CN102043155A - Airborne staring imaging three-dimensional gated imaging control data splicing method and system - Google Patents
Airborne staring imaging three-dimensional gated imaging control data splicing method and system Download PDFInfo
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- CN102043155A CN102043155A CN2009102356467A CN200910235646A CN102043155A CN 102043155 A CN102043155 A CN 102043155A CN 2009102356467 A CN2009102356467 A CN 2009102356467A CN 200910235646 A CN200910235646 A CN 200910235646A CN 102043155 A CN102043155 A CN 102043155A
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Abstract
The invention discloses an airborne staring imaging three-dimensional gated imaging control and data splicing method and an airborne staring imaging three-dimensional gated imaging control and data splicing system. The method comprises the following steps that: a laser pulse emission control module controls a laser to emit laser pulses at a specified frequency; a laser pulse emission time detection module detects laser pulse emission time; the data is compared with the command time of the laser pulse emission module so as to acquire the bias data of the laser pulse emission time; the bias data is transmitted to an intensified charge-coupled device (ICCD) imaging control module; a logic control module generates control pulses for controlling start and stop time of gated imaging according to vertical resolution, a vertical detection range and the bias data of the laser pulse emission time; a splicing module acquires three-dimensional information of a ground target according to the start and stop time of gated imaging, ICCD imaging information and global positioning system (GPS) positioning information; and a ground target three-dimensional model is reconstructed and displayed according to a contour line splicing method. In the aspect of data splicing, point cloud data splicing is transformed into contour line splicing, so that data is easy to process.
Description
Technical field
The invention belongs to image control and splicing field, relate to three-dimensional gating imaging control of a kind of vehicle-mounted staring imaging and data splicing method and system.
Technical background
The domestic and international at present openly laser radar 3-D imaging system of the earth observation of report, be based on laser spots scanning three-dimensional formation method mostly, this is a kind of earth surface point to be mapped to direct method in the three-dimensional coordinate effectively, by the Laser Measurement emission and the time interval that receives echo, can record the distance of laser acquisition Texas tower to earth surface point.But this technology is a sweep type, can only survey a point on surface at every turn, if his-and-hers watches surface large area imaging or carry out ground mapping, just need with the mutually compound coverage of the detection of a target in, with laser beam along the aviation flight orbital direction with perpendicular to carrying out two-dimensional scan on this direction over the ground, (high-frequency) range finding is carried out in pointwise simultaneously.In addition, also there is a series of problem in optical mechaical scanning mechanism from system principle, will have high scanning pointing accuracy as laser beam, the influence of non-linear, the system mechanics wearing and tearing of scan mirror motion etc.; Also have the influence owing to laser-beam divergence in addition, the laser spots clouding has certain area in the distance, to the complicated zone of relative topographic relief or atural object, the more serious range error that the echo irregularity of laser ranging can bring are arranged; And the optical mechaical scanning element also increased weight, volume and the extra power consumption of system, makes miniaturization, the modularization of the system comparatively difficulty that becomes; Simultaneously in order to obtain high coverage rate, high vertical range resolving power, highland unit's spatial resolution and high detectable signal signal to noise ratio (S/N ratio), emission laser must have very high repetition frequency and have characteristics such as enough pulse energies, the very little angle of divergence, narrow pulsewidth, to obtain reasonable three-dimensional measuring result.This require to adopt very high performance laser instrument, and the manufacturing and the acquisition of laser instrument proposed challenge.
Summary of the invention
The objective of the invention is in order to overcome the limitation that existing three-dimensional gating imaging technique can only be applicable to quiescent imaging, three-dimensional gating imaging control of a kind of vehicle-mounted staring imaging and data splicing method and system are provided, can be in dynamically gating imaging, and system complexity is low, control accuracy is high.
The objective of the invention is to be achieved through the following technical solutions.
The first step: the LASER Light Source direct irradiation imageable target behind laser transmitting system that gives off laser beam, its range of exposures is greater than the ICCD imaging viewing field;
Second step: according to timing control signal, LASER Light Source emissive lighting laser pulse, ICCD carries out the gating imaging to target simultaneously, and obtaining imaging viewing field interior is the target position information of the cambered surface layer at center with the receiving telescope;
The 3rd step: the ICCD face battle array imaging during by aircraft flight pushes away sweeps, and promptly when the instantaneous imaging coverage of ICCD is pushed ahead the target scale of a pairing instantaneous field of view of pixel covering, launches laser pulse, and carries out the gating imaging;
The 4th step: whether the opening time of judging the 3rd gating imaging that goes on foot is different with the opening time of a preceding gating imaging, then obtains the positional information of target in another height layer as difference, otherwise returns for the 3rd step; Push away up to the ICCD of m * n pixel array and to scan logical imaging, wherein m is the pixel line number perpendicular to heading;
The 5th step: each scene in the battle array push-scanning image coverage of opposite is carried out the gating imaging of n height, the opposite battle array pushes away the data of scanning logical imaging acquisition and carries out integrated processing, obtain the objective information in the imaging coverage, its horizontal definition is instantaneous minute visual field * flying height of each pixel of ICCD, the imaging width is the transverse field * with respect to the flying height on ground of laser radar, vertical scale is flight aerial survey distance, and vertical coverage is the vertical resolution of n * three-dimensional imaging.
Wherein the distance of the vertical coverage and the line of flight is measured the control timing change by adjusting in the imaging measurement, by obtaining the preresearch estimates value of imageable target average height in a period of time, preresearch estimates value according to the imageable target average height of obtaining, measure control timing by adjusting, select gating imaging vertical coverage.
Airborne three-dimensional staring imaging gating Imaging for Control of the present invention and data splicing system comprise laser pulse emission control module, laser pulse detection module launch time, Logic control module, data transmission module, ICCD imaging control module; Wherein: laser instrument is connected with laser pulse emission control module with laser pulse detection module launch time respectively, laser pulse detection module launch time is connected with Logic control module with ICCD imaging control module respectively, Logic control module links to each other with data transmission module with laser pulse emission control module, ICCD imaging control module respectively, data transmission module is connected with outer computer, and ICCD imaging control module is connected with exterior I CCD; Wherein laser pulse emission control module controls laser instrument is launched laser pulse with specified frequency, the time of laser pulse detection module launch time detection laser pulse emission, these data were compared with the instruction time of laser pulse transmitter module, obtain the laser pulse off-line data of launch time, this off-line data will be transferred to ICCD imaging control module, data transmission module transfers to computing machine with the delayed data of gating imaging control module and preserves simultaneously with the image information of obtaining, Logic control module is according to vertical resolution, vertical coverage, the off-line data of laser pulse launch time produces the gating pulse that is used to control the gating imaging beginning and ending time, concatenation module is according to the gating imaging beginning and ending time, ICCD image-forming information and GPS locating information are obtained the terrain object three-dimensional information, according to the method for level line splicing, reconstruct terrain object three-dimensional model also shows.
The AD9501 delay chip is adopted in the delay of ns level control in the described ICCD imaging control module.
Described laser pulse emission control module, laser pulse detection module launch time, Logic control module adopt programmable logic device (CPLD).
The present invention contrasts prior art and has following remarkable advantage:
The face of the staring battle array imaging technique that adopts among the present invention, relatively 3-D scanning imaging can be specified to the coordinate information of a plurality of points in the image planes battle array scope fast; Because image that ICCD becomes is a regular grid information, has simplified the gridding process in the 3-D scanning imaging; But realize the splicing of a plurality of points based on isocontour joining method single, improved the efficient of data splicing greatly.The gate type three-dimensional imaging laser radar system of highly sensitive ICCD camera and passive Q-adjusted Nd:YAG laser constitution, system adopts the staring imaging technology, cooperate high-precision time-delay control, realize the level line push-scanning image of dynamic process, be converted into the level line splicing by the cloud data splicing aspect data splicing, it is simple that data processing becomes.
Description of drawings
Three-dimensional gating imaging control principle structural drawing among Fig. 1 the present invention;
Staring imaging three-dimensional data process flow diagram among Fig. 2 the present invention;
Embodiment
The present invention will be further described below in conjunction with drawings and Examples.
During the embodiment flight measurement, require aircraft course, the speed of a ship or plane, and flying height remain unchanged substantially.In addition, also require the optical system of airborne three-dimensional gating image-forming photon counting laser radar system to be installed on the high stability gyropanel, the visual field high precision of three-dimensional imaging is kept vertically downward, and sidewindering with pitching when avoiding aircraft flight exerts an influence to the three-dimensional imaging measurement.
As shown in Figure 1, the present invention is airborne three-dimensional gating imaging control and a three-dimensional data splicing apparatus of a kind of staring imaging, comprises laser pulse emission control module, laser pulse detection module launch time, Logic control module, data transmission module, ICCD imaging control module and data splicing module.First three part uses hardware programming language Verilog HDL to realize on programmable logic device (CPLD).The transmission frequency that requires the setting laser pulse of laser pulse emission control module flying height, speed and system level resolution when measuring; Laser pulse detection module launch time is converted to electronic signal by avalanche photodide with pulse signal, and transfers to Logic control module and ICCD imaging control module through amplifying after shaping is handled; Logic control module according to the information such as off-line data of the resolution of gating imaging and laser pulse launch time dynamically to setting the time delay of ICCD imaging control module, thereby satisfy the requirement of dynamic imaging; ICCD imaging control module is made of AD9501 dedicated delay chip, by the definite dynamic range that postpones of external capacitor resistance, finishes the delay of pulse signal.Data transmission module uses the USB control chip cy7c68013 of Cypress company to realize, Logic control module is transferred to computing machine to the delay set information of ICCD imaging control module, and preserve simultaneously with the image information of obtaining, so that the 3-D view in later stage makes up.
Three-dimensional gating imaging control of vehicle-mounted staring imaging and data splicing method are at first launching laser pulse at the laser pulse transmitter module according to the instruction triggers laser instrument, and the launch time of recording impulse.Laser pulse detection module launch time will write down this time and transfer to Logic control module when the actual output of laser instrument pulse.Logic control module postpones to set to ICCD imaging control module according to the information such as off-line data of the good vertical resolution of default, vertical coverage, laser pulse launch time, finishes the gating pulse of output gating imaging beginning and ending time after the delay of pulse by AD9501.Circulation is carried out above process and just can be realized the three-dimensional gating Imaging for Control of staring imaging airborne laser radar.
At first read on computers view data of storage, with corresponding delayed data of each image and platform gps coordinate information, according to the corresponding Three-dimension Target coordinate of each pixel in three's computed image, can splice data based on isocontour method afterwards.Because the information that three-dimensional imaging is obtained not only comprises terrain information, also comprises noise and terrestrial object information, is reconstruct dimensional topography model, must adopt filtering technique with noise and terrestrial object information filtering, extract ground data.After the filtering culture point, can cause the disappearance of data point, therefore after filtering, also must adopt interpolation technique to fill up these vacancy points, determine the three-dimensional coordinate of each point.Can make up the space free curved surface then, and carry out the computing machine demonstration.
Claims (5)
1. three-dimensional gating imaging control of a vehicle-mounted staring imaging and data splicing method is characterized in that: may further comprise the steps:
The first step: the LASER Light Source direct irradiation imageable target behind laser transmitting system that gives off laser beam, its range of exposures is greater than the ICCD imaging viewing field;
Second step: according to timing control signal, LASER Light Source emissive lighting laser pulse, ICCD carries out the gating imaging to target simultaneously, and obtaining imaging viewing field interior is the target position information of the cambered surface layer at center with the receiving telescope;
The 3rd step: the ICCD face battle array imaging during by aircraft flight pushes away sweeps, and promptly when the instantaneous imaging coverage of ICCD is pushed ahead the target scale of a pairing instantaneous field of view of pixel covering, launches laser pulse, and carries out the gating imaging;
The 4th step: whether the opening time of judging the 3rd gating imaging that goes on foot is different with the opening time of a preceding gating imaging, then obtains the positional information of target in another height layer as difference, otherwise returns for the 3rd step; Push away up to the ICCD of m * n pixel array and to scan logical imaging, wherein m is the pixel line number perpendicular to heading;
The 5th step: each scene in the battle array push-scanning image coverage of opposite is carried out the gating imaging of n height, the opposite battle array pushes away the data of scanning logical imaging acquisition and carries out integrated processing, obtain the objective information in the imaging coverage, its horizontal definition is instantaneous minute visual field * flying height of each pixel of ICCD, the imaging width is the transverse field * with respect to the flying height on ground of laser radar, vertical scale is flight aerial survey distance, and vertical coverage is the vertical resolution of n * three-dimensional imaging.
2. three-dimensional gating imaging control of a kind of vehicle-mounted staring imaging according to claim 1 and data splicing method, it is characterized in that: wherein the distance of the vertical coverage and the line of flight is measured the control timing change by adjusting in the imaging measurement, by obtaining the preresearch estimates value of imageable target average height in a period of time, preresearch estimates value according to the imageable target average height of obtaining, measure control timing by adjusting, select gating imaging vertical coverage.
3. airborne three-dimensional staring imaging gating Imaging for Control and data splicing system comprise laser pulse emission control module, laser pulse detection module launch time, Logic control module, data transmission module, ICCD imaging control module; It is characterized in that: laser instrument is connected with laser pulse emission control module with laser pulse detection module launch time respectively, laser pulse detection module launch time is connected with Logic control module with ICCD imaging control module respectively, Logic control module links to each other with data transmission module with laser pulse emission control module, ICCD imaging control module respectively, data transmission module is connected with outer computer, and ICCD imaging control module is connected with exterior I CCD; Wherein laser pulse emission control module controls laser instrument is launched laser pulse with specified frequency, the time of laser pulse detection module launch time detection laser pulse emission, these data were compared with the instruction time of laser pulse transmitter module, obtain the laser pulse off-line data of launch time, this off-line data will be transferred to ICCD imaging control module, data transmission module transfers to computing machine with the delayed data of gating imaging control module and preserves simultaneously with the image information of obtaining, Logic control module is according to vertical resolution, vertical coverage, the off-line data of laser pulse launch time produces the gating pulse that is used to control the gating imaging beginning and ending time, concatenation module is according to the gating imaging beginning and ending time, ICCD image-forming information and GPS locating information are obtained the terrain object three-dimensional information, according to the method for level line splicing, reconstruct terrain object three-dimensional model also shows.
4. three-dimensional gating imaging control of a kind of vehicle-mounted staring imaging according to claim 3 and data splicing system is characterized in that: the AD9501 delay chip is adopted in the delay of ns level control in the described ICCD imaging control module.
5. according to claim 3 or three-dimensional gating imaging control of 4 described a kind of vehicle-mounted staring imagings and data splicing system, it is characterized in that: described laser pulse emission control module, laser pulse detection module launch time, Logic control module adopt programmable logic device (CPLD).
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102607459A (en) * | 2012-03-06 | 2012-07-25 | 中国矿业大学(北京) | Splicing method and splicing device of Lidar measurement data |
| CN103499971A (en) * | 2013-09-30 | 2014-01-08 | 北京控制工程研究所 | Sequential control method for landing obstacle avoidance of lunar probe |
| CN103698770A (en) * | 2013-12-11 | 2014-04-02 | 中国科学院长春光学精密机械与物理研究所 | Multi-channel laser echo time measurement system based on FPGA (Field Programmable Gate Array) chip |
| CN106767820A (en) * | 2016-12-08 | 2017-05-31 | 立得空间信息技术股份有限公司 | A kind of indoor moving positioning and drafting method |
| CN107194962A (en) * | 2017-04-01 | 2017-09-22 | 深圳市速腾聚创科技有限公司 | Point cloud and plane picture fusion method and device |
| CN107238842A (en) * | 2016-03-29 | 2017-10-10 | 中国人民解放军92232部队 | A kind of face battle array target search scanned imagery device and method |
| CN107241533A (en) * | 2016-03-29 | 2017-10-10 | 中国人民解放军92232部队 | A kind of battle array scanning laser imaging device and method under water |
| CN112835053A (en) * | 2020-12-31 | 2021-05-25 | 北京一径科技有限公司 | Laser radar synchronization method and device, electronic equipment and storage medium |
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- 2009-10-10 CN CN2009102356467A patent/CN102043155A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102607459A (en) * | 2012-03-06 | 2012-07-25 | 中国矿业大学(北京) | Splicing method and splicing device of Lidar measurement data |
| CN102607459B (en) * | 2012-03-06 | 2014-11-19 | 中国矿业大学(北京) | Splicing method and splicing device of Lidar measurement data |
| CN103499971A (en) * | 2013-09-30 | 2014-01-08 | 北京控制工程研究所 | Sequential control method for landing obstacle avoidance of lunar probe |
| CN103698770A (en) * | 2013-12-11 | 2014-04-02 | 中国科学院长春光学精密机械与物理研究所 | Multi-channel laser echo time measurement system based on FPGA (Field Programmable Gate Array) chip |
| CN107238842A (en) * | 2016-03-29 | 2017-10-10 | 中国人民解放军92232部队 | A kind of face battle array target search scanned imagery device and method |
| CN107241533A (en) * | 2016-03-29 | 2017-10-10 | 中国人民解放军92232部队 | A kind of battle array scanning laser imaging device and method under water |
| CN107241533B (en) * | 2016-03-29 | 2019-09-24 | 中国人民解放军92232部队 | A kind of battle array scanning laser imaging device and method under water |
| CN107238842B (en) * | 2016-03-29 | 2020-06-16 | 中国人民解放军92232部队 | Area array target searching, scanning and imaging device and method |
| CN106767820A (en) * | 2016-12-08 | 2017-05-31 | 立得空间信息技术股份有限公司 | A kind of indoor moving positioning and drafting method |
| CN106767820B (en) * | 2016-12-08 | 2017-11-14 | 立得空间信息技术股份有限公司 | A kind of indoor moving positioning and drafting method |
| CN107194962A (en) * | 2017-04-01 | 2017-09-22 | 深圳市速腾聚创科技有限公司 | Point cloud and plane picture fusion method and device |
| CN107194962B (en) * | 2017-04-01 | 2020-06-05 | 深圳市速腾聚创科技有限公司 | Point cloud and plane image fusion method and device |
| CN112835053A (en) * | 2020-12-31 | 2021-05-25 | 北京一径科技有限公司 | Laser radar synchronization method and device, electronic equipment and storage medium |
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Application publication date: 20110504 |