CN105376493A - Image data based intra-orbit space camera focusing method and focusing system thereof - Google Patents
Image data based intra-orbit space camera focusing method and focusing system thereof Download PDFInfo
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Abstract
The invention provides an image data based intra-orbit space camera focusing method and focusing system thereof. The focusing system comprises a data processing unit (1), a focusing coder (2), a system controller (3) and a focusing execution unit (4). According to the image restoration theory of phase difference, determination of defocusing amount of a camera optical system is simplified, and ground crews are prevented from interpretating whether the camera optical system defocuses proactively. The optical design and a phase difference image restoration algorithm are integrated organically, so that a series of key space camera focusing technological problems and difficulties are solved. The image data based intra-orbit space camera focusing system has characteristics of high detection accuracy, low measurement cost, good stability and wide application range, and is particularly suitable for intra-orbit space camera focusing.
Description
Technical field
The present invention relates to Aviation maintenance focusing control technology field, specifically provide a kind of method based on camera focusing in the rail space of view data and focusing system thereof.
Background technology
In recent years, space technology development is very fast, and the application of spaceborne space camera is more and more extensive, the mission critical of space camera is the image obtaining and provide complete display, and want the image obtaining high definition, when camera is made a video recording, ground scenery should be imaged on the photosurface of CCD exactly.But along with the development of science and technology, under the launch environment and space environment of harshness the reliability of space camera and required precision more and more higher, camera space can be subject to vibratory impulse in transport and emission process, operation on orbit time space temperature is complicated and changeable, space gravity field is the microgravity environment being different from earth surface, these factors all may cause the imaging surface of camera not overlap with focal plane, namely produce out of focus in various degree, thus cause image quality to decline.
For ensureing camera imaging quality, require that camera has good adaptability to environmental factor change, when carrying out optical system, support structure and electronic control to camera, need to add focus adjusting mechanism in camera system, adopt corresponding focus adjusting mechanism to finely tune the position of image formation by rays in optical system, compensate the defocusing amount of CCD, make substar target accurate imaging on CCD photosurface, to revise this out of focus, the focusing of focus adjusting mechanism measures that the requirement of environmentally condition and control precision determines, thus makes phase function obtain the image of high definition.In addition, adopt space focusing, also can relax the requirement to each optical mirror installation site of optical system and accuracy thereof, be conducive to optical sensor and reliably work under rugged environment.
Traditional focal plane system needs auto-collimation focusing test light signal as reference light to calculate defocusing amount, can only realize on the ground, and the focal plane adjustment of space camera judges camera whether out of focus by ground staff in-orbit, and estimate the defocusing amount of camera, by Satellite Payloads data processing unit, the defocusing amount of camera and focusing control command are transferred to Focusing Control System, by Focusing Control System, camera focal plane are adjusted to best camera position.Shortcoming is that the judgement of camera out of focus is complicated, needs ground staff's interpretation, has certain subjectivity, easily cause error.
Therefore, a kind of novel space camera being in-orbit easy to operate inspection focusing system is developed imperative.
Summary of the invention
Given this, the object of the present invention is to provide a kind of method based on camera focusing in the rail space of view data and focusing system thereof, need ground staff to carry out the interpretation of camera focal plane whether out of focus with the focusing system at least solved in the past, there is subjectivity, easily cause the problems such as error.
One aspect of the present invention provides a kind of method based on camera focusing in the rail space of view data, it is characterized in that, comprising:
Obtain camera under the different out-of-focus appearance of same position, two width images of shooting;
According to above-mentioned two width images, calculate and obtain encoder values corresponding to described camera optimal focal plane position;
Obtain the encoder values that the current position of focal plane of described camera is corresponding;
According to the error between the encoder values that the encoder values that described current position of focal plane is corresponding is corresponding with described optimal focal plane position, carry out corresponding focus operations.
Preferably, the error between the encoder values that the described encoder values corresponding according to described current position of focal plane is corresponding with described optimal focal plane position, carry out corresponding focus operations and comprise:
Error between the encoder values corresponding with described optimal focal plane position by encoder values corresponding for described current position of focal plane compares with threshold value;
When described error is less than or equal to threshold value, without the need to starting focusing motor;
When described error is greater than threshold value, according to the encoder values that the encoder values that described current position of focal plane is corresponding is corresponding with described optimal focal plane position, calculate the operation step number and traffic direction that obtain focusing motor, carry out focus operations.
Further preferably, the encoder values that the described encoder values corresponding according to described current position of focal plane is corresponding with described optimal focal plane position, calculating obtains the focusing operation step number of motor and the computing formula of traffic direction is:
N＝(A-A
1)×K
1×M÷θ
Wherein, N is the operation step number of focusing motor; A is encoder values corresponding to optimal focal plane position; A
1for the encoder values that focal plane current location is corresponding; K
1for the conversion coefficient of encoder encodes device value variable quantity and encoder angular variable quantity; M is focusing motor and encoder speed ratio; θ is that motor often walks rotational angle; A-A
0symbol represent focusing motor traffic direction.
Further preferably, described according to above-mentioned two width images, calculate the encoder values obtaining described camera optimal focal plane position corresponding and comprise:
According to described two width images, utilize phase difference method to calculate and obtain defocusing amount;
Calculate according to described defocusing amount and obtain optimal focal plane position;
Encoder values corresponding to optimal focal plane position is obtained according to described optimal focal plane position calculation.
Further preferably, the described computing formula obtaining optimal focal plane position according to described defocusing amount calculating is:
S＝K
4×α
4
Wherein, S is optimal focal plane position, and unit is μm; K
4for the conversion coefficient between zernike coefficient and optimal focal plane position; α
4be the Section 4 in one group of zernike coefficient, i.e. defocusing amount.
Further preferably, the computing formula of the described encoder values corresponding according to described optimal focal plane position calculation acquisition optimal focal plane position is:
A＝A
0+(S-S
0)×K
2×K
3
Wherein, A is encoder values corresponding to optimal focal plane position; A
0for the encoder values that focal plane dead-center position is corresponding; S is optimal focal plane position, and unit is μm; S
0for focal plane dead-center position, unit is μm; K
2for the conversion coefficient of position of focal plane variable quantity and encoder angular variable quantity; K
3for the conversion coefficient of encoder angular variable quantity and encoder code value variable quantity; S-S
0symbol represent the direction of optimal focal plane position phase focusing plane dead-center position.
The present invention additionally provides a kind of based on camera focusing system in the rail space of view data on the other hand, it is characterized in that, comprising:
Data processing unit 1, for receiving described camera under the different out-of-focus appearance of same position, taking two width photographic images of same object, and calculating encoder values corresponding to described camera optimal focal plane position according to the two width photographic images received;
Focusing encoder 2, for obtaining encoder values corresponding to the current position of focal plane of described camera;
System controller 3, be connected with described data processing unit 1 and described focusing encoder 2 respectively, for receiving encoder values corresponding to encoder values corresponding to camera optimal focal plane position that described data processing unit 1 sends and the current position of focal plane of camera that described focusing encoder 2 sends, and calculate according to encoder values corresponding to encoder values corresponding to described camera optimal focal plane position and the current position of focal plane of described camera and obtain focusing information;
Focusing performance element 4, is connected with described system controller 3, for receiving the focusing information that described system controller 3 sends, and carries out the focal plane adjustment of described camera according to described focusing information.
Preferably, described focusing performance element 4 comprises:
Focusing motor 41, is connected with described system controller 3;
Focus adjusting mechanism 42, is connected with described focusing motor 41, and carries out focus operations by described focusing motor 41 driving.
Further preferably, described data processing unit 1 comprises:
Defocusing amount computing unit 11, for receiving described camera under the different out-of-focus appearance of same position, takes two width photographic images of same object, and utilizes phase difference method to calculate acquisition defocusing amount;
Optimal focal plane position calculation unit 12, is connected with described defocusing amount computing unit 11, for receiving the defocusing amount that described defocusing amount computing unit 11 sends, and calculates the optimal focal plane position obtaining described camera according to described defocusing amount;
Encoder values computing unit 13, be connected with described optimal focal plane position calculation unit 12, for receiving the optimal focal plane position that described optimal focal plane position calculation unit 12 sends, and obtain encoder values corresponding to described camera optimal focal plane position according to described optimal focal plane position calculation.
Method based on camera focusing in the rail space of view data provided by the invention and focusing system thereof, adopt the image restoration of phase difference theoretical, simplify the judgement to camera optical system defocusing amount, avoid by ground staff's initiatively interpretation camera optical system whether out of focus.Optical design and phase difference Image Restoration Algorithm are organically blended, solves a series of key problem in technology and the difficult point of space camera inspection focusing.
The method of camera focusing in the rail space of view data provided by the invention and focusing system thereof, greatly reduce the complexity of space camera equipment, testing time and cost, and measure the expense of required corollary equipment, focus adjustment method provided by the invention and focusing system without any need for additional focusing test equipment, have accuracy of detection high, measure that cost is low, good stability and application advantage widely.
Accompanying drawing explanation
Fig. 1 is the method flow diagram of camera focusing in the rail space based on view data;
Fig. 2 is the flow chart utilizing phase difference method to calculate defocusing amount;
Fig. 3 is the module map of camera focusing system in the rail space based on view data;
Fig. 4 is the module map of data processing unit.
Embodiment
With specific embodiment, the present invention is further expalined below, but is not limited to protection scope of the present invention.
The preferred embodiments of the present invention provide a kind of method based on camera focusing in the rail space of view data, see Fig. 1:
(1) system controller (SMJ320C30) revolves round the sun lap time for periodic Control CCD camera collection aerial remote sensing images with satellite, and image transfer is entered data processing unit, data processing unit calculates defocusing amount according to phase difference method flow chart, optimal focal plane position is calculated according to defocusing amount, then the encoder values corresponding according to optimal focal plane position calculation camera optimal focal plane position;
(2) system controller carries out communication by serial communication protocol and focusing encoder, reading the corresponding encoder values in current position of focal plane (adopts 16 optical electric axial angle encoders as the side measuring device of focal plane, RS485 serial communication protocol is adopted between system controller and focusing encoder, baud rate is 62500Bps, serial communication signals is carried out difference by application DS26C31 and DS26C32 element, improves antijamming capability and the reliability of serial communication);
(3) according to the technical requirement (when defocusing amount is greater than 20um, focal plane needs adjustment) in system, if camera out of focus, perform step (4), if the non-out of focus of camera, return step (1).
(4) calculate focusing motor traffic direction and run step number (adopt stepping motor as the driving element of focus adjusting mechanism, control mode is four phase eight beat, and running frequency P is 1KHz);
(5) result that calculates according to step (4) of system controller, controls focusing motor and runs.
(6) after focusing motor end of run, again read the corresponding encoder values in current position of focal plane, and encoder values corresponding to optimal focal plane position compares, judge whether focal plane alignment error meets system requirements (encoder code value is not more than 10).
If error is discontented with pedal system requirement, return step (4), if error meets system requirements, return step (1).
Wherein, the concrete computational process being defocusing amount see Fig. 2 is:
1. respectively by two width image i
1, i
2carry out Fourier transform, obtain I
1, I
2;
2. normalized parameter pupil equation p (x, y)=1 is set, { α }
0=0;
3. set interrupt condition, usually with maximum iteration time or the longest iteration time as stopping criterion;
4. the point spread function of two width images is calculated
the wherein phase of Src Chan
1(x, y)=Z (α), the phase of out of focus passage
2(x, y)=Z (α) * (x
2+ y
2); Optical transfer function
5. according to formula
Calculating target function L ({ α }
t);
6. L-BGFS method is utilized to be optimized target function, search target function L ({ α }
t) minimum value;
7. one group of zernike coefficient { α } is obtained
testimated value, if do not meet interrupt condition, then return 4., otherwise export restoration result, i.e. one group of zernike polynomial coefficient, the Section 4 wherein in zernike polynomial coefficient represents defocusing amount.
Above-mentioned L-BFGS algorithm:
Step0: selected initial point
with initial symmetric positive definite matrix
setting search precision ε > 0 and finite memory number of times m, compute gradient g (x
0), and make k=0;
Step1: if || g (x
k) || < ε then algorithm stops, and obtains optimal solution x
k, otherwise, order
Step2: adopt inexact linear searching strategy determination step-length α
k, upgrade x
k+1=x
k+ α
kd
k, and compute gradient value g (x
k+1);
Step3: utilize initial value H
0or average information constructs
recycle formula (10) to carry out m+1 correction and obtain H
k+1,
Wherein, s
k=x
k+1-x
k, y
k=g (x
k+1)-g (x
k).
Step4: make k=k+1, turns Step1.
The computing formula calculating optimal focal plane position according to defocusing amount is:
S=K
4× α
4, wherein, K
4be 0.21, α
4for the Section 4 in above-mentioned zernike coefficient, i.e. defocusing amount.
Computing formula according to encoder values corresponding to optimal focal plane position calculation optimal focal plane position is:
A=A
0+ (S-S
0) × K
2× K
3, wherein, A
0for 8000H, S
0be 0, K
2be 0.045, K
3be 182.
The formula calculating focusing motor traffic direction and operation step number is:
N=(A-A
1) × K
1× M ÷ θ, wherein, K
1be 0.0055, M be 40, θ it is 0.9 °.
The focus adjustment method of the present embodiment simplifies the judgement to camera optical system out of focus, achieves automatic real-time judge, avoids and reach ground by under view data, by ground staff's interpretation camera optical system whether out of focus; Optical system defocusing compensation is timely, achieve automatic real-Time Compensation, eliminate down-transmitting data, judge camera out of focus, calculate defocusing amount, transmission defocusing amount and the process of order of focusing, avoid due to defocusing compensation not in time, the mistake not in optimum position after focal plane adjusts adjusts; Optical system defocusing compensation precision is high, can identify in time and compensate after camera optical system out of focus, and the closed loop realizing focal plane, stepping motor and encoder adjusts.
Of the present inventionly another preferred embodiment provides one based on camera focusing system in the rail space of view data, see Fig. 3, wherein in rail space, camera, for CCD camera, comprising:
Data processing unit 1, for receiving CCD camera under the different out-of-focus appearance of same position, taking two width photographic images of same object, and calculating encoder values corresponding to CCD camera optimal focal plane position according to the two width photographic images received;
Focusing encoder 2, for obtaining encoder values corresponding to the current position of focal plane of CCD camera;
System controller 3, SMJ320C30 can be selected to carry out communication by RS-485 serial communication protocol and focusing encoder 2, read the encoder values that the current position of focal plane of CCD camera is corresponding, system controller 3 is also connected with data processing unit 1, for reading encoder values corresponding to CCD camera optimal focal plane position, and calculate acquisition focusing information according to the coding that current position of focal plane correspondence is encoded and optimal focal plane position is corresponding;
Focusing performance element 4, is connected with system controller 3, for receiving the focusing information that described system controller 3 sends, and carries out the focal plane adjustment of described camera according to focusing information.
See focusing described in Fig. 3, performance element 4 comprises:
Focusing motor 41, is connected with system controller 3;
Focus adjusting mechanism 42, is connected with focusing motor 41, and carries out focus operations by the driving of focusing motor 41.
See Fig. 4, described data processing unit 1 comprises:
Defocusing amount computing unit 11, for receiving camera under the different out-of-focus appearance of same position, takes two width photographic images of same object, and utilizes phase difference method to calculate acquisition defocusing amount;
Optimal focal plane position calculation unit 12, is connected with defocusing amount computing unit 11, for receiving the defocusing amount that defocusing amount computing unit 11 sends, and calculates the optimal focal plane position obtaining camera according to defocusing amount;
Encoder values computing unit 13, is connected with optimal focal plane position calculation unit 12, for receiving the optimal focal plane position that optimal focal plane position calculation unit 12 sends, and obtains encoder values corresponding to camera optimal focal plane position according to optimal focal plane position calculation.
The specific works principle of this focusing system is: system controller controls CCD camera collection shooting aerial remote sensing images, and by image transfer in data processing unit, calculate the encoder values that CCD camera optimal focal plane position is corresponding, system controller carries out communication by RS-485 serial communication protocol and focusing encoder, read the encoder values that the current position of focal plane of CCD camera is corresponding, system controller calculates focusing motor operation step number and traffic direction according to the encoder values of the encoder values of current position of focal plane and optimal focal plane position, and control the operation of focusing motor, focusing motor drives focus adjusting mechanism to move, complete the adjustment of position of focal plane, whether system controller meets error requirements after judging focal plane adjustment by focusing encoder value, form the closed-loop control of focusing motor and focusing encoder.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (9)
1., based on a method for camera focusing in the rail space of view data, it is characterized in that, comprising:
Obtain camera under the different out-of-focus appearance of same position, two width images of shooting;
According to above-mentioned two width images, calculate and obtain encoder values corresponding to described camera optimal focal plane position;
Obtain the encoder values that the current position of focal plane of described camera is corresponding;
According to the error between the encoder values that the encoder values that described current position of focal plane is corresponding is corresponding with described optimal focal plane position, carry out corresponding focus operations.
2. according to described in claim 1 based on the focus adjustment method of camera in the rail space of view data, it is characterized in that, error between the encoder values that the described encoder values corresponding according to described current position of focal plane is corresponding with described optimal focal plane position, carry out corresponding focus operations and comprise:
Error between the encoder values corresponding with described optimal focal plane position by encoder values corresponding for described current position of focal plane compares with threshold value;
When described error is less than or equal to threshold value, without the need to starting focusing motor;
When described error is greater than threshold value, according to the encoder values that the encoder values that described current position of focal plane is corresponding is corresponding with described optimal focal plane position, calculate the operation step number and traffic direction that obtain focusing motor, carry out focus operations.
3. according to described in claim 2 based on the focus adjustment method of camera in the rail space of view data, it is characterized in that, the encoder values that the described encoder values corresponding according to described current position of focal plane is corresponding with described optimal focal plane position, calculating obtains the focusing operation step number of motor and the computing formula of traffic direction is:
N＝(A-A
1)×K
1×M÷θ
Wherein, N is the operation step number of focusing motor; A is encoder values corresponding to optimal focal plane position; A
1for the encoder values that focal plane current location is corresponding; K
1for the conversion coefficient of encoder encodes device value variable quantity and encoder angular variable quantity; M is focusing motor and encoder speed ratio; θ is that motor often walks rotational angle; A-A
0symbol represent focusing motor traffic direction.
4. according to described in claim 1 based on the focus adjustment method of camera in the rail space of view data, it is characterized in that, described according to above-mentioned two width images, calculate and obtain encoder values corresponding to described camera optimal focal plane position and comprise:
According to described two width images, utilize phase difference method to calculate and obtain defocusing amount;
Calculate according to described defocusing amount and obtain optimal focal plane position;
Encoder values corresponding to optimal focal plane position is obtained according to described optimal focal plane position calculation.
5. according to described in claim 4 based on the focus adjustment method of camera in the rail space of view data, it is characterized in that, describedly calculate according to described defocusing amount the computing formula obtaining optimal focal plane position and be:
S＝K
4×α
4
Wherein, S is optimal focal plane position, and unit is μm; K
4for the conversion coefficient between zernike coefficient and optimal focal plane position; α
4be the Section 4 in one group of zernike coefficient, i.e. defocusing amount.
6. according to described in claim 4 based on the focus adjustment method of camera in the rail space of view data, it is characterized in that, the described computing formula obtaining encoder values corresponding to optimal focal plane position according to described optimal focal plane position calculation is:
A＝A
0+(S-S
0)×K
2×K
3
Wherein, A is encoder values corresponding to optimal focal plane position; A
0for the encoder values that focal plane dead-center position is corresponding; S is optimal focal plane position, and unit is μm; S
0for focal plane dead-center position, unit is μm; K
2for the conversion coefficient of position of focal plane variable quantity and encoder angular variable quantity; K
3for the conversion coefficient of encoder angular variable quantity and encoder code value variable quantity; S-S
0symbol represent the direction of optimal focal plane position phase focusing plane dead-center position.
7., based on a camera focusing system in the rail space of view data, it is characterized in that, comprising:
Data processing unit (1), for receiving described camera under the different out-of-focus appearance of same position, take two width photographic images of same object, and calculate encoder values corresponding to described camera optimal focal plane position according to the two width photographic images received;
Focusing encoder (2), for obtaining encoder values corresponding to the current position of focal plane of described camera;
System controller (3), be connected with described data processing unit (1) and described focusing encoder (2) respectively, for receiving encoder values corresponding to the current position of focal plane of camera that encoder values corresponding to camera optimal focal plane position that described data processing unit (1) sends and described focusing encoder (2) send, and calculate according to encoder values corresponding to encoder values corresponding to described camera optimal focal plane position and the current position of focal plane of described camera and obtain focusing information;
Focusing performance element (4), is connected with described system controller (3), for receiving the focusing information that described system controller (3) sends, and carries out the focal plane adjustment of described camera according to described focusing information.
8. according to described in claim 7 based on camera focusing system in the rail space of view data, it is characterized in that, described focusing performance element (4) comprising:
Focusing motor (41), is connected with described system controller (3);
Focus adjusting mechanism (42), is connected with described focusing motor (41), and carries out focus operations by the driving of described focusing motor (41).
9. according to described in claim 7 based on camera focusing system in the rail space of view data, it is characterized in that, described data processing unit (1) comprising:
Defocusing amount computing unit (11), for receiving described camera under the different out-of-focus appearance of same position, takes two width photographic images of same object, and utilizes phase difference method to calculate acquisition defocusing amount;
Optimal focal plane position calculation unit (12), be connected with described defocusing amount computing unit (11), for receiving the defocusing amount that described defocusing amount computing unit (11) sends, and calculate the optimal focal plane position obtaining described camera according to described defocusing amount;
Encoder values computing unit (13), be connected with described optimal focal plane position calculation unit (12), for receiving the optimal focal plane position that described optimal focal plane position calculation unit (12) sends, and obtain encoder values corresponding to described camera optimal focal plane position according to described optimal focal plane position calculation.
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