CN103593818B - A kind of fast image processing method being applicable to soft landing process and space environment - Google Patents
A kind of fast image processing method being applicable to soft landing process and space environment Download PDFInfo
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- CN103593818B CN103593818B CN201310485339.0A CN201310485339A CN103593818B CN 103593818 B CN103593818 B CN 103593818B CN 201310485339 A CN201310485339 A CN 201310485339A CN 103593818 B CN103593818 B CN 103593818B
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Abstract
Be applicable to a fast image processing method for soft landing process and space environment, be applicable to the image fast processing demand of space probe objects outside Earth landing mission.Image processing speed is accelerated by utilizing the cache resource in DSP; Take timer interruption to close the measures such as cache simultaneously and limit cache operating time, to reduce the harmful effect of cache single particle effect.Reach and guaranteeing that the adaptive object of space environment improves the object of processing speed simultaneously.
Description
Technical field
The present invention relates to a kind of fast image processing method being applicable to soft landing process and space environment, be applicable to the fast image processing demand of space probe objects outside Earth landing mission.
Background technology
In detector objects outside Earth soft landing process, if obtain landing point of safes information by active process in-orbit, raising landing safe probability is highly profitable.Landing task in early days, as Apollo task, is rely on eye recognition to judge the point of safes landed.Along with the development of technology, relying on instrument and equipment to obtain safe landing dot position information is accurately landing task, the new demand of particularly unmanned landing seeker.In order to complete the point of safes acquisition process not relying on people, needing to develop a kind of image processing techniques, to the image information in the pre-touch-down zone obtained in landing mission, as optical imagery or laser height image or microwave elevation map picture, carrying out fast processing.Processing speed is faster, more saves landing fuel.
Image procossing is generally undertaken by pattern process computer.Pattern process computer gathers image acquisition equipment (as elevation map or optical imagery) and processes the image information in touch-down zone, to obtain safe landing point positional information.Result is supplied to the computer for controlling of detector by pattern process computer, the touch-down zone safe landing dot information object of planning landing point that computer for controlling obtains according to image procossing.
Because the landing mission time is shorter, and image information data amount is large, and Processing Algorithm is complicated.Often need the image processing time of long period.In general, improving image processing speed has two kinds of approach, and one is optimized algorithm, and another kind improves hardware processing capability.In the image processing equipment on ground, often use cache(high-speed cache) improve the access speed of program and data, to reach the object accelerating image processing speed.But when applying in space, cache easily overturns under the single-particle effect of space, can cause program circuit or result of calculation mistake.Therefore, by the impact of space single particle effect, some functional modules (as high-speed cache cache) of current high-performance processor often directly can not be applied in space environment, which limits the raising of landing mission image processing speed.
The low meeting of image processing speed causes the landing mission time to increase, and the fuel that engine ignition consumes increases, and launch cost can be caused to increase.
Summary of the invention
The technical matters that the present invention solves is: overcome the deficiencies in the prior art, provide a kind of fast image processing method being applicable to soft landing process and space environment, the rapidity demand of image procossing can be met, also can adapt to space environment simultaneously, ensure that the rapidity of image procossing landing point of safes information also ensure that reliability simultaneously.
Technical scheme of the present invention is: a kind of fast image processing method being applicable to soft landing process and space environment, and step is as follows:
1) positional information of preset target point in detector computer for controlling; Two pattern process computers walk abreast reception by the landing chart picture becoming image sensor to send; The original state of two described pattern process computers arranges and is use chip external memory;
2) two pattern process computer process image command that pick-up probe computer for controlling sends the t0 moment while, and in opening sheet, cache memory processes the landing chart picture that step 1) receives; Timer is set simultaneously and triggers computing machine interruption in t0+ Δ t; Wherein Δ t is the time that the image procossing of touch-down zone in-orbit obtained according to ground test case needs;
3) two pattern process computers all receive timer interruption in t0+ Δ t, and cache memory cache in Closure panel;
4) processing result image of two pattern process computers is compared; If the processing result image of two pattern process computers is consistent, then processing result image is adopted to carry out landing and terminating; If the processing result image of two pattern process computers is inconsistent, then enter step 5); Described processing result image is landing point of safes position;
5) detector computer for controlling initiates image processing commands again to two pattern process computers, and repeat step 2) ~ step 4), if the processing result image of two pattern process computers is still inconsistent, then the positional information of target point preset in step 1) is adopted to land.
The present invention's advantage is compared with prior art:
1) image processing speed is effectively raised.The representative value of processing time before inapplicable this method through experimental test (adopting DSP6701 processor) single image is 7s, is 2s after adopting this method.
2) ensure that the reliability of result.Because have employed the method for computer for controlling to the result comparison of 2 pattern process computers, ensure that abnormal results can detect can reject.
Accompanying drawing explanation
The process flow diagram of Fig. 1 fast image processing method;
The topological diagram of Fig. 2 equipment interface relation.
Embodiment
Below in conjunction with Fig. 1, Fig. 2, the inventive method is described further.
1) positional information of preset target point in detector computer for controlling; Two pattern process computers walk abreast reception by the landing chart picture becoming image sensor to send; The original state of two described pattern process computers arranges and is use chip external memory;
2) two pattern process computer process image command that pick-up probe computer for controlling sends the t0 moment while, and in opening sheet, cache memory processes the landing chart picture that step 1) receives; Timer is set simultaneously and triggers computing machine interruption in t0+ Δ t; Wherein Δ t is the time that the image procossing of touch-down zone in-orbit obtained according to ground test case needs;
3) two pattern process computers all receive timer interruption in t0+ Δ t, and cache memory cache in Closure panel;
4) processing result image of two pattern process computers is compared; If the processing result image of two pattern process computers is consistent, then processing result image is adopted to carry out landing and terminating; If the processing result image of two pattern process computers is inconsistent, then enter step 5); Described processing result image is landing point of safes position;
5) detector computer for controlling initiates image processing commands again to two pattern process computers, and repeat step 2) ~ step 4), if the processing result image of two pattern process computers is still inconsistent, then the positional information of target point preset in step 1) is adopted to land.
Because according to test findings, because image processing time after have employed cache shortens (being reduced to 2s from 7s) greatly, even if carry out secondary treating, required time does not more use the situation of cache short yet.And space single particle effect belongs to accidental probabilistic event, according to list of references 1:SingleEventUpsetCharacterizationoftheSMJ320C6701Digita lSignalProcessorUsingProtonIrradiation, IEEERadiationEffectsDataWorkshop, July, 2005, p42-45, the probability that can obtain occurring in 2s single-particle inversion is 10
-6.The possibility all occurred in twice image processing time is almost 0.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (1)
1. be applicable to a fast image processing method for soft landing process and space environment, it is characterized in that step is as follows:
1) positional information of preset target point in detector computer for controlling; Two pattern process computers walk abreast reception by the landing chart picture becoming image sensor to send; The original state of two described pattern process computers arranges and is use chip external memory;
2) two pattern process computers are at the t0 moment process image command that send of pick-up probe computer for controlling simultaneously, and in opening sheet cache memory to step 1) the landing chart picture that receives processes; Arrange timer to interrupt at t0+ △ t trigger image process computer simultaneously; Wherein △ t is the time that the image procossing of touch-down zone in-orbit obtained according to ground test case needs;
3) two pattern process computers all receive timer interruption in t0+ △ t, and cache memory in Closure panel;
4) processing result image of two pattern process computers is compared; If the processing result image of two pattern process computers is consistent, then processing result image is adopted to carry out landing and terminating; If the processing result image of two pattern process computers is inconsistent, then enter step 5); Described processing result image is landing point of safes position;
5) detector computer for controlling initiates image processing commands again to two pattern process computers, and repeat step 2) ~ step 4), if the processing result image of two pattern process computers is still inconsistent, then adopt step 1) in the positional information of preset target point land.
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| US7967255B2 (en) * | 2006-07-27 | 2011-06-28 | Raytheon Company | Autonomous space flight system and planetary lander for executing a discrete landing sequence to remove unknown navigation error, perform hazard avoidance and relocate the lander and method |
| CN102541608A (en) * | 2011-12-29 | 2012-07-04 | 北京控制工程研究所 | Data storage and injection module and method for star sensor |
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| US7967255B2 (en) * | 2006-07-27 | 2011-06-28 | Raytheon Company | Autonomous space flight system and planetary lander for executing a discrete landing sequence to remove unknown navigation error, perform hazard avoidance and relocate the lander and method |
| CN101122780A (en) * | 2007-09-04 | 2008-02-13 | 北京控制工程研究所 | Half-physical emulation test system for controlling and guiding, navigating and controlling soft landing for moon |
| CN101762273A (en) * | 2010-02-01 | 2010-06-30 | 北京理工大学 | Autonomous optical navigation method for soft landing for deep space probe |
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