CN103776427B - A kind of optimum configurations and method of adjustment being applied to tridimensional mapping camera - Google Patents

Abstract

The invention discloses a kind of optimum configurations and the method for adjustment that are applied to tridimensional mapping camera, the present invention have studied the three-dimensional imaging model of three line scanner mapping camera, lower three cameras of different image-forming condition are provided to the difference of entrance pupil spoke brightness during same target imaging according to the mounting means of different cameral and satellite orbit parameter, and the difference of combining camera real response degree and in-orbit integral time gives the output response difference of three cameras, thus the imaging parameters achieved by arranging a camera (facing camera) adjusts other two cameras in real time.The Dynamic Matching that The present invention gives camera imaging parameter under different latitude is arranged, and improves the radiation quality of stereopsis.

Description

A kind of optimum configurations and method of adjustment being applied to tridimensional mapping camera

Technical field

The present invention relates to a kind of optimum configurations and the method for adjustment that are applied to tridimensional mapping camera, belong to space flight optical remote sensor applied technical field.

Background technology

Space survey technology is the important component part of space flight earth observation imaging technique, be very important class imaging observation satellite over the ground, and develop into the important component part of modern war fight capability gradually from the important component part of military combat space flight security system.In civilian technical field of mapping, space survey technology is also the efficient surveying and mapping technology means of a kind of modernization.

Mapping camera is the important useful load on cartographic satellite, camera is measured with the CCD of push-scanning image, receive concern general in the world, be divided three classes according to CCD camera array mode is different and photogrammetry principles is different: single linear CCD camera, spaceborne twin-line array measures camera and three-linear array CCD tridimensional mapping camera.

Three line scanner mapping camera comprise vertical imaging over the ground face camera, the forward sight camera of the imaging that turns forward and tilt backwards the rear view camera of imaging.Each camera carries complete optical imaging system, independently works.In the orbital motion of satellite platform, forward sight camera, face camera and rear view camera a period of time of being separated by and successively imaging is sighted to target area, obtain the superimposed image in this region.Along with the development of surveying and mapping technology, more and more higher requirement is proposed to the radiation of superimposed image and geometrical property.In order to ensure that three cameras are to the consistance of the radiation characteristic of same target imaging, need the imaging parameters of in good time adjustment camera, reach high-precision images match ability.

The orbit parameter of satellite is only considered in the calculating of current sun altitude, namely the sun altitude of the moonscope obtained is camera, and cartographic satellite generally has several cameras, and the mounting means of different cameral on satellite is inconsistent, cause different cameral all different with observation angle to imaging moment during same target imaging, the difference of this observation condition can cause the change in propagation in atmosphere path, thus affects the entrance pupil spoke brightness before same target arrival different cameral.

Summary of the invention

Technology of the present invention is dealt with problems and is: overcome the deficiencies in the prior art, propose a kind of optimum configurations and the method for adjustment that are applied to tridimensional mapping camera, lower three cameras of different image-forming condition are provided to the difference of entrance pupil spoke brightness during same target imaging according to the mounting means of different cameral and satellite orbit parameter, and the difference of combining camera real response degree and in-orbit integral time gives the output response difference of three cameras, thus the imaging parameters achieved by arranging a camera adjusts other two cameras in real time and then reaches the consistance of measurement.

Technical scheme of the present invention is:

Be applied to optimum configurations and the method for adjustment of tridimensional mapping camera, comprise step as follows:

1) sun altitude, solar azimuth, camera observed azimuth and camera observed altitude angle is determined; Described sun altitude is the angle between the line of the sun and terrain object and the normal plane crossing terrain object; Described solar azimuth is the angle line projection line at the earth's surface of the sun and terrain object and earth surface being crossed the positive northern bit line of terrain object; Described camera observed azimuth represents the projection of the line of camera and terrain object on ground and the angle of direct north; Described camera observed altitude angle represents camera angle to the earth's axis vertical with satellite;

2) according to declination angle ω and the solar hour angle t of current tridimensional mapping camera imaging moment, the sun altitude h every 10 ° in latitude scope [-90 °, 90 °] is calculated _s;

3) according to the sun altitude h calculated in step (2) _sand the solar azimuth ψ under declination angle ω and solar hour angle t calculating different latitude _s;

4) the observed altitude angle h every 10 ° of lower different cameral in latitude scope [-90 °, 90 °] is calculated according to the optical axis vector of three cameras on cartographic satellite (forward sight camera, rear view camera and face camera) and the inclinometer of satellite orbit _vwith observed azimuth ψ _v;

5) add up satellite image, obtained the real reflectance of terrain object under the Spring Equinox, the Summer Solstice, the Autumnal Equinox and Winter Solstice four typical solar term by image inverting;

6) according to sun altitude h _s, solar azimuth ψ _s, camera observed altitude angle h _v, camera observed azimuth ψ _vand the real reflectance ρ of terrain object that step 5) calculates, the entrance pupil spoke brightness L of every platform camera under calculating different target reflectivity, thus obtain the spoke luminance difference between different imaging moment three cameras;

7) determine that three cameras are in identical spoke brightness and the responsiveness difference under identical camera parameter, according to integrating sphere radiation calibration data, extract the calibration data of three cameras under identical imaging parameters, draw the responsiveness difference of different cameral under identical spoke brightness;

8) calculate to face camera for benchmark, front-and rear-view camera with face the relativeness that camera exports in the response of arbitrary imaging moment; The relativeness defining method that described response exports is as follows:

A) front-and rear-view camera is obtained relative to the spoke luminance difference facing camera according to step 6);

B) front-and rear-view camera is obtained relative to the responsiveness difference facing camera according to step 7);

C) front-and rear-view camera is obtained the integral time calculated in real time according to GPS relative to difference integral time facing camera;

D) carry out that accumulating is multiplied and obtain by step a), b) with spoke luminance difference c) obtained, responsiveness difference and difference integral time the relativeness that final response exports;

9) the absolute calibration coefficient obtained according to integrating sphere radiation calibration data determines that different imaging moment faces the imaging parameters of camera, then adjust according to the imaging parameters of relativeness to front-and rear-view camera of step 8), principle is also first adjust TDI(Time Delay Integration) progression, then adjust camera gain.

Described step 2) sun altitude h _sspecific formula for calculation be:

sin h _s=cosΦcosωcost+sinΦsinω

$h_s=\arcsin \left\{\cos \mathrm{\Φ}\cos \right[23.5\sin \left(\frac{t}{365}\right)]\cos t+\sin \mathrm{\Φ}\sin [23.5\sin \left(\frac{t}{365}\right)\left]\right\};$

Wherein t ∈ [0,131400], during from 1 day 0, when end time is the 365th day 24, within every 24 hours, t has changed 360 °, and Φ is expressed as latitude.

The solar azimuth ψ of described step 3) _sspecific formula for calculation be:

${\mathrm{\&psi;}}_s=\left\{\begin{array}{c}360-\arccos \left[\frac{\sin h_s\sin \mathrm{\&omega;}-\sin \left(23.5\sin \left(\frac{t}{365}\right)\right)}{\cos h_s\cos \mathrm{\&omega;}}\right]360k<t<360k+180\\ \arccos \left[\frac{\sin h_s\sin \mathrm{\&omega;}-\sin \left(23.5\sin \left(\frac{t}{365}\right)\right)}{\cos h_s\cos \mathrm{\&omega;}}\right]360k+180\&le;t<360k+360\end{array}\right.$

Wherein k be 0,1,2 ..., 364.

The camera observed altitude angle h of described step 4) _vwith camera observed azimuth Ψ _vspecific formula for calculation be: forward sight camera and the intersection angle faced between camera are φ ₁, rear view camera and the intersection angle faced between camera are φ ₂, the side-sway angle of satellite is θ (θ >0 represents that θ <0 represents side-sway westerly toward east side pendulum), and orbit inclination is δ, then the observed altitude angle h of three cameras _vbe respectively:

Forward sight camera: arccos (cos φ ₁cos θ)

Face camera: θ

Rear view camera: arccos (cos φ ₂cos θ)

The observed azimuth ψ of camera _vfor:

Forward sight camera: $\left\{\begin{array}{cc}180-\arccos \left(\frac{\sin \mathrm{\&theta;}\cos {\mathrm{\&phi;}}_1}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;\cos {\mathrm{\&phi;}}_1)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \mathrm{\&delta;}-\arccos \left(\frac{\sin \mathrm{\&theta;}\cos {\mathrm{\&phi;}}_1}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;\cos {\mathrm{\&phi;}}_1)}^2}}\right)& \mathrm{\&theta;}<0\end{array}\right.$

Face camera: $\left\{\begin{array}{cc}180+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \mathrm{\&delta;}& \mathrm{\&theta;}<0\end{array}\right.$

Rear view camera: $\left\{\begin{array}{cc}180+\arccos \left(\frac{\sin \mathrm{\&theta;}\cos {\mathrm{\&phi;}}_2}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;\cos {\mathrm{\&phi;}}_2)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \arccos \left(\frac{\sin \mathrm{\&theta;}\cos {\mathrm{\&phi;}}_2}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;\cos {\mathrm{\&phi;}}_2)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}<0\end{array}\right.$

It is wherein 0 ° with direct north.

The absolute calibration coefficient of described step 9) is determined with imaging parameters method of adjustment as follows:

A) first calculate that TDI progression is 1 grade according to integrating sphere radiation calibration data, reference gain and the absolute calibration coefficient k 0 under acquiescence integral time and b0;

B) according to the real-time integral time calculated and the ratio q giving tacit consent to integral time obtain the absolute calibration coefficient k 1=q*k0 under the current integration time in-orbit;

C) corresponding according to entrance pupil spoke brightness 80% Saturated output facing camera absolute calibration coefficient k 2;

D) select suitable TDI progression N according to the size of k2/k1, N must be less than or equal to k2/k1, then by adjusting gain meet the requirement of absolute calibration coefficient.

The present invention's advantage is compared with prior art:

(1) The present invention gives the model of three-dimensional imaging accurately of three line scanner mapping camera, consider sun altitude and position angle, camera heights angle and azimuthal combined influence when the brightness of calculating entrance pupil spoke.

(2) the invention provides the capacity volume variance of three cameras under different image-forming condition and corresponding parameter adjustment scheme, ensure that the consistance of the radiation characteristic of different cameral image output.

(3) the present invention proposes the method to set up of imaging parameters in-orbit of three-linear array stereo mapping camera first, can directly apply to the use in-orbit of tridimensional mapping camera, to guarantee image quality, also can be used for the camera of follow-up motor-driven imaging.

(4) the imaging parameters optimization method in-orbit of the TDICCD camera of the present invention's employing, software simulating is convenient, is easy to adopt Mat lab or C to realize.

Accompanying drawing illustrates:

Fig. 1 be tridimensional mapping camera of the present invention in-orbit imaging parameters adjustment process flow diagram;

Fig. 2 is the schematic diagram of elevation angle of the present invention and position angle definition;

Fig. 3 is the schematic diagram of tridimensional mapping camera observation angle of the present invention.

Embodiment

Structure of the present invention composition and principle of work is further illustrated below in conjunction with accompanying drawing.

As shown in Figure 1, the present invention a kind of be applied to tridimensional mapping camera optimum configurations and the method step of method of adjustment as follows:

1) sun altitude, solar azimuth, camera observed azimuth and camera observed altitude angle is determined; Described sun altitude is the angle between the line of the sun and terrain object and the normal plane crossing terrain object; Described solar azimuth is the angle line projection line at the earth's surface of the sun and terrain object and earth surface being crossed the positive northern bit line of terrain object; Described camera observed azimuth represents the projection of the line of camera and terrain object on ground and the angle of direct north; Described camera observed altitude angle represents camera angle to the earth's axis vertical with satellite;

Be the direction schematic diagram of sunlight during the P imaging on a surface target of forward sight camera as shown in Figure 2,3, h _srepresenting sun altitude, is the angle between the line of the sun (being considered as a particle) and earth surface any point P and the normal plane crossing P point; ψ _srepresent solar azimuth, refer to that the line of the sun and earth surface P point crosses the angle (unified during computer azimuth angle is 0 ° with direct north, takes a round counterclockwise westerly just from 0 ° to 360 ° from north) of the positive northern bit line of P point on the projection line and ground surface of the earth surface of mistake P point.Sun altitude and position angle characterize the parameter of position of sun, determine sunlight for earth surface any point come to; ψ _v1be the observed azimuth of forward sight camera, represent the projection of line on ground and the angle of direct north of forward sight camera and impact point, h _v1expression forward sight camera and the over the ground angle of optical axis and the observed altitude angle of camera.

2) according to declination angle ω and the solar hour angle t of current tridimensional mapping camera imaging moment, the sun altitude h every 10 ° in latitude scope [-90 °, 90 °] is calculated _s;

Sun altitude h _sspecific formula for calculation be:

sin h _s=cosΦcosωcost+sinΦsinω

$h_s=\arcsin \left\{\cos \mathrm{\&Phi;}\cos \right[23.5\sin \left(\frac{t}{365}\right)]\cos t+\sin \mathrm{\&Phi;}\sin [23.5\sin \left(\frac{t}{365}\right)\left]\right\};$

Wherein t ∈ [0,131400], during from 1 day 0, when end time is the 365th day 24, within every 24 hours, t has changed 360 °, and Φ is expressed as latitude.

3) according to the sun altitude h calculated in step (2) _sand the solar azimuth ψ under declination angle ω and solar hour angle t calculating different latitude _s;

Solar azimuth ψ _sspecific formula for calculation be:

${\mathrm{\&psi;}}_s=\left\{\begin{array}{c}360-\arccos \left[\frac{\sin h_s\sin \mathrm{\&omega;}-\sin \left(23.5\sin \left(\frac{t}{365}\right)\right)}{\cos h_s\cos \mathrm{\&omega;}}\right]360k<t<360k+180\\ \arccos \left[\frac{\sin h_s\sin \mathrm{\&omega;}-\sin \left(23.5\sin \left(\frac{t}{365}\right)\right)}{\cos h_s\cos \mathrm{\&omega;}}\right]360k+180\&le;t<360k+360\end{array}\right.$

Wherein k be 0,1,2 ..., 364.

4) the observed altitude angle h every 10 ° of lower different cameral in latitude scope [-90 °, 90 °] is calculated according to the optical axis vector of three cameras on cartographic satellite (forward sight camera, rear view camera and face camera) and the inclinometer of satellite orbit _vwith observed azimuth ψ _v;

Camera observed altitude angle h _vwith camera observed azimuth Ψ _vspecific formula for calculation be: forward sight camera and the intersection angle faced between camera are φ ₁, rear view camera and the intersection angle faced between camera are φ ₂, the side-sway angle of satellite is θ (θ >0 represents that θ <0 represents side-sway westerly toward east side pendulum), and orbit inclination is δ, then the observed altitude angle h of three cameras _vbe respectively:

Forward sight camera: arccos (cos φ ₁cos θ)

Face camera: θ

Rear view camera: arccos (cos φ ₂cos θ)

The observed azimuth ψ of camera _vfor:

Forward sight camera: $\left\{\begin{array}{cc}180-\arccos \left(\frac{\sin \mathrm{\&theta;}\cos {\mathrm{\&phi;}}_1}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;\cos {\mathrm{\&phi;}}_1)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \mathrm{\&delta;}-\arccos \left(\frac{\sin \mathrm{\&theta;}\cos {\mathrm{\&phi;}}_1}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;\cos {\mathrm{\&phi;}}_1)}^2}}\right)& \mathrm{\&theta;}<0\end{array}\right.$

Face camera: $\left\{\begin{array}{cc}180+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \mathrm{\&delta;}& \mathrm{\&theta;}<0\end{array}\right.$

Rear view camera: $\left\{\begin{array}{cc}180+\arccos \left(\frac{\sin \mathrm{\&theta;}\cos {\mathrm{\&phi;}}_2}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;\cos {\mathrm{\&phi;}}_2)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \arccos \left(\frac{\sin \mathrm{\&theta;}\cos {\mathrm{\&phi;}}_2}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;\cos {\mathrm{\&phi;}}_2)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}<0\end{array}\right.$

It is wherein 0 ° with direct north.

5) add up satellite image, obtained the real reflectance of terrain object under the Spring Equinox, the Summer Solstice, the Autumnal Equinox and Winter Solstice four typical solar term by image inverting;

6) according to sun altitude h _s, solar azimuth ψ _s, camera observed altitude angle h _v, camera observed azimuth ψ _vand the real reflectance ρ of terrain object that step 5) calculates, the entrance pupil spoke brightness L of every platform camera under calculating different target reflectivity, thus obtain the spoke luminance difference between different imaging moment three cameras;

7) determine that three cameras are in identical spoke brightness and the responsiveness difference under identical camera parameter, according to integrating sphere radiation calibration data, extract the calibration data of three cameras under identical imaging parameters, draw the responsiveness difference of different cameral under identical spoke brightness;

8) calculate to face camera for benchmark, front-and rear-view camera with face the relativeness that camera exports in the response of arbitrary imaging moment; The relativeness defining method that described response exports is as follows:

A) front-and rear-view camera is obtained relative to the spoke luminance difference facing camera according to step 6);

B) front-and rear-view camera is obtained relative to the responsiveness difference facing camera according to step 7);

C) front-and rear-view camera is obtained the integral time calculated in real time according to GPS relative to difference integral time facing camera;

D) carry out that accumulating is multiplied and obtain by step a), b) with spoke luminance difference c) obtained, responsiveness difference and difference integral time the relativeness that final response exports;

9) the absolute calibration coefficient obtained according to integrating sphere radiation calibration data determines that different imaging moment faces the imaging parameters of camera, then adjust according to the imaging parameters of relativeness to front-and rear-view camera of step 8), principle is also first adjust TDI(Time Delay Integration) progression, then adjust camera gain;

Absolute calibration coefficient is determined with imaging parameters method of adjustment as follows:

A) first calculate that TDI progression is 1 grade according to integrating sphere radiation calibration data, the b0 of reference gain (namely 1 couple of simulating signal 1:1 quantizes) and the absolute calibration coefficient k 0 given tacit consent under integral time and b0(mapping camera is generally smaller, can not consider in calculating below);

B) according to the real-time integral time calculated and the ratio q giving tacit consent to integral time obtain the absolute calibration coefficient k 1=q*k0 under the current integration time in-orbit;

C) corresponding according to entrance pupil spoke brightness 80% Saturated output facing camera absolute calibration coefficient k 2;

D) select suitable TDI progression N according to the size of k2/k1, N must be less than or equal to k2/k1(and meet as far as possible close to k2/k1), then by adjusting gain meet the requirement of absolute calibration coefficient (in gain in unappeasable situation, then regulate gain absolute calibration system is determined according to demand).

The content be not described in detail in instructions of the present invention belongs to the known technology of those skilled in the art.

Claims (5)

1. be applied to optimum configurations and the method for adjustment of tridimensional mapping camera, it is characterized in that step is as follows:

1) sun altitude, solar azimuth, camera observed azimuth and camera observed altitude angle is determined; Described sun altitude is the angle between the line of the sun and terrain object and the normal plane crossing terrain object; Described solar azimuth is the angle line projection line at the earth's surface of the sun and terrain object and earth surface being crossed the positive northern bit line of terrain object; Described camera observed azimuth represents the projection of the line of camera and terrain object on ground and the angle of direct north; Described camera observed altitude angle represents camera angle to the earth's axis vertical with satellite;

2) according to declination angle ω and the solar hour angle t of current tridimensional mapping camera imaging moment, the sun altitude h every 10 ° in latitude scope [-90 °, 90 °] is calculated _s;

3) according to step 2) in the sun altitude h that calculates _sand the solar azimuth ψ under declination angle ω and solar hour angle t calculating different latitude _s;

4) the observed altitude angle h every 10 ° of lower different cameral in latitude scope [-90 °, 90 °] is calculated according to the optical axis vector of three cameras on cartographic satellite and the inclinometer of satellite orbit _vwith observed azimuth ψ _v;

5) add up satellite image, obtained the real reflectance of terrain object under the Spring Equinox, the Summer Solstice, the Autumnal Equinox and Winter Solstice four typical solar term by image inverting;

6) according to sun altitude h _s, solar azimuth ψ _s, camera observed altitude angle h _v, camera observed azimuth ψ _vand step 5) the real reflectance ρ of terrain object that calculates, the entrance pupil spoke brightness L of every platform camera under calculating different target reflectivity, thus obtain the spoke luminance difference between different imaging moment three cameras;

7) determine that three cameras are in identical spoke brightness and the responsiveness difference under identical camera parameter, according to integrating sphere radiation calibration data, extract the calibration data of three cameras under identical imaging parameters, draw the responsiveness difference of different cameral under identical spoke brightness;

8) calculate to face camera for benchmark, front-and rear-view camera with face the relativeness that camera exports in the response of arbitrary imaging moment; The relativeness defining method that described response exports is as follows:

A) according to step 6) obtain front-and rear-view camera relative to the spoke luminance difference facing camera;

B) according to step 7) obtain front-and rear-view camera relative to the responsiveness difference facing camera;

C) front-and rear-view camera is obtained the integral time calculated in real time according to GPS relative to difference integral time facing camera;

D) spoke luminance difference step a), b) with c) obtained, responsiveness difference and difference integral time carry out that accumulating is multiplied and obtain the relativeness that final response exports;

9) the absolute calibration coefficient obtained according to integrating sphere radiation calibration data and then determine that different imaging moment faces the imaging parameters of camera, then according to step 8) the imaging parameters of relativeness to front-and rear-view camera adjust, principle is also first adjust TDI progression, then adjusts camera gain.

2. a kind of optimum configurations and method of adjustment being applied to tridimensional mapping camera according to claim 1, is characterized in that: described step 2) sun altitude h _sspecific formula for calculation be:

sin h _s＝cosΦcosωcost+sinΦsinω

$h_s=\arctan \{\cos \mathrm{\&Phi;}\cos \&lsqb;23.5\sin \left(\frac{t}{365}\right)\&rsqb;\cos t+\sin \mathrm{\&Phi;}\sin \&lsqb;23.5\sin \left(\frac{t}{365}\right)\&rsqb;\};$

Wherein t ∈ [0,131400], during from 1 day 0, when end time is the 365th day 24, within every 24 hours, t has changed 360 °, and Φ is expressed as latitude.

3. a kind of optimum configurations and method of adjustment being applied to tridimensional mapping camera according to claim 1, is characterized in that: described step 3) solar azimuth ψ _sspecific formula for calculation be:

${\mathrm{\&psi;}}_s=\left\{\begin{array}{c}360-\arccos \&lsqb;\frac{{\sinh }_{s}sin\mathrm{\&omega;}-sin\left(23.5sin\right(\frac{t}{365}))}{{\cosh }_{s}cos\mathrm{\&omega;}}\&rsqb;360k<t<360k+180\\ \arccos \&lsqb;\frac{{\sinh }_{s}sin\mathrm{\&omega;}-\sin \left(23.5\sin \right(\frac{t}{365}))}{{\cosh }_{s}cos\mathrm{\&omega;}}\&rsqb;360k+180\&le;t<360k+360\end{array}\right.$

Wherein k be 0,1,2 ..., 364.

4. a kind of optimum configurations and method of adjustment being applied to tridimensional mapping camera according to claim 1, is characterized in that: described step 4) camera observed altitude angle h _vwith camera observed azimuth ψ _vspecific formula for calculation be: forward sight camera and the intersection angle faced between camera are φ ₁, rear view camera and the intersection angle faced between camera are φ ₂, the side-sway angle of satellite is θ, and orbit inclination is δ, then the observed altitude angle h of three cameras _vbe respectively:

Forward sight camera: arccos (cos φ ₁cos θ)

Face camera: θ

Rear view camera: arccos (cos φ ₂cos θ)

The observed azimuth ψ of camera _vfor:

Forward sight camera: $\left\{\begin{array}{cc}180-\arccos \left(\frac{{\mathrm{sin\&theta;cos\&phi;}}_1}{\sqrt{1-{(cos\mathrm{\&theta;}\&CenterDot;{\mathrm{cos\&phi;}}_1)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \mathrm{\&delta;}-\arccos \left(\frac{{\mathrm{sin\&theta;cos\&phi;}}_1}{\sqrt{1-{(\cos \mathrm{\&theta;}\&CenterDot;{\mathrm{cos\&phi;}}_1)}^2}}\right)& \mathrm{\&theta;}<0\end{array}\right.$

Face camera: $\left\{\begin{array}{cc}180+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \mathrm{\&delta;}& \mathrm{\&theta;}<0\end{array}\right.$

Rear view camera: $\left\{\begin{array}{cc}180+\arccos \left(\frac{{\mathrm{sin\&theta;cos\&phi;}}_2}{\sqrt{1-{(cos\mathrm{\&theta;}\&CenterDot;{\mathrm{cos\&phi;}}_2)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}>0\\ \arccos \left(\frac{{\mathrm{sin\&theta;cos\&phi;}}_2}{\sqrt{1-{(cos\mathrm{\&theta;}\&CenterDot;{\mathrm{cos\&phi;}}_2)}^2}}\right)+\mathrm{\&delta;}& \mathrm{\&theta;}<0\end{array}\right.$

Be wherein 0 ° with direct north, θ >0 represents that θ <0 represents side-sway westerly toward east side pendulum.

5. a kind of optimum configurations and method of adjustment being applied to tridimensional mapping camera according to claim 1, is characterized in that: described step 9) absolute calibration coefficient determine with imaging parameters method of adjustment as follows:

A) the absolute calibration coefficient k 0 under first calculating reference gain, acquiescence integral time according to integrating sphere radiation calibration data and when TDI progression is 1 grade and b0, described reference gain is that the 1 couple of simulating signal 1:1 quantizes;

B) according to the real-time integral time calculated and the ratio q giving tacit consent to integral time obtain the absolute calibration coefficient k 1=q*k0 under the current integration time in-orbit;

C) corresponding according to entrance pupil spoke brightness 80% Saturated output facing camera absolute calibration coefficient k 2;

D) select suitable TDI progression N according to the size of k2/k1, N must be less than or equal to k2/k1, then by adjusting gain meet the requirement of absolute calibration coefficient.