CN102710905A - Adjusting method of drift angles of plurality of TDI (Time Delayed and Integration)-CCD (Charge Coupled Device) cameras spliced in staggered manner - Google Patents
Adjusting method of drift angles of plurality of TDI (Time Delayed and Integration)-CCD (Charge Coupled Device) cameras spliced in staggered manner Download PDFInfo
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- CN102710905A CN102710905A CN2012101767384A CN201210176738A CN102710905A CN 102710905 A CN102710905 A CN 102710905A CN 2012101767384 A CN2012101767384 A CN 2012101767384A CN 201210176738 A CN201210176738 A CN 201210176738A CN 102710905 A CN102710905 A CN 102710905A
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Abstract
The invention discloses an adjusting method of drift angles of a plurality of TDI (Time Delayed and Integration)-CCD (Charge Coupled Device) cameras spliced in a staggered manner. The adjusting method comprises the following steps: step 101: measuring to obtain overlap joint image element column n of two adjacent TDI-CCDs when the drift angle is zero; step 102: calculating the image element column number m of repeated images shot by the two adjacent TDI-CCDs; and the step 103: adjusting a drift current adjusting mechanism so as to enable the image element column number m of the repeated images to tend to be identical to the overlap joint image element column number n. According to the adjusting method, the calibration of an intermediate link can be avoided, the tail end of an imaging link, namely an image, is directly processed firstly, the drift angles are adjusted by calculating the overlap joint image element column number between the two TDI-CCDs, the realization is simple, and the drift current adjusting speed is quick, so that the adjusting method is extremely suitable for being used in imaging experiment of a ground turntable of the TDI-CCDs.
Description
Technical field
The present invention relates to a kind of method of adjustment of TDI-CCD camera drift angle, particularly relate to and a kind ofly be suitable for being applied in the imaging experiment of camera space ground the method for adjustment of the staggered splicing of multi-disc TDI-CCD camera drift angle.
Background technology
TDI (Time Delayed and Integration)-CCD, promptly time delay integration CCD is a kind of novel photoelectric transducer that grew up in recent years.TDI-CCD is based on same target multiexposure, multiple exposure, through postponing the method for integration, has increased light energy collection greatly, under severe environmental conditions, for example in the darker place of light, also can export the signal of certain signal to noise ratio.In the remote sensing of space-to-ground, adopt the TDI-CCD device can reduce relative aperture, thereby can reduce the detector weight and volume as focus planardetector.When using TDI-CCD to motive target imaging, compare with other videoscanning methods and to have series of advantages, comprising highly sensitive, dynamic range is big etc.It allows when limiting light intensity, to improve sweep speed, or when constant-velocity scan, reduces the brightness of lighting source, has reduced power consumption, has reduced cost.
Camera space is a most important remote sensor in the space remote sensing device, generally comprises space reconnaissance camera, space survey camera, space flight multispectral camera and imaging spectrometer.Camera space adopts TDI-CCD as the focal plane photo-electric conversion element more.Shooting style adopts the push-scanning image technology, through same target is carried out the multiexposure, multiple exposure integration, obtains enough photoelectric sensitivity and signal to noise ratio.The operation principle of this TDI-CCD is different with common line array CCD, and it requires row to sweep the movement rate strict synchronism of speed and target.In imaging process, need to guarantee to push away to sweep direction and TDI-CCD integration direction strict conformance, and image drift speed to be complementary with the line frequency of TDI-CCD, otherwise will produce image blurring and geometric distortion.Control pushes away the technology of sweeping direction and line frequency coupling and is called as the image drift matching technique, and the image drift coupling is the problem that need solve emphatically in the TDI-CCD use.
TDI-CCD pushes away the angular deviation of sweeping direction and integration direction and is called as drift angle.Camera space need be done a large amount of imaging tests on ground, work such as static state, dynamic transfer function test in development, debug phase.The ground imaging experiment of camera space is camera space development, a kind of important safety test means of debug phase.In this ground imaging experiment, need the staggered splicing of multi-disc TDI-CCD camera be installed on the turntable, the turntable rotation drives camera and rotates, thereby accomplishes that simulation is at the rail push-scanning image.Because there are alignment error in turntable, camera, optical-mechanical system, focal plane etc.; Also can introduce angle of pitch error during to the high elevation angle such as moon target imaging, these factors can produce drift angle in imaging process, influence image quality.Because producing the factor of drift angle in the above-mentioned ground experiment is aspects such as camera installation, target location, turntable precision.Cause of the prior artly, utilize tuningout stream mechanism to realize the method for drift angle adjustment on the aircraft, can not be applied in the ground imaging experiment of camera space.
At present, the method for the adjustment drift angle of the ground imaging experiment of camera space is: analyze to produce each link of drift angle, the error of the introducing of each link is demarcated, finally through tuningout stream mechanism the drift angle that overall error causes is eliminated.This method implements complicacy, and the calibration required precision of each link is very high; Need frequent adjustment drift angle for taking this moving-target of the moon, precision and speed all are difficult to guarantee.So at present, is badly in need of a kind ofly being suitable for being applied in the imaging experiment of camera space ground the staggered method of adjustment of splicing TDI-CCD camera drift angle of multi-disc.
Summary of the invention
For the method for the adjustment drift angle of the ground imaging experiment that solves existing camera space exists; The calibration required precision of each link is very high, precision and speed all are difficult to the technical problem that guarantees when frequently adjusting drift angle; Propose a kind of being applicable to and be applied in the imaging experiment of camera space ground, simple efficient, can satisfy method of adjustment frequent adjustment needs, the staggered splicing of multi-disc TDI-CCD camera drift angle.
The technical scheme that technical solution problem of the present invention is adopted is following:
The method of adjustment of the staggered splicing of a kind of multi-disc TDI-CCD camera drift angle may further comprise the steps:
Step 101: measure the overlap joint pixel columns n of two adjacent TDI-CCD when drift angle is zero;
Step 102: the pixel columns m that calculates said adjacent two multiimages that TDI-CCD photographed;
Step 103: adjustment tuningout stream mechanism trends towards with to overlap the pixel columns n consistent the pixel columns m of multiimage.
In technique scheme, said step 102 specifically comprises:
Step 102a: take pictures and images acquired;
Step 102b: the columns m that calculates two adjacent TDI-CCD multiimages.
In technique scheme, before said step 102, also comprise step: confirm tuningout stream mechanism initial position.
In technique scheme, said step 103 specifically comprises:
Step 103a: judge whether m equals 0, adjust drift angle to positive direction, change step 102 then if then adjust tuningout stream mechanism; If otherwise change step 103b;
Step 103b: whether judge m less than n,, and adjust tuningout stream mechanism according to the result who calculates and adjust drift angle β, finish then to positive direction if then take a drift β; If otherwise change step 103c;
Step 103c: whether judge m greater than n,, and adjust tuningout stream mechanism according to the result who calculates and adjust drift angle β, finish then to negative direction if then take a drift β; If otherwise change step 103d;
Step 103d: judge whether m equals n, if then finish.
In technique scheme, before said step 103, also comprise step: measure the spacing d of two row TDI-CCD photosensitive areas, and the pixel dimension a of every TDI-CCD.
In technique scheme,
The β that takes a drift among the said step 103b is a basis: and β=arcta n [a * (m-n)/d] obtain;
The β that takes a drift among the said step 103c is a basis: and β=arctan [a * (n-m)/d] obtain.
The invention has the beneficial effects as follows:
The method of adjustment of the staggered splicing of multi-disc of the present invention TDI-CCD camera drift angle; Utilize the method for images match; Calculate the columns m of superimposed images in adjacent two TDI-CCD images, the difference of doubling of the image columns m and known overlap joint pixel columns n is as the foundation of tuningout flow path direction.Method of adjustment of the present invention is avoided the calibration of intermediate link; Directly from the imaging link end---image is started with; Adjust the size of drift angle through the columns that calculates overlap joint pixel between two TDI-CCD; Realize that simply tuningout flow velocity degree is fast, is well suited for using in the turntable imaging experiment of TDI-CCD ground.
Description of drawings
Fig. 1 is the sketch map of the magazine multi-disc TDI-CCD of staggered splicing TDI-CCD position;
Fig. 2 is the method for adjustment schematic flow sheet in a kind of embodiment of method of adjustment of the staggered splicing of multi-disc of the present invention TDI-CCD camera drift angle;
Fig. 3 is that two CCD positions concern sketch map when m=0 in the embodiment shown in Figure 2;
Fig. 4 is in the embodiment shown in Figure 2, as m>two CCD positions concern sketch map during n;
Fig. 5 is in the embodiment shown in Figure 2, and two CCD positions concern sketch map when 0 < m < n;
Fig. 6 is that two CCD positions concern sketch map when m=n in the embodiment shown in Figure 2;
Fig. 7 is in the embodiment shown in Figure 2, the composition frame chart of experiment;
Fig. 8 is in the embodiment shown in Figure 2, adjacent two TDI-CCD splicing parameter sketch map;
Fig. 9 is the sketch map of radial target;
Figure 10 is in the embodiment shown in Figure 2, adjacent two TDI-CCD photo sketch map that the radial target shown in Fig. 9 obtains of taking pictures;
Reference numeral among the figure is expressed as:
The photosensitive area of first TDI-CCD of 1-(TDI-CCD1); The photosensitive area of second TDI-CCD of 2-(TDI-CCD2);
The 3-parallel light tube; 4-camera ray machine body; 5-tuningout stream mechanism; The 6-turntable; 7-IMAQ and treatment system; 8-TDI-CCD and imaging circuit.
Embodiment
Thought of the present invention is, each link and each link that produce drift angle in analytical calculation of not entwining be to producing the contribution margin of drift angle, but image is introduced the drift angle control loop, because the summation of the drift angle that each link causes finally embodies in image to some extent.Multiimage in the image that two TDI-CCD are obtained is found out, and calculates the columns of multiimage, and utilizes this value to calculate to need the angle value of adjustment tuningout stream mechanism, thus can rapid adjustment tuningout stream mechanism to position accurately.
The present invention is not suitable for the ground turntable and pushes away the deficiency of sweeping experiment in order to overcome the IMC method of using on the aircraft; Do not study the link that image drift produces; Directly, utilize image matching method to find out two TDI-CCD overlap joint pixel numbers, through adjustment tuningout stream mechanism from image result; Make the overlap joint pixel count approximation theory numerical value, thereby eliminate the influence of imaging process drift angle.Specifically be to realize through following steps:
Step 101: measure the overlap joint pixel columns n of two adjacent TDI-CCD when drift angle is zero;
Step 102: the pixel columns m that calculates said adjacent two multiimages that TDI-CCD photographed;
Step 103: adjustment tuningout stream mechanism trends towards with to overlap the pixel columns n consistent the pixel columns m of multiimage.
Below in conjunction with accompanying drawing the present invention is done and to describe in further detail.
Fig. 1 to Figure 10 has shown a kind of embodiment of the method for adjustment of the staggered splicing of multi-disc of the present invention TDI-CCD camera drift angle.
As shown in Figure 7, the equipment in the experimental system comprises: as the parallel light tube 3 of light source, and camera ray machine body 4, the tuningout that is connected with said camera ray machine body 4 stream mechanism 5 and TDI-CCD and imaging circuit 8, and IMAQ and treatment system 7.Said camera ray machine body 5 is arranged on the turntable 6.As shown in Figure 1, among the two row TDI-CCD, each provisional capital is provided with multi-disc TDI-CCD, and two adjacent TDI-CCD are on different two row.The position relation of adjacent two TDI-CCD (first and second TDI-CCD) is as shown in Figure 8 in the magazine multi-disc TDI-CCD of staggered splicing TDI-CCD.
The concrete steps of the method for adjustment of drift angle of the present invention do, and are as shown in Figure 2:
If step 5 m=0 explains that the angle of current drift angle deflection negative direction is excessive, to such an extent as to the image that two TDI-CCD obtain does not have the overlapping region, need adjust to positive direction and return step 3 after tuningout flows mechanism this moment.This moment, the deflection angle sketch map of two TDI-CCD was as shown in Figure 3, and the image that the photosensitive area 2 of the photosensitive area 1 of first TDI-CCD (TDI-CCD1) and second TDI-CCD (TDI-CCD2) obtains does not have the overlapping region.
If step 6 m>n; Current drift angle deflection positive direction is described; This moment, the deflection angle sketch map of two TDI-CCD was as shown in Figure 4, and the image that the photosensitive area 2 of the photosensitive area 1 of first TDI-CCD (TDI-CCD1) and second TDI-CCD (TDI-CCD2) obtains has the overlapping region.Drift angle β=arctan this moment [a * (m-n)/d].Bring drift angle β into tuningout stream mechanism controls sign indicating number v computing formula v=f (β), calculate the v value, the v value is sent in the tuningout stream mechanism, make it to adjust to negative direction the position of β=0, tuningout flows through journey to be finished.
If step 70 < m < n; Current drift angle deflection negative direction is described; This moment, the deflection angle sketch map of two TDI-CCD was as shown in Figure 5, and the image that the photosensitive area 2 of the photosensitive area 1 of first TDI-CCD (TDI-CCD1) and second TDI-CCD (TDI-CCD2) obtains has the overlapping region.Drift angle β=arctan this moment [a * (n-m)/>d].Bring drift angle β into tuningout stream mechanism controls sign indicating number v computing formula v=f (β), calculate the v value, the v value is sent in the tuningout stream mechanism, make it to adjust to positive direction the position of β=0, tuningout flows through journey to be finished.
If step 8 m=n explains drift angle β=0, this moment, drift angle was adjusted to the right place, and tuningout flows through journey to be finished.This moment, the deflection angle sketch map of two TDI-CCD was as shown in Figure 6.
With concrete experimentation and concrete experimental data this embodiment is described below.
Shown in Fig. 7-10, the present invention adopts 4096 * 96 grades of TDI-CCD of two staggered splicings to do deflecting angle adjustment experiment.The composition frame chart of experiment is as shown in Figure 7.Parallel light tube among Fig. 7 is used to simulate the infinity target, and the imaging camera is installed on the single axle table 6, and turntable 6 rotates the 4 rotation campaigns of drive camera light machine body and simulates the process of taking pictures of sweeping that pushes away.The CCD imaging system is fixed in the tuningout stream mechanism 5, and the CCD imaging system obtains to push away to sweep view data, through the Camlink interface image is passed in IMAQ and the treatment system 7.Calculating the algorithm of two staggered splicing TDI-CCD overlap joint pixel numbers accomplishes in IMAQ and treatment system 7.After calculating overlap joint pixel number, IMAQ and treatment system 7 are sent instruction to tuningout stream mechanism 5, and control tuningout stream mechanism 5 rotating certain angle are carried out the drift angle compensation.
Two TDI-CCD splicing sizes are as shown in Figure 8 with overlap joint pixel number, two TDI-CCD photosensitive area spacing d=25mm, and the pixel of overlap joint is counted n=30, pixel dimension a=8.75um.The target that experiment is selected for use is that radial target is as shown in Figure 9.Concrete experimentation is following:
The TDI-CCD camera powers on;
Tuningout is flowed mechanism 5 adjust to the centre position;
Start turntable 6, turntable 6 drives camera and rotates;
The TDI-CCD camera begins to take pictures during turntable 6 invariablenes turning speeds, and the target image that two TDI-CCD photographed is reached in IMAQ and the treatment system 7.The original image that two TDI-CCD photographed is shown in figure 10;
Image matching algorithm in IMAQ and the treatment system 7 is started working, and calculates the columns m of the multiimage that two TDI-CCD photographed.A, B two parts are superimposed images among Figure 10, the columns m=23 of superimposed images.0 < m < n explains current drift angle deflection negative direction, need tuningout be flowed mechanism 5 to the positive direction adjustment, the angle beta=arctan of adjustment [a * (n-m)/>d]=0.14.Bring the β angle into tuningout current control sign indicating number formula and can calculate v=0x034a, this code value is transferred in the tuningout stream controller, control tuningout stream mechanism 5 turns to the position of β=0 to positive direction, and tuningout flows through journey to be finished.
The method of adjustment of the staggered splicing of multi-disc of the present invention TDI-CCD camera drift angle is applicable to the camera of the staggered splicing of multi-disc (more than equaling 2) TDI-CCD, and two TDI-CCD have certain overlap joint pixel number.For the inapplicable drift angle method of adjustment of the present invention of the camera that does not overlap pixel between monolithic TDI-CCD or multi-disc TDI-CCD.
The method of adjustment of the staggered splicing of multi-disc of the present invention TDI-CCD camera drift angle is applicable to that the tuningout that is not suitable in executing the task flows through journey in the ground turntable push-scanning image experiment of space flight, aerial camera.
The method of " utilizing image matching method to find out overlapping columns " in the step 4 in the method for adjustment of the staggered splicing of multi-disc of the present invention TDI-CCD camera drift angle has multiple; In other embodiment, as long as guarantee accurately to find out the overlapping region that two CCD photographed.
The above-mentioned embodiment of the method for adjustment of the staggered splicing of multi-disc of the present invention TDI-CCD camera drift angle; It is the situation that is positioned at the TDI-CCD below on right side according to the TDI-CCD in left side; The position relation of the TDI-CCD of phase as shown in Figure 8; The explanation of carrying out, the TDI-CCD on the left of obviously can obtaining in view of the above is positioned at the situation of the TDI-CCD top on right side and how carries out the adjustment of drift angle, so latter event is not given unnecessary details.
Obviously, the foregoing description only be for explanation clearly done for example, and be not qualification to execution mode.For the those of ordinary skill in affiliated field, on the basis of above-mentioned explanation, can also make other multi-form variation or change.Here need not also can't give exhaustive to all execution modes.And conspicuous variation of being extended out thus or change still are among the protection range of the invention.
Claims (6)
1. the method for adjustment of the staggered splicing of a multi-disc TDI-CCD camera drift angle is characterized in that, may further comprise the steps:
Step 101: measure the overlap joint pixel columns n of two adjacent TDI-CCD when drift angle is zero;
Step 102: the pixel columns m that calculates said adjacent two multiimages that TDI-CCD photographed;
Step 103: adjustment tuningout stream mechanism trends towards with to overlap the pixel columns n consistent the pixel columns m of multiimage.
2. method of adjustment as claimed in claim 1 is characterized in that, said step 102 specifically comprises:
Step 102a: take pictures and images acquired;
Step 102b: the columns m that calculates two adjacent TDI-CCD multiimages.
3. method of adjustment as claimed in claim 1 is characterized in that, before said step 102, also comprises step: confirm tuningout stream mechanism initial position.
4. like the arbitrary described method of adjustment of claim 1-3, it is characterized in that said step 103 specifically comprises:
Step 103a: judge whether m equals 0, adjust drift angle to positive direction, change step 102 then if then adjust tuningout stream mechanism; If otherwise change step 103b;
Step 103b: whether judge m less than n,, and adjust tuningout stream mechanism according to the result who calculates and adjust drift angle β, finish then to positive direction if then take a drift β; If otherwise change step 103c;
Step 103c: whether judge m greater than n,, and adjust tuningout stream mechanism according to the result who calculates and adjust drift angle β, finish then to negative direction if then take a drift β; If otherwise change step 103d;
Step 103d: judge whether m equals n, if then finish.
5. method of adjustment as claimed in claim 4 is characterized in that,
Before said step 103, also comprise step: measure the spacing d of two row TDI-CCD photosensitive areas, and the pixel dimension a of every TDI-CCD.
6. method of adjustment as claimed in claim 5 is characterized in that, the β that takes a drift among the said step 103b is a basis: and β=arctan [a * (m-n)/d] obtain;
The β that takes a drift among the said step 103c is a basis: and β=arctan [a * (n-m)/d] obtain.
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Application publication date: 20121003 |