the GPS equipment is used for collecting pulse signals PPS per second;
the FPGA module is used for calculating time data corresponding to the image data according to the image data and the PPS signals;
the storage module is used for storing the image data and the time data, and splicing the image data and the time data to obtain synchronous data.
In this embodiment, since the first target image signal is an image frame valid bit, and the frame valid bit is the time signal closest to the acquired linear array data after exposure, the time synchronization data calculated based on the signal is the most accurate, so that the accuracy of the time synchronization of the hyperspectral camera data is improved, a professional camera or a processor is not required to be customized, the cost of the time synchronization of the hyperspectral camera data is reduced, and furthermore, after each time of the time synchronization of the image data and the time hyperspectral camera data, the data is spliced and stored, and the later time matching work is greatly saved.
The data time synchronization system of the hyperspectral camera provided in the above embodiment has similar implementation principle and technical effects to those of the above method embodiment, and will not be described in detail herein.
In one embodiment, as shown in fig. 6, there is provided a hyperspectral camera data time synchronization apparatus, including: a receiving module 01, a calculating module 02 and a splicing module 03, wherein:
the receiving module 01 is used for acquiring image information acquired by a hyperspectral camera and pulse signals PPS per second acquired by GPS equipment; the image information includes image data and a plurality of image signals;
a calculating module 02, configured to calculate time data corresponding to the image data according to the first target image signal and the PPS signal; the first target image signal is an image frame significant bit signal of the image signal;
and the splicing module 03 is used for splicing the image data and the time data to obtain synchronous data.
In one embodiment, the calculating module 02 is configured to obtain the first time data when the rising edge of the PPS signal arrives, and zero the system counter; determining second time data of the first target image signal according to the count values of the system clock and the system counter when the rising edge of the first target image signal arrives; and obtaining time data corresponding to the image data according to the first time data and the second time data.
In one embodiment, the calculating module 02 is configured to quotient the count of the system counter and the system clock to obtain the second time data of the first target image signal.
In one embodiment, as shown in fig. 7, the hyperspectral camera data time synchronization apparatus further includes an acquisition module 04;
an obtaining module 04, configured to obtain a reference time; the reference time is calculated by taking Greenwich mean time as a reference according to a preset algorithm; obtaining time data corresponding to the image data according to the first time data and the second time data, wherein the time data comprises: and obtaining time data corresponding to the image data according to the first time data, the second time data and the reference time.
In one embodiment, the stitching module 03 is further configured to store the image data into a preset storage space when a rising edge of the second target image signal arrives; the second target image signal is an image line valid bit signal.
In one embodiment, the splicing module 03 is configured to splice the image data and the time data in the preset storage space according to a preset splicing sequence, so as to obtain the synchronization data.
In one embodiment, the calculating module 02 is further configured to obtain, in the case of PPS signal loss, a count value of a system counter corresponding to a PPS signal loss time; and calculating time data corresponding to the image data according to the received PPS signal, the count value of the system counter, the first target image signal and the reference time.
For specific limitations of the hyperspectral camera data time synchronization device, reference may be made to the above limitation of the hyperspectral camera data time synchronization method, and no further description is given here. The above-mentioned various modules in the hyperspectral camera data time synchronization apparatus may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 8. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless mode can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a hyperspectral camera data time synchronization method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, can also be keys, a track ball or a touch pad arranged on the shell of the computer equipment, and can also be an external keyboard, a touch pad or a mouse and the like.
It will be appreciated by those skilled in the art that the structure shown in fig. 8 is merely a block diagram of some of the structures associated with the present application and is not limiting of the computer device to which the present application may be applied, and that a particular computer device may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring image information acquired by a hyperspectral camera and pulse signals PPS per second acquired by GPS equipment; the image information includes image data and a plurality of image signals;
calculating time data corresponding to the image data according to the first target image signal and the PPS signal; the first target image signal is an image frame valid bit signal;
and splicing the image data and the time data to obtain synchronous data.
The computer device provided in the foregoing embodiments has similar implementation principles and technical effects to those of the foregoing method embodiments, and will not be described herein in detail.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring image information acquired by a hyperspectral camera and pulse signals PPS per second acquired by GPS equipment; the image information includes image data and a plurality of image signals;
calculating time data corresponding to the image data according to the first target image signal and the PPS signal; the first target image signal is an image frame valid bit signal;
and splicing the image data and the time data to obtain synchronous data.
The computer readable storage medium provided in the above embodiment has similar principle and technical effects to those of the above method embodiment, and will not be described herein.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The above examples merely represent a few embodiments of the present application, which are described in more detail and are not to be construed as limiting the scope of the invention. It should be noted that it would be apparent to those skilled in the art that various modifications and improvements could be made without departing from the spirit of the present application, which would be within the scope of the present application. Accordingly, the scope of protection of the present application is to be determined by the claims appended hereto.
Claims (9)
1. A method for time synchronizing hyperspectral camera data, the method comprising:
acquiring image information acquired by a hyperspectral camera and pulse signals PPS per second acquired by GPS equipment; the image information includes image data and a plurality of image signals; the image signals comprise a data valid bit signal, a frame valid bit signal, a line valid bit signal and a reserved bit signal;
calculating time data corresponding to the image data according to a first target image signal of the image information and the PPS signal; the first target image signal is an image frame valid bit signal;
splicing the image data and the time data to obtain synchronous data;
wherein, the calculating the time data corresponding to the image data according to the first target image signal of the image information and the PPS signal includes:
when the rising edge of the PPS signal arrives, acquiring first time data and resetting a system counter;
determining second time data of the first target image signal according to a system clock and a count value of the system counter when the rising edge of the first target image signal arrives;
and obtaining time data corresponding to the image data according to the first time data and the second time data.
2. The method of claim 1, wherein the determining the second time data of the first target image signal based on the system clock and the count value of the system counter when the rising edge of the first target image signal arrives comprises:
and obtaining second time data of the first target image signal by carrying out quotient calculation on the count of the system counter and the system clock.
3. The method according to claim 2, wherein the method further comprises:
obtaining a reference time; the reference time is calculated by taking Greenwich mean time as a reference according to a preset algorithm;
the obtaining the time data corresponding to the image data according to the first time data and the second time data includes:
and obtaining time data corresponding to the image data according to the first time data, the second time data and the reference time.
4. The method of claim 1, wherein after receiving image information acquired based on a hyperspectral camera, the method further comprises:
when the rising edge of the second target image signal arrives, storing the image data into a preset storage space; the second target image signal is an image line valid bit signal.
5. The method of claim 1, wherein the stitching the image data and the time data to obtain synchronization data comprises:
and splicing the image data and the time data in the preset storage space according to a preset splicing sequence to obtain the synchronous data.
6. The method according to any one of claims 1-5, further comprising:
under the condition that the PPS signal is lost, acquiring the count value of a system counter corresponding to the PPS signal loss moment;
and calculating time data corresponding to the image data according to the received PPS signal, the count value of the system counter, the first target image signal and the reference time.
7. The hyperspectral camera data time synchronization system is characterized by comprising a hyperspectral camera, GPS equipment, an FPGA module and a storage module;
the hyperspectral camera is used for collecting image information; the image information includes image data and a plurality of image signals; the image signals comprise a data valid bit signal, a frame valid bit signal, a line valid bit signal and a reserved bit signal;
the GPS equipment is used for collecting pulse signals PPS per second;
the FPGA module is used for calculating time data corresponding to the image data according to the first target image signal of the image information and the PPS signal; the first target image signal is an image frame valid bit signal of the image signal;
the storage module is used for storing the image data and the time data, and splicing the image data and the time data to obtain synchronous data;
wherein, the calculating the time data corresponding to the image data according to the first target image signal of the image information and the PPS signal includes:
when the rising edge of the PPS signal arrives, acquiring first time data and resetting a system counter;
determining second time data of the first target image signal according to a system clock and a count value of the system counter when the rising edge of the first target image signal arrives;
and obtaining time data corresponding to the image data according to the first time data and the second time data.
8. A hyperspectral camera data time synchronization apparatus, the apparatus comprising:
the receiving module is used for acquiring image information acquired by the hyperspectral camera and pulse signals PPS per second acquired by the GPS equipment; the image information includes image data and a plurality of image signals; the image signals comprise a data valid bit signal, a frame valid bit signal, a line valid bit signal and a reserved bit signal;
the calculating module is used for calculating time data corresponding to the image data according to the first target image signal of the image information and the PPS signal; the first target image signal is an image frame valid bit signal of the image signal;
the splicing module is used for splicing the image data and the time data to obtain synchronous data;
wherein, the calculating the time data corresponding to the image data according to the first target image signal of the image information and the PPS signal includes:
when the rising edge of the PPS signal arrives, acquiring first time data and resetting a system counter;
determining second time data of the first target image signal according to a system clock and a count value of the system counter when the rising edge of the first target image signal arrives;
and obtaining time data corresponding to the image data according to the first time data and the second time data.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011580628.5A CN112764455B (en) | 2020-12-28 | 2020-12-28 | Hyperspectral camera data time synchronization method, system, device and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011580628.5A CN112764455B (en) | 2020-12-28 | 2020-12-28 | Hyperspectral camera data time synchronization method, system, device and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112764455A CN112764455A (en) | 2021-05-07 |
| CN112764455B true CN112764455B (en) | 2024-03-15 |
Family
ID=75696393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011580628.5A Active CN112764455B (en) | 2020-12-28 | 2020-12-28 | Hyperspectral camera data time synchronization method, system, device and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112764455B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114362867B (en) * | 2021-12-14 | 2023-08-01 | 山东科技大学 | Time synchronization and data storage working method for deep drawing system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5976088A (en) * | 1998-06-24 | 1999-11-02 | Ecton, Inc. | Ultrasound imaging systems and methods of increasing the effective acquisition frame rate |
| CN103744372A (en) * | 2013-12-23 | 2014-04-23 | 广东电网公司电力科学研究院 | Multisensor time synchronization method for unmanned plane power patrol and system thereof |
| CN110595465A (en) * | 2019-08-30 | 2019-12-20 | 佛山市云展智能科技有限公司 | Positioning and attitude determining system based on GNSS and IMU |
| CN111896474A (en) * | 2020-07-02 | 2020-11-06 | 北京安洲科技有限公司 | BRDF data acquisition and data synchronization method based on aerial unmanned aerial vehicle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9430418B2 (en) * | 2013-03-15 | 2016-08-30 | International Business Machines Corporation | Synchronization and order detection in a memory system |
-
2020
- 2020-12-28 CN CN202011580628.5A patent/CN112764455B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5976088A (en) * | 1998-06-24 | 1999-11-02 | Ecton, Inc. | Ultrasound imaging systems and methods of increasing the effective acquisition frame rate |
| CN103744372A (en) * | 2013-12-23 | 2014-04-23 | 广东电网公司电力科学研究院 | Multisensor time synchronization method for unmanned plane power patrol and system thereof |
| CN110595465A (en) * | 2019-08-30 | 2019-12-20 | 佛山市云展智能科技有限公司 | Positioning and attitude determining system based on GNSS and IMU |
| CN111896474A (en) * | 2020-07-02 | 2020-11-06 | 北京安洲科技有限公司 | BRDF data acquisition and data synchronization method based on aerial unmanned aerial vehicle |
Non-Patent Citations (1)
| Title |
|---|
| 轻小型无人机载激光雷达系统研制及电力巡线应用;李伟;唐伶俐;吴昊昊;腾格尔;周梅;;遥感技术与应用(第02期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN112764455A (en) | 2021-05-07 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10789771B2 (en) | Method and apparatus for fusing point cloud data | |
| CN105849589B (en) | Global Navigation Satellite System, positioning terminal, localization method and recording medium | |
| CN106168673B (en) | Sensor information using method and electronic device using the same | |
| JP4858608B2 (en) | POSITIONING DEVICE, POSITIONING METHOD, PROGRAM, AND IMAGING DEVICE | |
| CN102575933B (en) | System that generates map image integration database and program that generates map image integration database | |
| US11024052B2 (en) | Stereo camera and height acquisition method thereof and height acquisition system | |
| CN112383675B (en) | Time synchronization method and device and terminal equipment | |
| US11035915B2 (en) | Method and system for magnetic fingerprinting | |
| CN111415409B (en) | Modeling method, system, equipment and storage medium based on oblique photography | |
| CN108513710A (en) | The correlating method of image and location information, device and moveable platform | |
| US20170150371A1 (en) | System and method for radio signal coverage mapping | |
| CN104764442A (en) | Method and device for determining exposure time of aerial photogrammetric camera in light-small unmanned aerial vehicle | |
| KR101667331B1 (en) | Apparatus for getting signal quality of base station of plurality satellite navigation | |
| KR20090019184A (en) | Image reproducing apparatus which uses the image files comprised in the electronic map, image reproducing method for the same, and recording medium which records the program for carrying the same method | |
| US20130128037A1 (en) | Photogrammetric networks for positional accuracy | |
| CN112764455B (en) | Hyperspectral camera data time synchronization method, system, device and storage medium | |
| CN104811956A (en) | Communication exploration photographing method and device based on smart terminal | |
| CN111750838A (en) | Method, device and equipment for generating agricultural land planning map and storage medium | |
| CN104913775A (en) | Method for measuring height of transmission line of unmanned aerial vehicle and method and device for positioning unmanned aerial vehicle | |
| CN111652915A (en) | Remote sensing image overlapping area calculation method and device and electronic equipment | |
| US10591300B2 (en) | Fixing magnetometer based azimuth according to sun positioning | |
| CN110967036B (en) | Test method and device for navigation product | |
| JP6941212B2 (en) | Image analysis system, image analysis method, and image analysis program | |
| CN108710141A (en) | baseband chip sensitivity test method and device | |
| KR20160045320A (en) | Method For Measuring Ultraviolet Ray and Electronic Device Using The Same |
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 |