CN102331253A - Moon-oriented high-resolution common-rail three-dimensional imaging method and device - Google Patents
Moon-oriented high-resolution common-rail three-dimensional imaging method and device Download PDFInfo
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- CN102331253A CN102331253A CN201110227056A CN201110227056A CN102331253A CN 102331253 A CN102331253 A CN 102331253A CN 201110227056 A CN201110227056 A CN 201110227056A CN 201110227056 A CN201110227056 A CN 201110227056A CN 102331253 A CN102331253 A CN 102331253A
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Abstract
The invention relates to moon-oriented high-resolution common-rail three-dimensional imaging method and device. The method comprises the following steps of: (1) making preparations on the ground; (2) preparing a camera; and (3) taking pictures. In the invention, the traditional multiple linear CCD (charge-coupled device) is applied to the lunar satellite. The invention solves the technical problems of large velocity-height ratio error and low velocity-height ratio compensation accuracy. In the moon-oriented high-resolution common-rail three-dimensional imaging method and device provided by the invention, the ordinary satellite platform attitude control method can be utilized, i.e. the principal optical axis of the camera always points to the heart of the moon, and high-resolution common-rail three-dimensional imaging is realized.
Description
Technical field
The present invention relates to a kind of to the moon high resolving power with the method for rail three-dimensional imaging, be specifically related to a kind of in the lunar orbiting exploration satellite to moon high resolving power with the rail stereoscopic imaging method.
Background technology
Therefore the average reflection coefficient of the earth is 38%, and the moon is merely 6.8%, sweeps that to obtain the lunar surface high-definition picture under the mode of operation more more difficult than the earth pushing away certainly; Therefore adopt the single line battle array with the three-dimensional scheme of rail, obtain the face stereo-picture whole month, by present mutually clever lightness; The first resolution in ground can not be superior to 10m, adopt many line array CCDs after, sensitivity is improved about two magnitudes; When but multi-thread battle array imaging must guarantee each linear array imaging synchronously, need to adopt fast height ratio compensation technique, and as far as moonik; Corresponding to earth satellite, adopt fast height ratio compensation technique to have a lot of difficulties, mainly contain:
The track of moonik is low.The general low orbit satellite of earth satellite is about 500km; High rail satellite is near 1000 kilometers; And moonik is generally 50km～100km; So the height error of same ± 1 kilometer only produces 0.2% error to the low fast height ratio of rail earth satellite (500km), but be 2% to the moonik error of 50km track.
Lunar surface rises and falls big.Compare with the earth; Mountain Everest, earth top height above sea level 8848m, and the lowland that is lower than the sea level is than the only low hundreds of rice in sea level, the highest and minimum differing less than 10km; And moon top and lowest trough differ and reach 20km, so the fast height ratio compensation range that needs is much bigger.
The moon lacks accurate altitude figures, and the earth has point-device altitude figures, is about meter level, and the accuracy of its electronic chart is very high, and very big to the altitude figures error of the moon, is hundred meters magnitudes.
The support of no GPS positioning system.The earth has been installed gps system, so earth satellite has very high positional precision (about 1m) in geocentric coordinate system, and the moon does not have positioning system, and the measuring accuracy of moonik in selenocentric coordinate system is very low, is generally hundreds of rice even arrives kilometers.
So the fast height ratio compensation precision of moon exploration camera is always done not high.
Summary of the invention
For existing many line array CCDs are applied in the moonik, must solve the low technical matters of big, the fast height ratio compensation precision of fast high ratio error, the present invention provide a kind of to the moon high resolving power with the method and apparatus of rail three-dimensional imaging.
Concrete technical solution of the present invention is following:
To the moon high resolving power with the method for rail three-dimensional imaging, its special character is: may further comprise the steps:
1] ground preliminary work:
1.1] measure the orbit parameter that rail obtains current moonik by satellite;
1.2] according to current moonik orbit parameter extrapolation (12 hours or 24 hours or 48 hours) moonik in the height H of moonik of arbitrary moment thereafter
sWith ground speed V
g
1.3] calculate the moonik longitude and latitude of photographic subjects of arbitrary moment thereafter;
1.4] calculate arbitrary shooting district lunar surface average height H according to moon electronic chart
1
1.5] ground-based computer is according to the height H of any time moonik
s, moonik ground speed V
gAnd lunar surface average height H
1Calculate the line frequency that this moment camera is taken: the height of moonik is the height of moonik apart from moonscape,
The line frequency computing formula is following:
Wherein dx is the pixel dimension of multi-thread array CCD image sensor, and f ' ' is the optical system focal length
1.6] line frequency of the arbitrary moment camera work camera unit on the up injection star of packing;
1.7] taken the photograph the up injection electronics of menology spoke brightness integration sum of series electronics gain according to arbitrary moment;
2] camera preliminary work:
Camera unit is learned integration progression according to up injected electrons and is selected different integration progression (16 grades, 32 grades, 48 grades, 64 grades, 96 grades are selected one);
Camera unit according to up injected electrons learn gain select different yield values (0.7 *, 1 *, 2 * select one);
Camera unit is according to the line frequency adjustment time shutter of arbitrary moment camera work;
3] photographic images:
A clock that precision is very high is arranged, above-mentioned H on the star
s, V
g, H
1, integration progression, electronics parameter is all with clock registration on the star, they all are the amounts of synchronization, each all has such one group of data constantly;
3.1] according to the synchronization electronics integration progression that injects, electronics gain and line frequency, adjust progression, yield value and the line frequency of camera synchronously, take the menology image;
3.2] will take the menology image and be saved in storer on the star.
Said camera unit comprise be arranged on two parallel on the camera focal plane multi-thread array CCD image sensors, said step 3.1] also comprise:
On a large visual field optical system focal plane, two multi-thread array CCD image sensors of configured in parallel, two multi-thread array CCD image sensor AB at regular intervals, they are respectively AF, BF apart from the distance of focal point F.The line of they and camera photocentre C constitutes forward sight optical axis AC and backsight optical axis BC respectively, and angle ∠ ACF is called the forward sight visual angle, and ∠ BCF is called the backsight visual angle.(see figure 6)
At one time, two multi-thread array CCD image sensors are taken pictures to lunar surface through same large visual field optical system simultaneously, obtain with the rail stereo-picture.
Above-mentioned multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: adjust respectively through control circuit that each output channel signal enlargement ratio reaches the center and visual field, edge luminance digital image is even.(see figure 5)
To the moon high resolving power with the method for rail three-dimensional imaging, its special character is: may further comprise the steps:
1] preliminary work:
1.1] camera unit adopts laser altimeter to measure moonik to the distance H between the substar lunar surface
s+ H
1, corresponding moonik ground speed be V
g, obtain the line frequency of camera work; And real-time closed-loop is delivered to magazine control module on star.
1.2] taken the photograph the brightness of menology spoke according to arbitrary moment, up injection electronics integration sum of series electronics gain;
2] camera preliminary work:
Camera is learned integration progression according to up injected electrons and is selected electronic accumulation progression (16 grades, 32 grades, 48 grades, 64 grades, 96 grades are selected one);
Camera according to up injected electrons learn gain select the different gains value (0.7 *, 1 *, 2 * select one);
The H that camera unit records by laser altimeter
s+ H
1And the satellite ground velocity V of up injection
g, calculate the line frequency in the moment at that time, and by the line frequency adjustment time shutter that calculates.
3] photographic images:
3.1] learn the line frequency that calculates on integration progression, electronics gain and the star according to up injected electrons, adjust integration progression, yield value and the time shutter of camera synchronously, take the menology image;
3.2] will take the menology image and be saved in storer on the star.
Above-mentioned camera unit comprises and is arranged on two parallel on the camera focal plane multi-thread array CCD image sensors.
Said step 3.1] also comprise:
On a large visual field optical system focal plane, two multi-thread array CCD image sensors of configured in parallel, two multi-thread array CCD image sensor AB at regular intervals.
At one time, two multi-thread array CCD image sensors simultaneously through same large visual field optical system to taking pictures on the lunar surface, obtain with the rail stereo-picture.
Above-mentioned multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: adjust respectively through control circuit that each output channel signal enlargement ratio reaches the center and visual field, edge luminance digital image is even.(see figure 5)
To the moon high resolving power with the method for rail three-dimensional imaging, its special character is: may further comprise the steps:
1] preliminary work on the star:
1.1] measure the orbit parameter that rail obtains current moonik by satellite; And send to computing machine on the camera star.
1.2] computing machine is according to current moonik orbit parameter on the star, the extrapolation moonik is the height H of moonik of arbitrary moment thereafter
sGround speed V with moonik
g,
1.3] longitude and latitude of the arbitrary moment photographic subjects of COMPUTER CALCULATION moonik on the star;
1.4] computing machine calculates arbitrary shooting district lunar surface average height H according to the moon electronic chart that is kept in the storer in advance on the star
1
1.5] on the star computing machine according to the height H of moonik
s, moonik ground speed V
gAnd lunar surface average height H1 calculates the line frequency of arbitrary moment camera work;
1.6] line frequency of arbitrary moment camera work is transferred to the camera control module
1.7] computing machine is taken the photograph the brightness of menology spoke according to arbitrary moment and selected suitable integration progression and electronics to gain and be transferred to the camera control module on the star;
2] camera preliminary work:
Camera unit is selected electronics integration progression (16 grades, 32 grades, 48 grades, 64 grades, 96 grades are selected one) according to the electronics integration progression of computing machine input from star;
The camera unit root from the star the computing machine input according to the electronics gain select the different gains value (0.7 *, 1 *, 2 * select one);
Camera unit is according to the line frequency adjustment time shutter of arbitrary moment camera work of computing machine input on the star;
3] photographic images:
3.1] according to electronics integration progression, electronics gain and the line frequency of computing machine input from star, adjust progression level, yield value and the time shutter of camera synchronously, take the menology image;
3.2] will take the menology image and be saved in storer on the star.
Above-mentioned camera unit comprises and is arranged on two parallel on the moonik multi-thread array CCD image sensors,
Said step 3.1] also comprise:
On a large visual field optical system focal plane, two multi-thread array CCD image sensors of configured in parallel, two multi-thread array CCD image sensors become certain intervals.
At one time, two multi-thread array CCD image sensors are taken pictures to lunar surface through same large visual field optical system simultaneously, obtain with the rail stereo-picture.
Above-mentioned multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: it is even to adjust the luminance digital image that each output channel signal enlargement ratio reaches center and visual field, edge respectively through control circuit.(see figure 5)
To the moon high resolving power with the rail stereoscopic imaging apparatus, its special character is: comprise computing machine on camera unit, the star, said camera unit comprises the multi-thread array CCD image sensor of two configured in parallel, and computing machine intercoms with camera unit mutually on the said star.
High resolving power is characterized in that with the method for rail three-dimensional imaging: may further comprise the steps:
1] on a large visual field optical system focal plane, two multi-thread array CCD image sensors of configured in parallel, at regular intervals between two multi-thread array CCD image sensors
2] two multi-thread array CCD image sensors are taken pictures to lunar surface through same large visual field optical system, obtain with the rail stereo-picture, and concrete steps are following
2.1] adjustment saturation degree and the fast height ratio of adjustment:
The adjustment saturation degree: multi-thread array CCD image sensor was repeatedly taken in a shooting cycle, according to the band spoke brightness situation that is taken, can select by different progression tap passage outputs, and the image overlay that will repeatedly take;
2.2] export with the rail stereo-picture.
Said step 2] also comprise step 2.3]
Said multi-thread array CCD image sensor is provided with a plurality of output channels, and it is even with the luminance digital image that reaches center and visual field, edge to adjust each output channel signal enlargement ratio respectively through control circuit.(see figure 5)
The concrete steps of said adjustment phase machine speed height ratio are:
Adopt laser altimeter to measure moonik to the distance H between the substar lunar surface
S1(H
s+ H
1), the ground speed of corresponding moonik is V
g, obtain the fast ratios of moonik.
Or ground-based computer adopt micrometric measurement rail data, extrapolation satellite thereafter orbit altitude calculate the camera line frequency with ground speed and combine known lunar surface electronic chart, be uploaded to camera on the star;
Or on the star computing machine adopt micrometric measurement rail data, extrapolation satellite thereafter orbit altitude calculate the camera line frequency with ground speed and combine known lunar surface electronic chart.
Comprise two parallel multi-thread array CCD image sensors that are arranged on the camera focal plane.
This to the moon high resolving power with the method for rail three-dimensional imaging, may further comprise the steps:
On a large visual field optical system focal plane, two multi-thread array CCD image sensors of configured in parallel are to obtain high resolving power with the rail stereo-picture.
When photographic images, because two multi-thread array CCD image sensors are arranged on the same large visual field optical system focal plane, therefore at one time, the image of the different visual angles that obtains obtains in same track, has guaranteed the precision of image;
Because two the multi-thread array CCD image sensors that on same camera focal plane, laterally arrange, therefore two multi-thread array CCD image sensors are in different visual angles same place are taken, and the image that obtains is three-dimensional;
Many line array CCDs can repeatedly be taken (1 time push away sweep can carry out 96 times at most take) to the imaging of the same band of lunar surface the time; With repeatedly taking after the resulting image overlay image transmission as a panel height energy intensity (can be at most image intensity that single line array CCD obtains 96 times); Therefore, can obtain the high image of resolution.
Because fast height ratio compensation residual error causes the camera mtf value to descend, be that fast height ratio compensation residual error is reserved MTF decline space through light, mechanical, electrical optimal design, to guarantee in rail picture quality.
The topography and geomorphology classification different to lunar surface adopts different fast height ratio compensation techniques, to obtain best fast height ratio compensation effect; (as 10～15km), comparatively smooth topography and geomorphology and less menology brightness of image adopt the laser altimeter instrumented satellite according to the moonscape height, thereby draw fast height ratio with the adjustment line frequency for extremely low orbit altitude; To low orbit, the imaging in mild area is favourable like this.To high rail (100km) and area, mountain region, adopt account form on ground line frequency calculating or the star, thereby draw fast height ratio with the adjustment line frequency; To high orbit, the imaging in area, mountain region is favourable like this.
Utilize many taps characteristic of high-speed CCD device, realize the electronics flat field; Because always the height of center edge is low for the illuminance of image plane of optical system, therefrom mind-set edge decay of signal intensity, therefore; The picture centre of directly obtaining is bright than the edge; So adopt the mode of electronics flat field, reduce the signal intensity of picture centre slightly, improve the image border signal intensity; So that the signal intensity of whole image is even, sharpness improves.
This technology can be applicable to the high resolving power of other planet except that the moon with the rail three-dimensional imaging.
Article two, line array CCD more than can be controlled the time shutter respectively, makes under different photometry geometric relationship situation and obtains suitable brightness of image simultaneously.
Advantage of the present invention:
1, the present invention to the moon high resolving power can utilize common satellite platform attitude control method with the method and apparatus of rail three-dimensional imaging, promptly the camera primary optical axis points to a moon heart all the time, realizes that high resolving power is with the rail three-dimensional imaging.
2, high resolving power of the present invention can realize the three-dimensional imaging whole month with the method and apparatus of rail three-dimensional imaging.
3, high resolving power of the present invention once covers with the method and apparatus of rail three-dimensional imaging and can obtain the stereo-picture whole month, and IMAQ efficient is high.
4, high resolving power of the present invention can both obtain roughly suitable gray shade scale with the image at two visual angles of method and apparatus of rail three-dimensional imaging.
5,16 grades, 32 grades, 48 grades, 64 grades, 96 grades of electronics integration progression according to the invention and electronics gain 0.7 *, 1 *, 2 * be merely illustrative, other parameters are suitable equally.
Description of drawings
Fig. 1 is the imaging pattern principle schematic of imaging device of the present invention;
The workflow diagram that Fig. 2 injects for ground of the present invention line frequency;
Fig. 3 is the workflow diagram of the auxiliary line frequency of laser altimeter of the present invention;
The workflow diagram that Fig. 4 controls for closed loop on the star of the present invention automatically;
Fig. 5 is provided with the structural representation of a plurality of output channels for ccd image sensor of the present invention.
Fig. 6 is the registration schematic diagram of line array CCD more than two on the wide-angle optics focal plane
Embodiment
As shown in Figure 1; To the moon high resolving power with the rail stereoscopic imaging apparatus, comprise on the star computing machine on the camera unit and star, camera unit comprises the multi-thread array CCD image sensor and the camera control module of two configured in parallel on the star; On a large visual field optical system focal plane; Article two, AB at regular intervals between multi-thread array CCD image sensor, two multi-thread array CCD image sensors are respectively AF, BF apart from the distance of focal point F, and the line of two multi-thread array CCD image sensor center A, B and camera photocentre C constitutes forward sight optical axis AC and backsight optical axis BC respectively; And angle ∠ ACF is called the forward sight visual angle, and ∠ BCF is called the backsight visual angle.(see figure 6)
When photographic images, because two multi-thread array CCD image sensors are arranged on the same large visual field optical system focal plane, therefore at one time, the image of the different visual angles that obtains obtains in same track, has guaranteed the precision of image;
Because two the multi-thread array CCD image sensors that on same camera focal plane, laterally arrange, therefore two multi-thread array CCD image sensors are in different visual angles same place are taken, and the image that obtains is three-dimensional;
Many line array CCDs can repeatedly be taken (1 time push away sweep can carry out 96 times at most take) to the imaging of the same band of lunar surface the time; With repeatedly taking after the resulting image overlay image transmission as a panel height energy intensity (can be at most image intensity that single line array CCD obtains 96 times); Therefore, can obtain the high image of resolution.
Based on imaging system, the method for three kinds of shootings is arranged:
One, calculating line frequency in ground is uploaded, and sees Fig. 2, may further comprise the steps:
1] ground preliminary work:
1.1] measure the orbit parameter that rail obtains current moonik by satellite;
1.2] according to current moonik orbit parameter extrapolation (12 hours or 24 hours or 48 hours) moonik in the height H of moonik of arbitrary moment thereafter
sWith ground speed V
g,
1.3] arbitrary moment is taken the longitude and latitude of lunar surface thereafter to calculate moonik;
1.4] calculate arbitrary shooting district lunar surface average height H according to moon electronic chart
1
1.5] ground-based computer is according to the height H of any time moonik
s, moonik ground speed V
gAnd lunar surface average height H
1Calculate the line frequency that this moment camera is taken: the line frequency computing formula is following:
Wherein dx is many line array CCDs pixel dimension, and f ' is the optical system focal length
1.6] line frequency of the arbitrary moment camera work camera unit on the up injection star of packing;
1.7] taken the photograph the brightness of menology spoke according to arbitrary moment and confirm camera unit on electronics integration sum of series electronics gain and the up injection star;
2] camera preliminary work:
Camera unit is learned integration progression according to up injected electrons and is selected different integration progression (16 grades, 32 grades, 48 grades, 64 grades, 96 grades are selected one);
Camera unit according to up injected electrons learn gain select different yield values (0.7 *, 1 *, 2 * select one);
Camera unit is according to the line frequency adjustment time shutter of arbitrary moment camera work;
3] photographic images:
A clock that precision is very high is arranged, above-mentioned H on the star
s, V
g, H
1, integration progression, electronics parameter is all with clock registration on the star, they all are the amounts of synchronization, each all has such one group of data constantly;
3.1] according to the synchronization electronics integration progression that injects, electronics gain and line frequency, adjust progression, yield value and the line frequency of camera synchronously, take the menology image;
3.2] will take the menology image and be saved in storer on the star.
Camera unit comprises and is arranged on two parallel on the camera focal plane multi-thread array CCD image sensors; Said step 3.1] also comprise: on a large visual field optical system focal plane; Two multi-thread array CCD image sensors of configured in parallel; Article two, AB at regular intervals between multi-thread array CCD image sensor, they are respectively AF, BF apart from the distance of focal point F.The line of they and camera photocentre C constitutes forward sight optical axis AC and backsight optical axis BC respectively, and angle ∠ ACF is called the forward sight visual angle, and ∠ BCF is called the backsight visual angle.(see figure 6)
At one time, two multi-thread array CCD image sensors are taken pictures to lunar surface through same large visual field optical system simultaneously, obtain with the rail stereo-picture.
Multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: adjust respectively through control circuit that each output channel signal enlargement ratio reaches the center and visual field, edge luminance digital image is even.
Two, adopt laser altimeter, as shown in Figure 3, may further comprise the steps:
1] preliminary work:
1.1] camera unit adopts laser altimeter to measure moonik to the distance H between the substar lunar surface
s+ H
1, corresponding moonik ground speed be V
g, obtain the line frequency of camera work; And real-time closed-loop is delivered to magazine control module on star.
1.2] taken the photograph the brightness of menology spoke according to arbitrary moment and confirm camera unit on electronics integration sum of series electronics gain and the up injection star;
2] camera preliminary work:
Camera is learned integration progression according to up injected electrons and is selected electronic accumulation progression (general progression is set to 16 grades, 32 grades, 48 grades, 64 grades, 96 grades, selects one therein);
(push away for 1 time to sweep carry out 96 times at most take), with repeatedly taking after the resulting image overlay image transmission as a panel height energy intensity (image intensity of obtaining for single line array CCD 96 times), therefore, the resolution of the image that obtains is high, can be superior to 1m.
Camera by up injected electrons learn gain select the different gains value (select different yield values 0.7 *, 1 *, 2 *);
The H that camera unit records by laser altimeter
s+ H
1And the satellite ground velocity V of up injection
g, calculate the line frequency in the moment at that time, and by the line frequency adjustment time shutter that calculates.
3] photographic images:
3.1] learn integration progression, electronics gain and by the line frequency that calculates on the star, adjust progression level, yield value and the time shutter of camera synchronously according to up injected electrons, take the menology image;
3.2] will take the menology image and be saved in storer on the star.
Above-mentioned camera unit comprises and is arranged on two parallel on the camera focal plane multi-thread array CCD image sensors,
Said step 3.1] also comprise:
On a large visual field optical system focal plane, two multi-thread array CCD image sensors of configured in parallel, AB at regular intervals between two multi-thread array CCD image sensors.
At one time, two multi-thread array CCD image sensors simultaneously through same large visual field optical system to taking pictures on the lunar surface, obtain with the rail stereo-picture.
Multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: adjust respectively through control circuit that each output channel signal enlargement ratio reaches the center and visual field, edge luminance digital image is even.(see figure 5)
Three, calculate line frequency, selection integration progression and electronics gain on the star, see Fig. 4, may further comprise the steps:
1] preliminary work on the star:
1.1] measure the orbit parameter that rail obtains current moonik by satellite; And send to computing machine on the camera star.
1.2] computing machine is according to current moonik orbit parameter on the star, the extrapolation moonik is the height H of moonik of arbitrary moment thereafter
sGround speed V with moonik
g
1.3] longitude and latitude of the arbitrary moment photographic subjects of COMPUTER CALCULATION moonik on the star;
1.4] on the star computing machine moon electronic chart in the computer memory calculates arbitrary shooting district lunar surface average height H on the star according to being kept in advance
1
1.5] on the star computing machine according to the height H of moonik
s, moonik ground speed V
gAnd lunar surface average height H
1Calculate the line frequency of arbitrary moment camera work;
1.6] line frequency of arbitrary moment camera work is transferred to the camera control module
1.7] computing machine is taken the photograph menology latitude and reflection coefficient according to arbitrary moment and selected suitable integration progression and electronics to gain and be transferred to the camera control module on the star;
The spoke brightness of lunar surface is mainly by the decision of the factor of two aspects: 1. sun altitude, the 2. reflection coefficient of menology material.Sun altitude depends mainly on the menology latitude of taking point, and menology material reflection coefficient is broadly divided into lunar maria and highland, the reflection coefficient of lunar maria low (0.05-0.15), and the reflection coefficient on highland high (＞0.15).Its criterion is from the equator to the north and south latitude in 45 °, and menology is the highland, adopts 16 grades, and menology is that lunar maria is adopted 32 grades; In 45 ° to 75 ° of north and south latitudes, menology is the highland, adopts 32 grades; Menology is that lunar maria is adopted 48 grades, adopts 64 grades during greater than 75 ° of north and south latitudes, and the extremely dark target in polar region can adopt 96 grades.
Because at same integration progression, under electronics gain and the situation of time shutter, camera still has the dynamic range (minimum DN=40, the highest DN=255) more than 6 times, so above-mentioned criterion can satisfy request for utilization.
2] camera preliminary work:
Camera unit is selected electronics integration progression (16 grades, 32 grades, 48 grades, 64 grades, 96 grades are selected one) according to the electronics integration progression of computing machine input from star;
The camera unit root from the star the computing machine input according to the electronics gain select the different gains value (0.7 *, 1 *, 2 * select one);
Camera unit is according to the line frequency adjustment time shutter of arbitrary moment camera work of computing machine input on the star;
3] photographic images:
3.1] according to electronics integration progression, electronics gain and the line frequency of input, adjust progression level, yield value and the time shutter of camera synchronously, take the menology image;
3.2] will take the menology image and be saved in storer on the star.
Above-mentioned camera unit comprises and is arranged on two parallel on the moonik multi-thread array CCD image sensors,
Said step 3.1] also comprise:
On a large visual field optical system focal plane, two multi-thread array CCD image sensors of configured in parallel have certain intervals between two multi-thread array CCD image sensors.
At one time, two multi-thread array CCD image sensors are taken pictures to lunar surface through same large visual field optical system simultaneously, obtain with the rail stereo-picture.
Multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: it is even to adjust the luminance digital image that each output channel signal enlargement ratio reaches center and visual field, edge respectively through control circuit.
Principle of the present invention:
On a large visual field optical system focal plane, two multi-thread array CCD image sensors of configured in parallel are to obtain high resolving power with the rail stereo-picture.
Because fast height ratio compensation residual error causes the camera mtf value to descend, be that fast height ratio compensation residual error is reserved MTF decline space through light, mechanical, electrical optimal design, to guarantee in rail picture quality.
The topography and geomorphology classification different to lunar surface adopts different fast height ratio compensation techniques, to obtain best fast height ratio compensation effect; For utmost point low orbit and comparatively mild landforms, adopt laser altimeter to measure, thereby draw fast height ratio with the adjustment line frequency; To low orbit, the imaging in mild area is favourable like this.To area, high rail mountain region, adopt account form (mode three) on ground line frequency calculating or the star, thereby draw fast height ratio with the adjustment line frequency; To high orbit, the imaging in area, mountain region is favourable like this.
Utilize many taps characteristic of high-speed CCD device, realize the electronics flat field; Because always the height of center edge is low for the illuminance of image plane of optical system, therefrom mind-set edge decay of signal intensity, therefore; The picture centre of directly obtaining is bright than the edge; So adopt the mode of electronics flat field, reduce the signal intensity of picture centre slightly, improve the image border signal intensity; So that the signal intensity of whole image is even, sharpness improves.
Article two, line array CCD more than can be controlled the time shutter respectively, makes under different photometry geometric relationship situation and obtains suitable brightness of image simultaneously.
The spoke brightness of lunar surface is mainly by the decision of the factor of two aspects: 1. sun altitude, the 2. reflection coefficient of menology material.Sun altitude depends mainly on the menology latitude of taking point, and menology material reflection coefficient is broadly divided into lunar maria and highland, the reflection coefficient of lunar maria low (0.05-0.15), and the reflection coefficient on highland high (＞0.15).Its criterion is from the equator to the north and south latitude in 45 °, and menology is the highland, adopts 16 grades, and menology is that lunar maria is adopted 32 grades; In 45 ° to 75 ° of north and south latitudes, menology is the highland, adopts 32 grades; Menology is that lunar maria is adopted 48 grades, adopts 64 grades during greater than 75 ° of north and south latitudes, and the extremely dark target in polar region can adopt 96 grades.
Push away for 1 time to sweep and carry out 96 times at most and take, with repeatedly taking after the resulting image overlay image transmission as a panel height energy intensity (image intensity of obtaining for single line array CCD 96 times), therefore, the resolution of the image that obtains is high, can be superior to 1m.
The lunar science man needs the lunar surface stereo-picture of spatial resolution up to the 1m magnitude for topography and geomorphology and the geology structure that studies the moon in great detail;
The present invention has mainly adopted simple lens two visual angles with the rail three-dimensional imaging, multi-thread array CCD push-scanning and the compensation of fast height ratio: adopt a long-focus, large visual field optical system, two multi-thread array image sensors of configured in parallel on its focal plane; At satellite under the push-scanning image pattern; Through the fast height ratio compensation technique of precision, can obtain the same rail stereo-picture of ultrahigh resolution, it need be integrated through multinomial technology; Can guarantee in rail picture quality; Mainly contain light, mechanical, electrical optimal design, make camera have the still image quality (static MTF＞0.4) of superelevation, thereby comparatively loose fair limit is provided for compensating residual error at rail speed height ratio; For overcoming moonik because low, the lunar surface of track rises and falls the unfavorable factors such as technical support of big, no accurate lunar surface altitude information and GPS positioning system, adopt two kinds of fast height ratio compensation techniques simultaneously, be respectively applied for that more smooth shape rises and falls regional with having significantly.Utilize the tap of many line array CCDs, realize the electronics flat field.
Depend on following factor in order to realize accurate fast height ratio compensation:
1, the uncertainty (is benchmark with moon standard radius 1738km) of the orbit altitude data that measure at the selenocentric coordinate system middle orbit of moonik
The ground speed uncertainty of measurement of the moonik that 2, obtains by orbit measurement
3, the altitude figures of lunar surface (with moon standard radius 1738km is benchmark, and the overgauge radius is being for just, less than standard radius for negative) uncertainty.
The speed height ratio, the speed that is is divided by height, and above-mentioned height is by [1] and [3] two formations, and in fact height error is the main error source of fast height ratio.The degree of accuracy that the speed height ratio can be accomplished depends primarily on its uncertainty of measurement; As stated because the fast height ratio measuring accuracy of moonik will be far below earth satellite; So the fast height ratio compensatory device that is generally used for earth satellite can not satisfy the situation of moonik; In order to guarantee that in rail picture quality following technological means is necessary:
Because fast height ratio mismatch causes the MTF of system to descend, so need to reserve because the space that the MTF that fast height ratio mismatch causes descends in the camera design, development.
Owing to adopted multi-thread array image sensor; Make the camera detection sensitivity improve two one magnitude; Therefore camera can adopt less relative aperture and narrower service band; The static MTF of camera is improved about twice than required value (being generally 0.2), cause the headspace of MTF decline as fast height ratio compensation residual error more greatly.
MTF=MTF (optical system) * MTF (CCD)
Wherein the size of MTF (optical system) mainly is confirmed according to the relative aperture and aberration two aspects of optical system, when relative aperture is big more, diffraction MTF (optical system) but high more aberration can cause MTF decline; The size of MTF (CCD) is main confirms that according to the wavelength of selecting for use wavelength is short more, and MTF (CCD) is high more;
Optical system can be designed as non-telecentric system, and through adopting many taps electronics flat field, with the decline of solution field of view edge signal intensity, thereby removes the constraint to optical system to a certain extent, helps improving the static mtf value of camera.
Many line array CCDs of different visual angles make them under different illumination geometric relationship condition through adopting the different time shutter, obtain roughly the same DN output.
Adopt two kinds of fast height ratio compensatory devices:
The topography and geomorphology of lunar surface roughly can be divided into Plain (lunar maria) and adopt different fast height ratio compensatory devices with the mountain region (highland) that has than macrorelief to different topography and geomorphologies.
To the plains region; Adopt the laser altimeter instrumented satellite to the distance between the substar lunar surface, the ground speed through micrometric measurement rail instrumented satellite simultaneously, thus obtain the fast ratios of measurement; Closed loop is independently handled on star, and this compensation model surface work personnel's workload is very little.
Micrometric measurement rail, extrapolation satellite orbital altitude and ground speed are adopted, in conjunction with the lunar surface electronic chart in the area, mountain region; Calculate the compensation rate (adjustment line frequency value) of fast height ratio; It can be implemented on star, but needs computing machine (containing the internal memory electronic chart) on the more powerful star of configuration, also can be calculated by ground; The packing up-on command is carried out, and at this moment worker's group amount of the staff of land station is bigger.
During to the lunar surface situation of complicacy,, add the continuous variation of orbit altitude and satellite velocity because the landform fluctuation is bigger; In different shooting times; Need to adjust, reaching the purpose of the fast height ratio of adjustment, thereby make the size of the image that obtains and resolution more consistent line frequency.
Since lunar data storehouse stored the elevation information of moonscape; And the height of satellite transit to a certain position of track and speed can carry out computing in advance and learn, like this, at one time in; The surface work personnel can directly calculate the fast height ratio of this position; Fast height ratio through obtaining carries out adaptive adjustment to line frequency, thereby makes the precision of images, size and the resolution obtained more consistent.
Claims (10)
- To the moon high resolving power with the method for rail three-dimensional imaging, it is characterized in that: may further comprise the steps:1] ground preliminary work:1.1] obtain the orbit parameter of current moonik by satellite mensuration rail, and send to ground-based computer;1.2] ground-based computer according to current moonik orbit parameter extrapolation moonik in the height H of moonik of arbitrary moment thereafter sGround speed V with moonik g1.3] ground-based computer calculates the longitude and latitude of the arbitrary moment photographic subjects of moonik;1.4] ground-based computer calculates arbitrary shooting district lunar surface average height H according to moon electronic chart 11.5] ground-based computer is according to the height H of moonik s, moonik ground speed V gAnd lunar surface average height H 1Calculate the line frequency that arbitrary moment camera is taken:The line frequency computing formula is following:
Wherein dx is the pixel dimension of multi-thread array CCD image sensor, and f ' is the optical system focal length,1.6] ground-based computer line frequency that arbitrary moment camera the is taken camera unit on the up injection star of packing;1.7] ground-based computer taken the photograph the brightness of menology spoke according to arbitrary moment corresponding electronics integration sum of series electronics gain upstream is injected camera unit on the star;2] camera preliminary work:Camera unit is learned integration progression according to up injected electrons and is selected different camera integration progression on the star;Camera unit is learned gain according to up injected electrons and is selected different camera gain values on the star;Camera unit is according to the line frequency adjustment camera exposure time of arbitrary moment camera work on the star;3] photographic images:3.1] camera unit is adjusted integration progression, yield value and the line frequency of camera synchronously according to the synchronization electronics integration progression that injects, electronics gain and line frequency on the star, takes the menology image;3.2] will take the menology image and be saved in storer on the star. - 2. according to claim 1 to the moon high resolving power with the method for rail three-dimensional imaging; It is characterized in that: camera unit comprises and is arranged on two parallel on the camera focal plane multi-thread array CCD image sensors on the said star; On a large visual field optical system focal plane, two parallel multi-thread array CCD image sensors are provided with spacing AB, and two multi-thread array CCD image sensors are respectively AF, BF apart from the distance of focal point F; The line of two multi-thread array CCD image sensors and camera photocentre C constitutes forward sight optical axis AC and backsight optical axis BC respectively; And angle ∠ ACF is called the forward sight visual angle, and ∠ BCF is called the backsight visual angleSaid step 3.1] also comprise: at one time, two multi-thread array CCD image sensors are taken pictures to lunar surface through same large visual field optical system simultaneously, obtain with the rail stereo-picture.
- 3. according to claim 1 and 2 to the moon high resolving power with the method for rail three-dimensional imaging; It is characterized in that: said multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: adjust respectively through control circuit that each output channel signal enlargement ratio reaches the center and visual field, edge luminance digital image is even.
- To the moon high resolving power with the method for rail three-dimensional imaging, it is characterized in that: may further comprise the steps:1] preliminary work:1.1] camera unit adopts laser altimeter to measure moonik to the distance H between the substar lunar surface on the star s+ H 1, corresponding moonik ground speed be V g, obtain the line frequency of camera work, and real-time closed-loop is delivered to the control module of camera on star;1.2] computing machine is taken the photograph the brightness of menology spoke according to arbitrary moment on the star, and corresponding electronics integration sum of series electronics gain upstream is injected camera unit on the star;2] camera preliminary work:Camera unit is learned integration progression according to up injected electrons and is selected different camera integration progression on the star;Camera unit is learned gain according to up injected electrons and is selected different camera gain values on the star;Camera unit is according to the line frequency adjustment camera exposure time of arbitrary moment camera work on the star;3] photographic images:3.1] camera unit is adjusted integration progression, yield value and the time shutter of camera synchronously according to the synchronization electronics integration progression that injects, electronics gain and line frequency on the star, takes the menology image;3.2] will take the menology image and be saved in storer on the star.
- 5. according to claim 4 to the moon high resolving power with the method for rail three-dimensional imaging; It is characterized in that: camera unit comprises and is arranged on two parallel on the camera focal plane multi-thread array CCD image sensors on the said star; On a large visual field optical system focal plane, two multi-thread array CCD image sensors are provided with spacing AB, and two multi-thread array CCD image sensors are respectively AF, BF apart from the distance of focal point F; The line of two multi-thread array CCD image sensors and camera photocentre C constitutes forward sight optical axis AC and backsight optical axis BC respectively; And angle ∠ ACF is called the forward sight visual angle, and ∠ BCF is called the backsight visual angleSaid step 3.1] also comprise: at one time, two multi-thread array CCD image sensors are taken pictures to lunar surface through same large visual field optical system simultaneously, obtain with the rail stereo-picture.
- According to claim 4 or 5 described to the moon high resolving power with the method for rail three-dimensional imaging; It is characterized in that: said multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: adjust respectively through control circuit that each output channel signal enlargement ratio reaches the center and visual field, edge luminance digital image is even.
- To the moon high resolving power with the method for rail three-dimensional imaging, it is characterized in that: may further comprise the steps:1] preliminary work on the star:1.1] obtain the orbit parameter of current moonik by satellite mensuration rail, and send to computing machine on the star;1.2] computing machine is according to current moonik orbit parameter on the star, the extrapolation moonik is the height H of moonik of arbitrary moment thereafter sGround speed V with moonik g1.3] longitude and latitude of the arbitrary moment photographic subjects of COMPUTER CALCULATION moonik on the star;1.4] on the star computing machine according to existing the moon electronic chart in the storer to calculate arbitrary shooting district lunar surface average height H in advance 11.5] on the star computing machine according to the height H of moonik s, moonik ground speed V gAnd lunar surface average height H 1Calculate the line frequency of arbitrary moment camera work;1.6] computing machine is transferred to the line frequency of the arbitrary moment camera work control module of camera on the star on the star;1.7] computing machine is taken the photograph the control module that the brightness of menology spoke is selected suitable electronics integration progression and electronics to gain and is transferred to camera on the star according to arbitrary moment on the star;2] camera preliminary work:Camera unit is selected the integration progression of corresponding camera on the star according to the electronics integration progression of computing machine input from star;Corresponding camera gain value is selected in the electronics gain of computing machine input from the star of camera unit root on the star;Camera unit is according to the line frequency adjustment camera exposure time of arbitrary moment camera work of computing machine input on the star on the star;3] photographic images:3.1] camera is according to the synchronization electronics integration progression that injects, electronics gain and line frequency, adjusts progression level, yield value and the time shutter of camera synchronously, takes the menology image;3.2] will take the menology image and be saved in storer on the star.
- 8. according to claim 7 to the moon high resolving power with the method for rail three-dimensional imaging; It is characterized in that: camera unit comprises and is arranged on two parallel on the camera focal plane multi-thread array CCD image sensors on the said star, on a large visual field optical system focal plane, and two multi-thread array CCD image sensors of configured in parallel; Article two, multi-thread array CCD image sensor AB at regular intervals; Two multi-thread array CCD image sensors are respectively AF, BF apart from the distance of focal point F, and the line of two multi-thread array CCD image sensors and camera photocentre C constitutes forward sight optical axis AC and backsight optical axis BC respectively, and angle ∠ ACF is called the forward sight visual angle; ∠ BCF is called the backsight visual angleSaid step 3.1] also comprise: at one time, two multi-thread array CCD image sensors are taken pictures to lunar surface through same large visual field optical system simultaneously, obtain with the rail stereo-picture.
- 9. according to claim 7 or 8 described high resolving power method with the rail three-dimensional imaging; It is characterized in that: said multi-thread array CCD image sensor is provided with a plurality of output channels, said step 3] also comprise: it is even to adjust the luminance digital image that each output channel signal enlargement ratio reaches center and visual field, edge respectively through control circuit.
- To the moon high resolving power with the rail stereoscopic imaging apparatus; It is characterized in that: comprise on the star computing machine on the camera unit and star; Camera unit comprises the multi-thread array CCD image sensor and the camera control module of two configured in parallel on the said star, and on a large visual field optical system focal plane, two multi-thread array CCD image sensors are provided with spacing AB; Two multi-thread array CCD image sensors are respectively AF, BF apart from the distance of focal point F; The line of two multi-thread array CCD image sensors and camera photocentre C constitutes forward sight optical axis AC and backsight optical axis BC respectively, and angle ∠ ACF is called the forward sight visual angle, and ∠ BCF is called the backsight visual angle.
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| US4453224A (en) * | 1980-08-19 | 1984-06-05 | General Dynamics Electronics Division | Orbiting objective lens telescope system and method |
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| CN112788237A (en) * | 2020-12-30 | 2021-05-11 | 成都星时代宇航科技有限公司 | Celestial body shooting method and device, satellite and computer readable storage medium |
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