CN103278137A - Extraction method for target movement information based on single remote sensing image - Google Patents
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Abstract
The invention relates to an extraction method for target movement information based on a single remote sensing image. The extraction method comprise the following steps of (1) laying a plurality of linear array imaging sensors or multiband planar array imaging sensors on the same optical remote sensor imaging surface, and acquiring pattern parameters of the above imaging sensors; (2) acquiring temporal and spatial parameters of imaging the remote sensing images by a remote sensing imaging controller, a remote sensing platform position measurement sensor and a remote sensing platform attitude measurement sensor; (3) acquiring single remote sensing image data of the same target object by registration synthesis of the remote sensing images; and (4) extracting target characteristics of the acquired single remote sensing image, determining a scanning line of the target, and solving the movement information of the target object according to tiny time-space shift characteristics (i.e. space shift parameters and time shift parameters) of the moving target object on pixels of the imaging sensing sensors. The extraction method can be widely applied in the fields such as large-scale remote sensing application, traffic status monitoring, target movement information extraction, etc.
Description
Technical field
The present invention relates to a kind of target travel information extracting method, particularly about a kind of target travel information extracting method based on single scape remote sensing image.
Background technology
The Aero-Space optical remote sensing image has been widely used in every field such as agricultural, forestry, environment, geology, ocean, meteorology, mapping, adopts high-resolution remote sensing image can carry out resource exploration, disaster monitoring, resource exploration, agricultural projects, city planning etc.In recent years, high resolution ratio satellite remote-sensing imaging and application technology develop rapidly, the spatial resolution of optical digital remote sensing image is more and more higher, its quantity of information that comprises is more and more abundanter, by computing machine remote sensing images are carried out interpretation and information extraction, can extract artificial a large amount of useful informations that can not find, not only save manpower, but also pick up speed, confidence level, accuracy, the comprehensive and anti-interference simultaneously can increase information obtained.At present, satellite such as WorldView, GeoEye has realized that sub-meter grade spatial resolution remote sensing image obtains.High resolution ratio satellite remote-sensing is imaged as remote sensing image and uses with information extraction more rich data source is provided, and is important remote sensing application direction based on the motion target detection of high-resolution remote sensing image and extraction of motion information.
Traditional Aero-Space remotely sensed image all is regarded as static imaging, in the space of a scape remote sensing image internal object atural object, attribute such as time, spectrum remains unchanged.On this basis, a large amount of research and utilization high resolution ratio satellite remote-sensing images are launched a campaign, and target is identified and movable information detects, and be widely used in the civilian and military field, and the method for utilizing the remote optical sensing formation method to detect target travel information in the prior art mainly contains dual mode: the one, and utilize two or many remote sensors two or morely taking the photograph website, obtaining the moving target image within a certain period of time; The 2nd, utilize a remote sensor two or morely taking the photograph website, obtaining twice or moving target image repeatedly within a certain period of time, and then extract target travel information.Said method all is the difference of utilizing moving target in two scapes or the many scapes remote sensing image, by complex features coupling and change detecting method, extracts target travel information.On the one hand, difficulty that remote sensing image data obtains and the data volume of required remote sensing image have been increased; On the other hand, increased the complicacy of target travel information extraction.Along with the resolution of Aero-Space remote sensing image improves constantly, moving target is taken the photograph the variation that website, (for example satellite scan line integration imaging time is about 0.0008s) takes place in extremely short imaging time short space displacement will cause image space, spectral properties same, i.e. the space-time of dynamic remote imaging moves and becomes picture.Therefore, utilize the space-time that moving target shows in high-resolution single scape remote sensing image to move the change characteristic, also can extract the information of target travel fully.
Summary of the invention
At the problems referred to above, the purpose of this invention is to provide a kind of target travel information extracting method based on single scape remote sensing image, this method reduces difficulty and data volume that remote sensing image data obtains greatly when guaranteeing certain movement information extraction precision.
For achieving the above object, the present invention takes following technical scheme: a kind of target travel information extracting method based on single scape remote sensing image, it may further comprise the steps: (1) is on same optical remote sensor imaging face, lay a plurality of linear array imaging sensors or multiband face battle array imaging sensor, and obtain the parameter of arranging of above-mentioned imaging sensor; (2) obtain the time space parameter of remote sensing image imaging by remotely sensed image controller, remote-sensing flatform position measurement sensor and remote-sensing flatform attitude-measuring sensor; (3) synthesize by the remote sensor Image registration, obtain single scape remote sensing image data of same target atural object; (4) the described single scape remote sensing image data that obtains is carried out target's feature-extraction, determine target place scan line, move the change characteristic according to moving target atural object small space-time on the imaging sensor pixel, namely variable element is moved and the time is moved variable element in the space, finds the solution the movable information of target atural object.
When laying a plurality of linear array imaging sensor device on the same optical remote sensor imaging face, described step (4) is found the solution the movable information of target atural object, may further comprise the steps: 1) find the solution linear array push and sweep imaging time and move variable element; 2) finding the solution linear array push sweeps imaging space and moves variable element; 3) move variable element and step 2 according to the time of described step 1)) the space move variable element, find the solution exercise parameter, obtain movement velocity and the direction of target atural object.
The parameter of arranging in the described step (1) comprises that pixel dimension δ, pixel count N and imaging sensor vertical distance.
Time space parameter comprises each imaging sensor pixel scanning imagery zero-time, the imaging time of each pixel image of imaging sensor and position, speed and the attitude parameter of remote-sensing flatform in the described step (2).
The present invention is owing to take above technical scheme, it has the following advantages: 1, the present invention is owing to be to lay a plurality of linear array scanning imaging sensors or multiband face battle array imaging sensor at same optical remote sensor imaging face, target atural object is carried out imaging, in the extraction of motion information precision that guarantees target atural object, the remote sensing image data obtain manner is by two traditional scapes or many scapes remote sensing image, be reduced to a scape remote sensing image, therefore, do not need a plurality of remote sensors repeatedly to obtain the remote sensing image of moving target, reduce remote sensing image greatly and obtain difficulty and remote sensing image data amount.2, the present invention handles by the single scape remote sensing image data to same target atural object, the characteristics of utilizing selected imaging sensor to arrange, and the space-time that different-waveband forms during to same target atural object imaging moves the change characteristic, find the solution the movable information that obtains target atural object, therefore, need not be through complicated many scapes remote sensing image high-precision coupling and change detection algorithm, only utilize remote sensor imaging parameters and remote sensing image information, realize extraction of motion information, reduce the difficulty that remote sensing image extracts the target travel information extraction greatly.The present invention can be widely used in fields such as large scale remote sensing application, traffic monitoring, target travel information extraction.
Description of drawings
Fig. 1 is method flow synoptic diagram of the present invention;
Fig. 2 is a plurality of linear array scanning imaging sensor structural representations in the embodiment of the invention, and circle is expressed as image planes (image field);
Fig. 3 is the multiband face battle array imaging sensor structural representation in the embodiment of the invention, and circle is expressed as image planes (image field);
Fig. 4 is that the space-time of moving target remotely sensed image of the present invention moves change characteristic principle schematic;
Fig. 5 moves variable element geometric relationship synoptic diagram along rail in the embodiment of the invention to the space;
Fig. 6 is that vertical rail moves variable element geometric relationship synoptic diagram in the embodiment of the invention to the space;
Fig. 7 be in the embodiment of the invention moving target image planes apart from synoptic diagram.
Embodiment
Below in conjunction with drawings and Examples the present invention is described in detail.
As shown in Figure 1, the target travel information extracting method based on single scape remote sensing image of the present invention may further comprise the steps:
1, on same optical remote sensor imaging face, lay a plurality of linear array imaging sensors or multiband face battle array imaging sensor, and obtain the parameter of arranging of above-mentioned imaging sensor, wherein, the parameter of arranging comprises that mainly pixel dimension δ, pixel count N and imaging sensor vertical distance.
As shown in Figure 2, imaging sensor of the present invention adopts ccd imaging sensor, be example in a plurality of line array CCD array push-scanning image modes, its four linear array imaging sensors are respectively Band1, Band2, Band3 and Band4, four wave band linear array imaging sensors are arranged in parallel in the optical remote sensor imaging face, spacing between Band1 and the Band2 imaging sensor is d1, spacing between Band2 and the Band3 imaging sensor is d2, spacing between Band3 and the Band4 imaging sensor is d3, for example d1 is 152 pixels in the embodiments of the invention, d2 is 128 pixels, d3 is 128 pixels, but be not limited thereto, can arrange spacing according to actual needs.
As shown in Figure 3, be example with multispectral battle array imaging sensor, it comprises four wave bands, is respectively Band1, Band2, Band3 and Band4.Four wave band imaging sensor pixels are closely arranged successively, and the spacing between every adjacent two wave band imaging sensors is d4.
In the remotely sensed image process, no matter adopt a plurality of linear array imaging sensors or multiband face battle array imaging sensor, all there is the small time interval in each wave band of its selected imaging sensor to the imaging of same target atural object.According to the arrange difference of parameter of imaging sensor, in same scape remote sensing image, the small time interval of not waiting in 0.0004 second to 0.12 second that different pixels will form during to same target atural object imaging, for the extraction of target travel information provides may.
2, obtain the time space parameter of remote sensing image imaging by existing remotely sensed image controller, remote-sensing flatform position measurement sensor and remote-sensing flatform attitude-measuring sensor, wherein, time space parameter comprises each imaging sensor pixel scanning imagery zero-time, the imaging time of each pixel image of imaging sensor and position, speed and the attitude parameter of remote-sensing flatform.
The remotely sensed image controller has recorded each imaging sensor pixel scanning imagery zero-time t
0, imaging sensor generally has fixing sweep frequency f, can know the imaging time t of each pixel image of imaging sensor thus by inference
iRemote-sensing flatform position measurement sensor and remote-sensing flatform attitude-measuring sensor accurately obtain position, speed and the attitude parameter of remote-sensing flatform.
3, synthesize by the remote sensor Image registration, obtain single scape remote sensing image data of same target atural object.
4, the single scape image data that obtains is carried out target's feature-extraction, determine target place scan line, move the change characteristic according to moving target atural object small space-time on the imaging sensor pixel, namely variable element is moved and the time is moved variable element in the space, finds the solution the movable information of target atural object.
Describe with the motion in one dimension situation of a plurality of linear array imaging sensors to remotely sensed image, can adopt a certain linear array imaging sensor (for example Band1) and other linear array imaging sensors (for example Band2) that moving target atural object imaging time difference is found the solution target atural object movement velocity; Also can find the solution target atural object movement velocity to same target atural object difference sweep time by a certain linear array imaging sensor (for example Band1), embodiments of the invention with Band1 and two imaging sensors of Band2 to target atural object imaging find the solution target atural object movement velocity, assume that the spacing of Band1 and Band2 is d in the image-position sensor, the remote-sensor platform movement velocity is V
s, target atural object movement velocity is V
a
As shown in Figure 4, suppose that S0, S1, S2 are remote sensor and take the photograph same that a plurality of line array sensors are to the projected centre point position of motion atural object imaging in the website, imaging is respectively t constantly
0, t
1, t
2, at t
0Constantly, the Band1 imaging sensor is to the imaging of target atural object, if target atural object is static, then at t
1Constantly, the Band2 imaging sensor is to the imaging of same target atural object, and two wave band imaging times are spaced apart t
1-t
0If target atural object movement velocity is V
a, then at t
2Constantly, the Band2 imaging sensor is to the imaging of same target atural object, and two wave band imaging times are spaced apart t
2-t
0Therefore, the relative motion of target atural object and remotely sensed image platform, cause same moving target minute shape or position difference S on a plurality of linear array images in imaging time, namely space-time moves change effect, is accurately obtaining minute shape or position difference S and small imaging time t at interval
2-t
0Situation under, calculate the movement velocity V of target atural object
a=S/ (t
2-t
0).
Be embodiment in a plurality of line array CCD array push-scanning image modes below, the movable information solution procedure of target atural object be described, may further comprise the steps:
1) finding the solution linear array push sweeps imaging time and moves variable element
Linear array push is swept imaging time, and to move variable element be to set up line array CCD push-scanning image space-time to move the basis that becomes picture, must accurately obtain a plurality of line array CCD sensors to the scanning imagery time of target atural object, according to line array CCD push-broom type image-forming principle, the capable video imaging time of i can be expressed as in single scape remote sensing image data:
t
i＝t
0+(i-1)·T (1)
In the formula, t
0Be the imaging time of initial row in single scape remote sensing image data, T is the integral time of each row.
Be example with as shown in Figure 2 a plurality of linear array scanning imaging sensor structures, at the same a plurality of linear array imaging sensors of website of taking the photograph moving target atural object imaging time difference be expressed as:
Δt＝t
i_band1-t
j_band2＝(t
0_band1+(i-1)·T)-(t
0_band2+(j-1)·T) (2)
In the formula, t
0_band1Be the initial imaging time of band1 image, t
0_band2Be the initial imaging time of band2 image, i is target atural object being expert in the band1 image (can be accurate to sub-pixel), and j is target atural object being expert in the band2 image (can be accurate to sub-pixel).
2) finding the solution linear array push sweeps imaging space and moves variable element
The space of linear array push-scanning image is moved variable element SV and is mainly shown as along rail to SV
yWith vertical rail to SV
xThe space is moved variable element SV and can accurately be obtained by the s internal and external orientation that the time is moved variable element and remote-sensor platform.
As Fig. 5, shown in Figure 6, along on the rail direction, S
iAnd S
I+1Projected centre point position when representing the capable imaging of the capable and i+1 of i respectively, V
eThe projection speed of expression satellite platform flying speed on imaging surface, H
eThe expression satellite remote sensor is taken the photograph the vertical range of website and moving target, remote sensor was at the angle of pitch along the rail direction when θ represented the capable imaging of i, remote sensor was at the angle of pitch along the rail direction when θ+d θ was the capable imaging of i+1, and Δ t is the time interval of the capable and capable imaging of i+1 of i.Linear array push sweeps that the every capable image scan imaging time of imaging mode is very short, and therefore, satellite platform can be considered linear uniform motion, and attitude of satellite d θ change very little, the vertical range H of satellite and moving target
eCan be expressed as:
In the formula, H takes the photograph website to the vertical range of earth reference ellipsoid face for the remote sensor imaging; H is that moving target is to the vertical range of earth reference ellipsoid face; X
s, Y
sAnd Z
sBe that the coordinate figure of website under geocentric rectangular coordinate system taken the photograph in the remote sensor imaging; R is earth reference ellipsoid radius surface.
Thus, push-scanning image is moving variable element SV along the space on the rail direction
yCan be expressed as:
SV
y＝H
e·tan(θ+dθ)+V
e·Δt-H
e·tan(θ) (4)
Because d θ is very little, formula (4) can abbreviation be:
SV
y＝V
e·Δt+sec
2θ·H·dθ (5)
Wherein,
In the formula, V
sExpression remote-sensor platform movement velocity; R is earth reference ellipsoid radius surface; H is that moving target is to the vertical range of earth reference ellipsoid face; D is that the remote sensor imaging is taken the photograph website to the distance in the earth's core.
Variable element SV is moved in the space of a plurality of line array CCD sensors on the rail direction of hanging down
x, sensor pixels is of a size of δ,
The side-looking angle of the satellite remote sensor when being imaging, Φ
mBe the angle of imaging direction and primary optical axis, the optical system imaging focal length is f, and focal distance f at the projection SM ' on S-YZ plane is
Variable element SV is moved in space on the rail direction of hanging down
xCan be expressed as:
At d Φ
mUnder the very little situation, formula (7) formula can abbreviation be:
3) move variable element and step 2 according to the time of step 1)) the space move variable element, find the solution exercise parameter, obtain movement velocity and the direction of target atural object.
As shown in Figure 7, (x_band1 is y_band1) with (x_band2 y_band2), can calculate moving target difference s in planimetric position on remote sensing image to the coordinate of target atural object on single scape remote sensing image data band1 and band2 respectively
xAnd s
y, sweep imaging space by linear array push and move variable element SV
xAnd SV
y, calculate True Ground Range S
xAnd S
yBe expressed as:
S
x＝s
x·SV
x＝(x_band2-x_band1)·SV
x (9)
S
y＝s
y·SV
y＝(y_band2-y_band1)·SV
y (10)
Target atural object in the distance that scanning imagery moved in the mistiming is:
Move variable element Δ t according to single scape remote sensing image data time, obtain movement velocity V and the direction α of target:
V＝S/Δt （12）
tanα＝S
y/S
x （13)
In addition, the present invention can also adopt the same movable information that the single line array CCD sensor of website (band1) is found the solution target atural object of taking the photograph, its concrete solution procedure is identical with the movable information process that a plurality of line array CCD array push-scanning image modes of the present invention are found the solution target atural object substantially, difference is: at the same a plurality of linear array imaging sensors of website of taking the photograph moving target atural object imaging time difference is expressed as Δ t, and at the same single line array CCD sensor of website of taking the photograph to same target atural object difference sweep time Δ t ':
Δt′＝t
i_band1-t
k_band1＝(t
0_band1+(i-1)·T)-(t
0_band1+(k-1)·T) （14）
In the formula, i is target atural object initial being expert in the band1 image (can be accurate to sub-pixel) in imaging time, and k is the end in the band1 image in imaging time be expert at (can be accurate to sub-pixel) by target atural object.
The various embodiments described above only are used for explanation the present invention, and wherein the embodiment step of each method etc. all can change to some extent, and every equivalents and improvement of carrying out on the basis of technical solution of the present invention all should do not got rid of outside protection scope of the present invention.
Claims (5)
1. target travel information extracting method based on single scape remote sensing image, it may further comprise the steps:
(1) on same optical remote sensor imaging face, lays a plurality of linear array imaging sensors or multiband face battle array imaging sensor, and obtain the parameter of arranging of above-mentioned imaging sensor;
(2) obtain the time space parameter of remote sensing image imaging by remotely sensed image controller, remote-sensing flatform position measurement sensor and remote-sensing flatform attitude-measuring sensor;
(3) synthesize by the remote sensor Image registration, obtain single scape remote sensing image data of same target atural object;
(4) the described single scape remote sensing image data that obtains is carried out target's feature-extraction, determine target place scan line, move the change characteristic according to moving target atural object small space-time on the imaging sensor pixel, namely variable element is moved and the time is moved variable element in the space, finds the solution the movable information of target atural object.
2. a kind of target travel information extracting method based on single scape remote sensing image as claimed in claim 1, it is characterized in that: when laying a plurality of linear array imaging sensor device on the same optical remote sensor imaging face, described step (4) is found the solution the movable information of target atural object, may further comprise the steps:
1) finding the solution linear array push sweeps imaging time and moves variable element;
2) finding the solution linear array push sweeps imaging space and moves variable element;
3) move variable element and step 2 according to the time of described step 1)) the space move variable element, find the solution exercise parameter, obtain movement velocity and the direction of target atural object.
3. a kind of target travel information extracting method based on single scape remote sensing image as claimed in claim 1 is characterized in that: the parameter of arranging in the described step (1) comprises that pixel dimension δ, pixel count N and imaging sensor vertical distance.
4. a kind of target travel information extracting method based on single scape remote sensing image as claimed in claim 2 is characterized in that: the parameter of arranging in the described step (1) comprises that pixel dimension δ, pixel count N and imaging sensor vertical distance.
5. as claim 1 or 2 or 3 or 4 described a kind of target travel information extracting methods based on single scape remote sensing image, it is characterized in that: time space parameter comprises each imaging sensor pixel scanning imagery zero-time, the imaging time of each pixel image of imaging sensor and position, speed and the attitude parameter of remote-sensing flatform in the described step (2).
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