CN105758400B - Fixed statellite imaging based navigation be registrated fixed star sensitivity thing parameter extracting method - Google Patents
Fixed statellite imaging based navigation be registrated fixed star sensitivity thing parameter extracting method Download PDFInfo
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- CN105758400B CN105758400B CN201610086037.XA CN201610086037A CN105758400B CN 105758400 B CN105758400 B CN 105758400B CN 201610086037 A CN201610086037 A CN 201610086037A CN 105758400 B CN105758400 B CN 105758400B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/02—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means
- G01C21/025—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by astronomical means with the use of startrackers
Abstract
The present invention provides a kind of fixed statellite imaging based navigation be registrated fixed star sensitivity thing parameter extracting method, including：Obtain total gray value versus time curve of each row pixel；At the time of obtaining fixed star image center and streak the row pixel center line；Fit the characteristics of motion of the fixed star image center on satellite remote sensing detector array nematic coordinate between east and west；At the time of acquisition fixed star image center streaks satellite remote sensing detector array east-west direction center line.The present invention can eliminate the asterism position high frequency error caused by the factors such as detector optical imagery, circuit noise, satellite high dither by multiframe data information fusion treatment and curve matching, to improve the accuracy of identification of star place parameter.The present invention can be used for fixed statellite imaging based navigation and be registrated, the parameters such as the precise time at detector array center are streaked by acquisition fixed star, are had great significance to the in-orbit thermal deformation identification precision and imaging based navigation of remote-sensing imaging system and the raising of registration process performance.
Description
Technical field
The present invention relates to spacecraft general technical and Signals in Satellite Data Stream and image processing fields, and in particular, to
Fixed statellite imaging based navigation be registrated fixed star sensitivity thing parameter extracting method.
Background technology
With the raising of remote sensing satellite application technology level, the image quilt that high-precision fixed statellite is imaged over the ground is usually required that
It is accurately positioned, and is registrated to the nominal grid of the earth.But satellite platform and remote sensing instrument are changed by space mechanics environment, thermal environment
Etc. factors influence, satellite can have orbital drift and posture and be directed toward deviation, and instrument will produce geometry deformation, influence remote sensing images
Positioning and registration accuracy." satellite imagery is navigated and is registrated " technology can solve problems：Two dimension of the satellite to remote sensing instrument
Sweep mechanism carries out real-time angular increment compensation, and the motion track by Instrument observation point in earth's surface is guided to preset path, to
It realizes imaging based navigation, makes remote sensing image registration to the nominal grid of the earth.The instrument geometry deformation of static remote sensing satellite in-orbit period
It not directly measures, sensitive imaging is carried out to fixed star using instrument, obtains the movement rail that fixed star streaks in detector array
Mark, by extracting star motions rule and characteristic parameter, the physical location comparison with fixed star in inertial system can calculate remote sensing instrument
In-orbit deflection.
In perseverance sensitive procedures, effective projection of the smaller fixed star of brightness in detector array is likely less than a picture
The size of member then can not determine fixed star at this then when projection is completely in inside a certain pixel by single exposure data
Specific location in pixel, this will cause the precision of feature point extraction relatively low.In addition, can at random be made an uproar by various in imaging process
The interference of sound increases the error of feature point extraction.
The research report (1989, number N90-13422) for the NOAA that J.L Fiorello et al. write is to image-guidance
Registration concept and principle are described, it is proposed that the method that instrument deformation parameter is obtained by Instrument observation fixed star, but do not explain
State the processing method to image data；United States Patent (USP)：Method and apparatus for radiometer star
The method that the in-orbit observation fixed star of radiometer of stationary weather satellite is described in sensing (patent No. US4801202), discloses
To the technical solution of concrete operation step etc., but the processing method to multiframe fixed star sensitive image data is not illustrated；United States Patent (USP)：
Static gas is described in Sightings by satellite for image navigation (patent No. US US4746976)
Position as the in-orbit observation fixed star of satellite instrument and quantity, disclose the technical side of the methods of selection to seeing star opportunity and direction
Case, but the content that multiframe fixed star sensitive image data are extracted with east-west direction parameter is not illustrated；Li Xiaokun, Wang Ganquan, Chen Guilin
In the article of science and technology and engineering the 6th phase (in March, 2007) of volume 7《No. four meteorological satellite scanning imaging instruments of wind and cloud --- it can
Light-exposed channel fixed star is sensitive》In, it describes No. four satellite scanning imaging instruments of wind and cloud and instrument internal deformation is resolved by fixed star sensitivity
Method, propose that obtaining fixed star by weighted analysis streaks the position of detector, but without the data of fusion multiple row detector, it is eastern
Western mirror error is larger.
Invention content
For the defects in the prior art, the object of the present invention is to provide a kind of fixed statellite imaging based navigation be registrated fixed star
Sensitive thing parameter extracting method.
According to a kind of fixed statellite imaging based navigation provided by the invention be registrated fixed star sensitivity thing parameter extracting method, wrap
Include following steps：
From the multiframe fixed star picture that satellite remote sensing detector is shot, each row picture in satellite remote sensing detector array is extracted
Total gray value of member, obtains total gray value versus time curve of each row pixel；
For each row pixel, at the time of extraction corresponding to the symmetry axis of total gray value versus time curve, as
At the time of fixed star image center streaks the row pixel center line；
Each row pixel is streaked according to the geometry arrangement relationship of each row pixel, star image center in satellite remote sensing detector array
At the time of center line, movement rule of the fixed star image center on satellite remote sensing detector array nematic coordinate between east and west are fitted
Rule；
The corresponding row coordinate of satellite remote sensing detector array thing symmetry axis, the movement are streaked according to fixed star image center
Rule, at the time of acquisition fixed star image center streaks satellite remote sensing detector array east-west direction center line.
Preferably, the continuous exposure number of the upper a certain row pixel of fixed star image disengaging fixed statellite remote-sensing detector face battle array is utilized
According to extraction fixed star image causes the total gray value versus time curve of the row pixel, by the change curve ascent stage under
At the time of the average value of drop section half power points time streaks the row pixel center line as fixed star image center.
Preferably, fixed star image center is fitted in satellite remote sensing detector array nematic coordinate between east and west with linear model
On the characteristics of motion.
Compared with prior art, the present invention has following advantageous effect：
1, the present invention can be used for fixed statellite imaging based navigation and be registrated, and fixed star streaks detection during obtaining instrument fixed star sensitivity
The parameters such as precise time at device face battle array center, in-orbit thermal deformation identification precision and imaging based navigation to remote-sensing imaging system be registrated
The raising of process performance has great significance.
2, in order to improve fixed star center fixed statellite remote-sensing detector cell coordinate system position extraction accuracy, the present invention
Multigroup imaging data that continuous several times exposure generates on multiple row array detector is taken full advantage of, fixed star is obtained respectively and streaks each column
At the time of detector center line, then by curve matching obtain fixed star streak entire detector array thing symmetrical center line when
Between, to improve precision.
3, the method for the present invention Engineering Oriented is practical, is eliminated by detector light by multiframe processing data information and curve matching
Asterism position high frequency error caused by the factors such as picture, circuit noise, satellite high dither is studied, to improve star place ginseng
Several accuracy of identification provides accurate calibrating parameters for subsequent remote sensing instrument deformation analysis.
Description of the drawings
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is invention implementation steps schematic diagram.
Fig. 2 is that total gray value of a certain row pixel changes over time relation curve fitting.
Fig. 3 is that fixed star streaks remote-sensing detector cell coordinate schematic diagram.
Fig. 4 is the row coordinate function fitting that fixed star streaks detector array.
Specific implementation mode
With reference to specific embodiment, the present invention is described in detail.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection domain.
Fixed statellite height is about 35786km, satellite transit direction is identical as earth rotation direction, running track closely
Ball equatorial plane.The row coordinate pair at the visual angle of the earth in terms of satellite, the detector pixel of space remote sensing instrument answers east-west direction, row
Coordinate pair answers North and South direction, fixed star to be streaked from West to East on detector array, as shown in Figure 3.When the effective image of fixed star is complete
It is difficult the accurate location coordinate for obtaining fixed star image center when inside a pixel in detector.In order to improve extraction essence
Degree, thinking of the invention are：The remotely-sensed data acquisition fixed star of multiple exposure during detector array is streaked using fixed star image
At the time of image center streaks each column pixel center line, then the characteristics of motion of the fixed star in entire detector array is fitted, and
The precise moments that fixed star image center streaks detector array east-west direction center line are calculated according to the characteristics of motion of fixed star image.
In particular it relates to a kind of fixed statellite imaging based navigation be registrated fixed star sensitivity thing parameter extraction side
Method discloses a kind of fixed star sensitivity (Fig. 1) east-west direction feature ginseng for recognizing the static in-orbit thermal deformation of remote sensing satellite instrument
Number acquisition methods.This method determines that single fixed star streaks detector array (Fig. 3) thing in static remote sensing satellite instrument visual field
The parameters such as the precise time at direction center.The present invention takes full advantage of the continuous several times on multiple row array detector and exposes the more of generation
Group imaging data at the time of acquisition fixed star streaks every row detector center line respectively, then obtains fixed star by curve matching and streaks
The time of entire detector array thing symmetrical center line, implementation steps are as shown in Figure 1.It is special with being extracted using single exposure picture
The method of sign parameter is compared, the present invention can be eliminated by multiframe data information fusion treatment and curve matching by detector optics at
Asterism position high frequency error caused by the factors such as picture, circuit noise, satellite high dither, to improve star place parameter
Accuracy of identification.The present invention can be used for fixed statellite imaging based navigation and be registrated, and detector array center is streaked by obtaining fixed star
The parameters such as precise time, in-orbit thermal deformation identification precision and imaging based navigation to remote-sensing imaging system are carried with registration process performance
Height has great significance.
More specifically, a kind of fixed statellite imaging based navigation provided by the invention be registrated fixed star sensitivity thing parameter extraction
Method, including：
From the multiframe fixed star picture that satellite remote sensing detector is shot, each row picture in satellite remote sensing detector array is extracted
Total gray value of member, obtains total gray value versus time curve of each row pixel；It specifically, can by star motions rule
Know, when fixed star image enters a certain row pixel, total gray value of the row pixel will gradually increase；At fixed star image center
When among the row pixel, total gray value of the row pixel reaches maximum；When fixed star image slowly skids off the row pixel, the row
Total gray value of pixel slowly becomes smaller, as shown in Figure 2；
For each row pixel, at the time of extraction corresponding to the symmetry axis of total gray value versus time curve, as
At the time of fixed star image center streaks the row pixel center line；By fixed star image brilliance distribution character it is found that when certain row pixel
When gray value reaches maximum, fixed star image is exactly in the center of the row pixel.It, can in order to improve the extraction accuracy of centre time
Using Half-power points centering axis.With reference to figure 2, t1At the time of correspondence for the row pixel gray value ascent stage half power points；t2For
At the time of the row pixel gray value descending branch half power points corresponds to.In view of fixed star image is at the uniform velocity to transport in the movement of detector
It is dynamic, t at the time of corresponding to the symmetry axis of change curvemidIt can be written as：
tmid=(t1+t2)/2
Each row pixel is streaked according to the geometry arrangement relationship of each row pixel, star image center in satellite remote sensing detector array
At the time of center line, fixed star image center is fitted on satellite remote sensing detector array nematic coordinate between east and west with linear model
The characteristics of motion；Think that fixed star image center does linear uniform motion in detector array, it can be by fixed star in detector face
Nematic coordinate between east and west in battle array is described as linear relationship with the time：
X=Kt+B
Wherein, x indicates that nematic coordinate between east and west, t indicate that time, K, B indicate coefficient；
After calculating at the time of fixed star image center is in each row pixel center line, it is laid out in conjunction with pixel on detector
Geometrical relationship, the formula x=Kt+B of bringing into can be obtained：
Wherein, tnAt the time of indicating that star image center streaks the n-th row pixel center line, xnIndicate the n-th row pixel east-west direction
Row coordinate；Coefficient can be estimated with least square method, obtains K, B estimated value, visited to fit fixed star image center
Survey the row coordinate streaked in the battle array of device face and time relationship (Fig. 4)；N is the positive integer more than or equal to 2.
The corresponding row coordinate of satellite remote sensing detector array thing symmetry axis, the movement are streaked according to fixed star image center
Rule, at the time of acquisition fixed star image center streaks satellite remote sensing detector array east-west direction center line.
Wherein, the continuous exposure number of the upper a certain row pixel of fixed star image disengaging fixed statellite remote-sensing detector face battle array is utilized
According to extraction fixed star image causes the total gray value versus time curve of the row pixel, by the change curve ascent stage under
At the time of the average value of drop section half power points time streaks the row pixel center line as fixed star image center.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or change within the scope of the claims, this not shadow
Ring the substantive content of the present invention.In the absence of conflict, the feature in embodiments herein and embodiment can arbitrary phase
Mutually combination.
Claims (3)
1. a kind of fixed statellite imaging based navigation be registrated fixed star sensitivity thing parameter extracting method, which is characterized in that including as follows
Step：
From the multiframe fixed star picture that satellite remote sensing detector is shot, each row pixel in satellite remote sensing detector array is extracted
Total gray value obtains total gray value versus time curve of each row pixel；
For each row pixel, at the time of extraction corresponding to the symmetry axis of total gray value versus time curve, as fixed star
At the time of image center streaks the row pixel center line；
Each row pixel center is streaked according to the geometry arrangement relationship of each row pixel, star image center in satellite remote sensing detector array
At the time of line, the characteristics of motion of the fixed star image center on satellite remote sensing detector array nematic coordinate between east and west is fitted；
Think that fixed star image center does linear uniform motion in detector array, by thing of the fixed star in detector array
Direction row coordinate is described as linear relationship with the time：
X=Kt+B
Wherein, x indicates that nematic coordinate between east and west, t indicate that time, K, B indicate coefficient；
After calculating at the time of fixed star image center is in each row pixel center line, geometry is laid out in conjunction with pixel on detector
Relationship, the formula x=Kt+B of bringing into are obtained：
Wherein, tnAt the time of indicating that star image center streaks the n-th row pixel center line, xnIndicate that the n-th row pixel nematic between east and west is sat
Mark；Coefficient is estimated with least square method, K, B estimated value are obtained, to fit fixed star image center in detector face
The row coordinate and time relationship streaked in battle array；N is the positive integer more than or equal to 2；
The corresponding row coordinate of satellite remote sensing detector array thing symmetry axis, movement rule are streaked according to fixed star image center
Rule, at the time of acquisition fixed star image center streaks satellite remote sensing detector array east-west direction center line.
2. fixed statellite imaging based navigation according to claim 1 be registrated fixed star sensitivity thing parameter extracting method, it is special
Sign is, utilizes the continuous exposure data of the upper a certain row pixel of fixed star image disengaging fixed statellite remote-sensing detector face battle array, extraction
Fixed star image causes the total gray value versus time curve of the row pixel, by half work(of the change curve ascent stage and descending branch
At the time of the average value of rate point time streaks the row pixel center line as fixed star image center.
3. fixed statellite imaging based navigation according to claim 1 be registrated fixed star sensitivity thing parameter extracting method, it is special
Sign is, movement of the fixed star image center on satellite remote sensing detector array nematic coordinate between east and west is fitted with linear model
Rule.
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| CN106568437B (en) * | 2016-11-03 | 2019-06-21 | 上海卫星工程研究所 | Fixed statellite imaging based navigation be registrated fixed star north and south parameter extracting method and system |
| CN106528498B (en) * | 2016-11-03 | 2019-01-18 | 上海卫星工程研究所 | The point spread function extracting method of fixed star remote sensing image |
| CN108072365B (en) * | 2016-11-14 | 2021-06-22 | 上海微小卫星工程中心 | Method and system for acquiring sun movement track |
| CN107329190B (en) * | 2017-05-17 | 2020-01-24 | 上海卫星工程研究所 | Imaging test method for fixed star sensitivity of static meteorological satellite |
| CN112591148B (en) * | 2020-11-26 | 2022-06-03 | 上海卫星工程研究所 | Method and system for evaluating attitude stability by utilizing on-orbit star light sensation |
| CN112560691B (en) * | 2020-12-17 | 2021-11-12 | 长光卫星技术有限公司 | Satellite video data-based space-based target automatic identification method |
| CN113029132B (en) * | 2021-02-22 | 2022-11-22 | 上海航天控制技术研究所 | Spacecraft navigation method combining ground image and astrolabe measurement |
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