CN103076005B - Optical imaging method integrating three-dimensional mapping and broad width imaging - Google Patents
Optical imaging method integrating three-dimensional mapping and broad width imaging Download PDFInfo
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- CN103076005B CN103076005B CN201210590539.8A CN201210590539A CN103076005B CN 103076005 B CN103076005 B CN 103076005B CN 201210590539 A CN201210590539 A CN 201210590539A CN 103076005 B CN103076005 B CN 103076005B
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Abstract
The invention discloses an optical imaging method integrating three-dimensional mapping and broad width imaging. According to the invention, two or three line-scan digital cameras are installed on a satellite within certain interaction angles; each line-scan digital camera is provided with a first imaging detector for three-dimensional mapping and a second imaging detector for broad width imaging, and the conversion between the two imaging detectors are realized by cutting in a reflecting mirror; when the three-dimensional mapping is performed, the satellite flies in a normal attitude, and the imaging detection is realized through the first imaging detector of each line-scan digital camera; and when the broad width monitoring is performed, the satellite flies by yawing a certain angles and converts light paths by cutting in the reflecting mirror, adjacent air strips on the ground are sequentially imaged through the second imaging detector of each line-scan digital camera, and equivalently a wide air strip on the ground is imaged in a segmentation spliced manner, and accordingly the imaging width is remarkably increased. The optical imaging method integrating three-dimensional mapping and broad width imaging realizes multiplexing of the single-satellite function and improves the utilization ratio of on-orbit resources.
Description
Technical field
The invention belongs to remote optical sensing technical field of imaging, relate to a kind of based on three line scanner or two linear array mapping principles, a satellite can be utilized simultaneously to meet the optical imaging method of stereo mapping and wide cut imaging demand.
Background technology
The intelligence support demand of modern operational system to space-based battle reconnaissance and supervision is tending towards variation, according to the difference that remote sensing object and information gathering are intended to, China's development transmits multiple special detection load and specific satellite, while lifting space-based remote sensing ability, also have that system is too numerous and jumbled, satellite function and application is single, in-orbit imaging resources utilize the problems such as insufficient.
A typical example is exactly land cartographic satellite and ocean surveillance satellite.Ocean surveillance satellite is mainly and realizes marine site search on a large scale, the feature such as wide according to marine context distribution, target scale is large, determine it and must preferentially ensure wide covering, imaging resolution demand is relatively low, as ocean surveillance satellite directly applied to land observation, the ability that its resolution is used for identification ground routine target is slightly inadequate, and positioning precision is low, cannot provide accurate geography information; And review land cartographic satellite, major function is to provide accurately full and accurate land Fundamental Geographic Information System, resolution is high but imaging fabric width is partially narrow, cannot meet the demand that marine site wide cut on a large scale monitors, and the advantage of its stereo mapping ability has little significance in targets in ocean monitors.
The difference of application demand and load-carrying ability determines and adopts the stereo mapping satellite of traditional system and ocean surveillance satellite cannot realize sharing, imaging region suitable in-orbit separately and working time are greatly reduced, limited imaging resources is not fully utilized, and have impact on the effective utilization of space-based equipment.
Summary of the invention
Technical matters to be solved by this invention is: for the deficiencies in the prior art, provides the optical imaging method that a kind of stereo mapping is integrated with wide cut imaging, thus realizes the multiplexing of single satellite function, improve resource utilization in-orbit.
The present invention includes following technical scheme:
The optical imaging method that stereo mapping is integrated with wide cut imaging, satellite installs two or three line-scan digital cameras with certain intersection angle; Every platform line-scan digital camera is separately installed with the first imaging detector for stereo mapping and the second imaging detector for wide cut imaging, is realized the switching of two imaging detectors by incision catoptron;
When carrying out stereo mapping, satellite is just to fly attitude flight, and every platform line-scan digital camera is detected by the first imaging detector, and two or three line-scan digital cameras successively carry out imaging to same air strips, ground with different observation angles, thus realize stereo mapping;
When carrying out wide cut imaging, the flight of satellite driftage certain angle is made by the adjustment attitude of satellite, and change light path make every platform line-scan digital camera realize image detection by the second imaging detector by incision catoptron, the second imaging detector linear array orientation is vertical with heading; Two or three line-scan digital cameras successively carry out imaging to the adjacent part of wider air strips on ground, carry out the image of described adjacent part to splice the image of wider air strips described in obtaining, thus realize wide cut imaging.
Second imaging detector is larger than the imaging fabric width of the first imaging detector.
The present invention compared with prior art tool has the following advantages:
(1) the present invention is expansion cartographic satellite application category, proposes the optical imagery New System of a kind of stereo mapping and wide cut imaging integration.It passes through the flexible transformation of satellite operation pattern and the optimal design of load, the stereo mapping ability of mapping camera is changed into wide cut splicing ability, imaging fabric width promotes 2 ~ 3 times, the use restriction of large quantum jump tradition imaging system, the application demand making single star adopt a set of load just can take into account stereo mapping and wide cut to monitor, thus realize the multiplexing of single star function, significantly promote the service efficiency of space-based imaging resources.
(2) the wide cut imaging capability that realizes of the present invention, is not limited only to marine surveillance application, according to actual needs, also can be used for the imaging on a large scale on land, under particular demands, can promote the wide cut generaI investigation ability to land resources.
(3) innovative approach of the present invention is simple and easy to do, and do not affect the assembly and adjust parameters of original mapping light path, avoid degradation problem under the stereo mapping precision index brought because of multiplexing functions, engineering cost is little, reliability is high, has good engineering realizability.
Accompanying drawing explanation
Fig. 1 is the imaging mode schematic diagram of stereo mapping pattern;
Fig. 2 is the imaging mode schematic diagram of wide cut imaging pattern;
Fig. 3 is the transition diagram of stereo mapping pattern to wide cut imaging pattern;
Fig. 4 is the first imaging detector installation site schematic diagram for stereo mapping;
Fig. 5 is the second imaging detector installation site schematic diagram for wide cut imaging;
Fig. 6 is that the satellite crab angle under wide cut imaging calculates schematic diagram;
Fig. 7 is attitude of satellite coordinate system schematic diagram.
Embodiment
Just by reference to the accompanying drawings the present invention is described further below.
Monitor for ocean wide cut below and the optical imaging method of land stereo mapping integration the present invention will be described.
Spacecraft orbit coordinate system O
1x
1y
1z
1be the coordinate system defined by spacecraft orbit and the earth's core, it is initial point O that this coordinate system gets spacecraft centroid
1, by O
1line to the earth's core is O
1z
1axle, the velocity reversal of spacecraft is O
1x
1axle, O
1y
1axle is determined according to right hand Normal rule.The O of this coordinate
1x
1and O
1z
1axle in orbit plane, O
1y
1axle is vertical with orbit plane, and namely normal direction born by track.
As shown in Figure 7, spacecraft attitude coordinate system Oxyz is for describing spacecraft self attitude motion, and when spacecraft does not spin with attitude misalignment, each axle of this coordinate system overlaps with orbital coordinate system.When spacecraft is when orbital motion is disturbed or be controlled moment loading, then spacecraft can produce angular motion, and Oxyz coordinate system is no longer overlapped with O1x1y1z1 coordinate system.At this moment the corner around Ox axle becomes roll angle, and Ox is called the axis of rolling; Corner around Oy axle and Oz axle is called the angle of pitch and crab angle, and Oy axle and Oz axle are called pitch axis and yaw axis.The satellite driftage β angle of this instructions indication, namely refers to that satellite rotates β angle around Oz axle.Because satellite flight direction is determined by track, have nothing to do with the attitude of satellite body, therefore, after driftage, the Ox axle of attitude frame of reference will become β angle with satellite flight direction.
Based on conventional three-wire battle array mapping principle, single satellite installs three line-scan digital cameras, is rear view camera 3 respectively along celestial body X-direction, faces camera 2 and forward sight camera 1.Rear view camera 3, forward sight camera 1 are intersection angle with the angle facing camera 2 respectively, are generally 20-25 degree.Every platform line-scan digital camera is separately installed with the first imaging detector for stereo mapping and the second imaging detector for wide cut imaging, is realized the switching of two imaging detectors by incision catoptron.
As shown in Figure 1, when carrying out land stereo mapping, satellite just flies, satellite flight direction (orbital coordinate system O
1x-axis) overlapping with attitude of satellite coordinate system Ox axle, three cameras successively carry out imaging to the same air strips A in ground with certain intersection angle in satellite flight process, thus realize stereo mapping.As shown in Figure 1, the principle of stereo mapping is: obtain same strips A through satellite in the imaging in 3 (T1, T2, T3 moment) not in the same time and get forward sight, face the air strips image overlapping with backsight three degree, thus form stereopsis.
As shown in Figure 2, when carrying out ocean wide cut and monitoring, satellite to be gone off course β angle by the adjustment attitude of satellite, now the Ox axle of attitude of satellite coordinate system becomes β angle with satellite flight direction, thus linear field adjacent before and after the linear field that three cameras forward lap is changed into, be equivalent to use three cameras and carry out the imaging of spelling width, significantly promote whole star imaging fabric width.As shown in Figure 2, the principle of wide cut imaging is: through the imaging of satellite 3 (T1, T2, T3 moment) not in the same time, successively obtain three adjacent segment B1, B2 and B3 of a band B, thus completes wide cut splicing.
As shown in Figure 3, under stereo mapping pattern, satellite is just to fly attitude flight, and every platform line-scan digital camera successively carries out imaging to same air strips, ground with different observation angles, thus realizes stereo mapping.When needs are transformed into wide cut imaging pattern, satellite driftage β angle, three cameras successively obtain the image of three adjacent air strips, and complete the splicing push-scanning image of face width air strips over the ground, fabric width is about three times of stereo mapping.(note: due to earth rotation, mapping camera reality in-orbit imaging time need carry out drift angle correction, belong to conventional measure.For ease of inventive concept is described, drift angle problem is not explained especially, namely suppose, for the impact of earth rotation, to take appropriate counter-measure)
As shown in Figure 4, the first imaging detector of each line-scan digital camera is arranged in the image planes 11 of light path 10 before optical system, and only uses the linear field 12 in complete image planes (circle visual field 11) to carry out imaging.When carrying out wide cut imaging, owing to introducing extra yaw angle β, the linear field 13 during wide cut imaging is β with the angle of the linear field 12 during stereo mapping; Therefore, the linear array orientation originally for the first imaging detector of stereo mapping is no longer vertical with heading, causes using.As it need be made normally to work, by detector deflection β angle, another linear field 13 imaging need be used, again to keep vertical with heading.
Much extra error component can be brought to original mapping light path due to direct to detector operation, and there is the risk of reliability aspect.Therefore, when concrete Project Realization, not that the image planes of original stereo mapping are adjusted, but by cutting one piece of catoptron 41 before the image planes of original stereo mapping, light path is made to turn back 90 °, formed new image planes 42 install a set of new imaging detector, i.e. the second imaging detector, the linear field used when the linear field that the second imaging detector uses and stereo mapping becomes β angle, thus ensure that new detector and heading keep vertical, meet the imaging demand after satellite driftage.The concrete light path of wide cut imaging as shown in Figure 5, comprises light path 40 before the optical system be made up of multiple lens, catoptron 41 and the second imaging detector be arranged in image planes 42.
When carrying out the conversion of stereo mapping pattern and wide cut imaging pattern, satellite only need do initial driftage motor-driven and in mapping light path an incision catoptron, and do not change the state of debuging of original three line scanner camera, ensure that the elements of interior orientation needed for mapping debugs precision, avoid the negative effect brought because of multiplexing functions.
Integral imaging method as above, when specific implementation, design parameter design needs to follow following several respects principle:
(1) satellite is when carrying out stereo mapping and wide cut splicing, and use the different linear fields of camera, two linear fields exist certain angle, and when corner dimension switches with mode of operation, whole star yaw angle is identical;
(2) whole star yaw angle and base length, single camera imaging fabric width are relevant, and cardinal rule is under guarantee meets the prerequisite of splicing condition, makes the overlapping region of the imaging air strips of adjacent two cameras minimum;
(3) camera optical system will have sufficiently long rear cut-off distance, to guarantee to leave enough installations and activity space to the catoptron of switching-over light path;
(4) surveying and drawing light path requires very high to camera geometric accuracy, and the actual linear field width used is the part in active line visual field width, and marine surveillance only needs to find and detects target, utilizes peripheral field can meet imaging demand equally.Therefore, when carrying out wide cut splicing, the whole apparent field width that can make full use of camera carries out imaging, second imaging detector (is namely ensureing under the prerequisite that the single pixel dimension of detector is constant by selecting the more massive detector matched with camera apparent field width, increase pixel number, cover wider linear field, thus realize larger imaging fabric width), the cover width that single camera realizes can exceed stereo mapping fabric width, and the imaging fabric width after width spelled by three cameras also will reach more than 3 times of stereo mapping fabric width.
Embodiment
The leading indicator parameter of setting satellite is as follows: satellite orbit adopts Sun synchronization repeating orbit, orbit altitude 500km, three TDICCD line-scan digital cameras form forward sights with 21 ° of intersection angles, face, backsight layout, single camera imaging fabric width 100km, the stereo mapping fabric width formed also for 100km, forward sight and face the interval S=500 × tan of camera covered ground band
21 °=192km.Base length is the twice of interval S.
When carrying out wide cut joining image-forming, whole star needs certain initial angle β that goes off course, and switches imaging detector.The cover width W that during splicing of setting wide cut, single line-scan digital camera realizes is similarly 100km, and β value is β=arcsin (W/S)=arcsin (100/192)=31.4 °, as shown in Figure 6.Now forward sight camera with face camera and push away on ground the band sweeping formation and do not have overlapping, consider the demand of image mosaic, β angle needs suitably to reduce.To round star crab angle β=30 °, correspondingly, linear field corresponding to the imaging detector of new incision also requires to become 30 ° of angles with the linear field of original stereo mapping, and now overlapping bands fabric width is 4km, and after whole star three cameras spelling width, imaging bandwidth is 292km.Fabric width when comparing stereo mapping promotes 3 times nearly, can meet the demand that ocean wide cut monitors imaging.
The above example is concrete condition of the invention process, those skilled in the art are when facing different application demand, thought can be realized according to of the present invention, corresponding change design is carried out according to specific targets, as to twin-line array cartographic satellite, can the design's thought be passed through equally, realize the spelling width imaging of two cameras, promote result of use in-orbit.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (1)
1. the optical imaging method that stereo mapping is integrated with wide cut imaging, satellite installs two or three line-scan digital cameras with certain intersection angle; Every platform line-scan digital camera is separately installed with the first imaging detector for stereo mapping and the second imaging detector for wide cut imaging, is realized the switching of two imaging detectors by incision catoptron;
When carrying out stereo mapping, satellite is just to fly attitude flight, and every platform line-scan digital camera is detected by the first imaging detector, and two or three line-scan digital cameras successively carry out imaging to same air strips, ground with different observation angles, thus realize stereo mapping;
When carrying out wide cut imaging, satellite driftage certain angle β flight is made by the adjustment attitude of satellite, and change light path make every platform line-scan digital camera realize image detection by the second imaging detector by incision catoptron before the image planes of stereo mapping, the second imaging detector linear array orientation is vertical with heading; Two or three line-scan digital cameras successively carry out imaging to the adjacent part of wider air strips on ground, carry out the image of described adjacent part to splice the image of wider air strips described in obtaining, thus realize wide cut imaging;
The linear field used when the linear field that the second imaging detector uses and stereo mapping becomes β angle, and the second imaging detector is larger than the imaging fabric width of the first imaging detector.
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| DE102014201271A1 (en) * | 2014-01-24 | 2015-07-30 | Robert Bosch Gmbh | A method and controller for detecting a change in a relative yaw angle within a stereo video system for a vehicle |
| CN104296726B (en) * | 2014-10-10 | 2016-07-27 | 中国科学院长春光学精密机械与物理研究所 | Two-sided battle array pushes away sweeps stereo mapping formation method and imaging system |
| CN105043353B (en) * | 2015-07-31 | 2017-08-29 | 上海卫星工程研究所 | Mirror tilt wide cut imaging system and imaging method |
| CN105547256B (en) * | 2015-12-02 | 2018-01-12 | 上海宇航系统工程研究所 | Space panorama stance perceives satellite and its design method and methods for using them |
| CN108151711B (en) * | 2017-03-01 | 2018-10-16 | 哈尔滨工业大学 | A kind of optical satellite ring sweeps ultra-wide imaging method |
| CN106989727A (en) * | 2017-03-21 | 2017-07-28 | 苏州光之翼智能科技有限公司 | A kind of distributed real-time three-dimensional geographical mapping system based on unmanned plane cluster |
| CN109108594B (en) * | 2018-07-16 | 2020-08-11 | 中国科学院光电研究院 | Splicing structure based on three sCMOS detectors |
| CN109672880B (en) * | 2018-12-29 | 2020-02-14 | 中国科学院长春光学精密机械与物理研究所 | Grouping drift angle real-time adjusting method of wide-width space camera |
| CN110906906A (en) * | 2019-12-02 | 2020-03-24 | 王睿 | Method for increasing mapping precision of remote sensing image |
| CN110986886A (en) * | 2019-12-18 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Double-camera dynamic rotation scanning three-dimensional imaging simulation device |
| CN113781885B (en) * | 2021-09-16 | 2022-04-19 | 中国科学院长春光学精密机械与物理研究所 | Three-degree-of-freedom dynamic two-dimensional annular scanning space imaging simulation device |
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| CN101354250B (en) * | 2008-09-08 | 2010-12-29 | 中国测绘科学研究院 | Combined wide angle aviation digital camera system with self-checking self-stabilization function |
| CN202295293U (en) * | 2011-08-11 | 2012-07-04 | 太原航空摄影有限公司 | Airplane for surveying and mapping aerial photograph by simultaneously carrying two sensors |
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