CN106406145B - The elements of exterior orientation data alignment method of aviation large field of view scan instrument - Google Patents
The elements of exterior orientation data alignment method of aviation large field of view scan instrument Download PDFInfo
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- CN106406145B CN106406145B CN201610946372.2A CN201610946372A CN106406145B CN 106406145 B CN106406145 B CN 106406145B CN 201610946372 A CN201610946372 A CN 201610946372A CN 106406145 B CN106406145 B CN 106406145B
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- pos
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
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- G—PHYSICS
- G04—HOROLOGY
- G04R—RADIO-CONTROLLED TIME-PIECES
- G04R20/00—Setting the time according to the time information carried or implied by the radio signal
- G04R20/02—Setting the time according to the time information carried or implied by the radio signal the radio signal being sent by a satellite, e.g. GPS
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
The invention belongs to air remote sensing technical field of imaging, and in particular to a kind of elements of exterior orientation data alignment method of aviation large field of view scan instrument.Compared with the prior art, the invention has the advantages that：1) PPS count values are utilized to reset scanner motion control clock so that the control of scan time delay clock counter count range substantially reduces the resource overhead of counter in second grade.2) it is not necessarily to the clearing synchronous with scanner motion control initial count of initial p PS initial counts, reduces the selection requirements to POS, improves the compatibility of equipment.3) whether more than 1s can determine whether the PPS count values of scan time delay lose by time delay Δ T, to carry out interpolation to count value, have good fault-tolerant ability.
Description
Technical field
The invention belongs to air remote sensing technical field of imaging, and in particular to a kind of foreign side's bit of aviation large field of view scan instrument
Prime number is according to alignment methods.
Background technology
Certain aviation large field of view scan instrument carries out wide-angle sweeping over the ground, and inner camera is driven to carry out large field of view scan imaging.
Its position and attitude measuring system (POS) is located on scanner base, directly insensitive camera motion, therefore need to be by POS data
It is aligned with scanner motion attitude data, then the elements of exterior orientation data of scan synthesis instrument inner camera, that is, have POS
Clock and scanner motion control clock synchronization issue.Clock synchronous error permits value to be
Wherein dt is that clock synchronous error permits value；Δ s is that position error permits value；ωscanFor scanner motion angular speed.
There are two types of the common clock synchronizing methods of aerial camera：One is the exposure control signals using the camera imaging moment
" getting ready " is carried out to POS data；One is synchronous into row clock with POS to camera using GPS output pps pulse per second signals (PPS).
The above content pertains only to that image clock is synchronous with POS clocks, meets the boat that POS directly measures camera elements of exterior orientation
Empty camera clock synchronisation requirement cannot meet the large field of view scan instrument clock synchronization requirement that elements of exterior orientation need to be synthesized.
Invention content
(1) technical problems to be solved
The technical problem to be solved by the present invention is to：How a kind of elements of exterior orientation data of aviation large field of view scan instrument are provided
Alignment methods realize the elements of exterior orientation data pair of scanner by the synchronous and subsequent two kinds of means of clock alignment of clock on machine
It is accurate.
(2) technical solution
In order to solve the above technical problems, the present invention provides a kind of elements of exterior orientation data alignment of aviation large field of view scan instrument
The elements of exterior orientation data of method, the aviation large field of view scan instrument include POS data and athletic posture data, wherein movement
Attitude data and motion control clock TscanThrough time delay Δ t1It is transmitted to scanner, POS data and POS clocks TpDelayed Δ t2
It is transmitted to scanner；
This method includes the following steps：
Step 1：POS clocks are synchronous with scanner motion control clock；
PPS signal is exported using GPS, POS clocks and scanner motion control clock information are triggered：Record PPS
Arrive PPS count values N moment POS clock and received；Record same PPS arrivals moment scanner motion control clock information
With PPS count value M, scanner motion control clock is zeroed out at the PPS arrival moment；Then clock synchronous error is
Δ t=dt0+max{Δt1,Δt2}+dt1+dt2
=dt0+max{t1,t2}+dt1+dt2
Wherein, Δ t is clock synchronous error；dt0To be floated when PPS；dt1It is floated when being controlled for scanner motion in 1s；dt2For
It is floated when POS in 1s；t1For the motion control clock cycle；t2For the POS clock cycle；Δt1For motion control clock synchronization delayed time；Δ
t2For POS clock synchronization delayed times；
Step 2：It is that starting is traversed with zero moment, the time triggered twice according to scanner motion control time PPS
Whether interval is more than 1s, judges whether PPS count values are lost or had more, and accordingly change subsequent count values；
Step 3：Record POS clocks and scanner motion clock alignment in data；
By the preposition known delay Δ T time of POS data in data packet, adjacent PPS triggering moment scanner motions are searched
Control clock Tscan(M) and POS clocks Tp(N), have
Tscan(M)=Tp(N)
By after clock alignment POS data and scanner motion control data by the expected time carry out difference, be aligned
Scanner elements of exterior orientation data afterwards.
(3) advantageous effect
Compared with the prior art, the invention has the advantages that：
1) PPS count values are utilized to reset scanner motion control clock so that scan time delay clock counter meter
Number scope control substantially reduces the resource overhead of counter in second grade.
2) it is not necessarily to the clearing synchronous with scanner motion control initial count of initial p PS initial counts, reduces the choosing to POS
With requiring, the compatibility of equipment is improved.
3) whether more than 1s can determine whether the PPS count values of scan time delay lose by time delay Δ T, to meter
Numerical value carries out interpolation, has good fault-tolerant ability.
Description of the drawings
Fig. 1 is that clock of the present invention synchronizes triggering time diagram.
Wherein：
TscanScan time delay clock；Tp- POS clocks；dt0It is floated when-PPS；
Δt1Motion control clock synchronization delayed time；Δt2- POS clock synchronization delayed times；
t1For the motion control clock cycle；t2For the POS clock cycle.
Fig. 2 is data record time diagram.POS data amount is big, and record is same in data packet there are known delay Δ T
Data POS data delayed sweep instrument the exercise data Δ T, wherein Δ T at moment<1s.
Specific implementation mode
To keep the purpose of the present invention, content and advantage clearer, with reference to the accompanying drawings and examples, to the present invention's
Specific implementation mode is described in further detail.
In order to solve the above technical problems, the present invention provides a kind of elements of exterior orientation data alignment of aviation large field of view scan instrument
The elements of exterior orientation data of method, the aviation large field of view scan instrument include POS data and athletic posture data, wherein movement
Attitude data and motion control clock TscanThrough time delay Δ t1It is transmitted to scanner, POS data and POS clocks TpDelayed Δ t2
It is transmitted to scanner；
This method triggers scanner motion control clock with PPS, and data transfer delay is solved using post-processing,
It realizes that POS data and the alignment of scanner motion attitude data carry out accurate scan synthesis instrument elements of exterior orientation data, specifically includes down
Row step：
Step 1：POS clocks are synchronous with scanner motion control clock；
PPS signal is exported using GPS, POS clocks and scanner motion control clock information are triggered：Record PPS
Arrive PPS count values N moment POS clock and received；Record same PPS arrivals moment scanner motion control clock information
With PPS count value M, the moment is arrived to being zeroed out to scanner motion control clock in PPS；Then clock synchronous error is
Δ t=dt0+max{Δt1,Δt2}+dt1+dt2
=dt0+max{t1,t2}+dt1+dt2
Wherein, Δ t is clock synchronous error；dt0To be floated when PPS；dt1It is floated when being controlled for scanner motion in 1s；dt2For
It is floated when POS in 1s；t1For the motion control clock cycle；t2For the POS clock cycle；Δt1For motion control clock synchronization delayed time；Δ
t2For POS clock synchronization delayed times；
Step 2：It is that starting is traversed with zero moment, the time triggered twice according to scanner motion control time PPS
Whether interval is more than 1s, judges whether PPS count values are lost or had more, and accordingly change subsequent count values；
Step 3：Record POS clocks and scanner motion clock alignment in data；
By the preposition known delay Δ T time of POS data in data packet, adjacent PPS triggering moment scanner motions are searched
Control clock Tscan(M) and POS clocks Tp(N), have
Tscan(M)=Tp(N)
By after clock alignment POS data and scanner motion control data by the expected time carry out difference, be aligned
Scanner elements of exterior orientation data afterwards.
Specifically, the above process is specific as follows：
(1) scanner motion control clock is triggered using PPS, the PPS count values M that writing scan instrument receives；
POS clocks are triggered using PPS signal, the PPS signal count value N that record POS is received；
(2) according to the scanner motion control time between adjacent two PPS count values, removal misdescription value, supplement error of omission value.
If 1. Tscan(M+1)-Tscan(M)>1+dt1And
Tscan(M+1)-Tscan(M)<2-2dt1, then count value K=K+1, K >=M+1；
If 2. Tscan(M+1)-Tscan(M)<1-dt1, then current count value M+1 remove, count value K=K-1, K>M+1；
(3) the scan time delay data and POS data in reads data log packet, by scan time delay data from
First trip data start zero padding, zero padding columns L=Δs T/f+C.Wherein f is scan control exercise data sample frequency, and C is that fine tuning is
Number, meets T after adjustmentscan(M)、Tp(N) it is aligned at same column data.Data after alignment are pressed into desired time interval difference,
Scanner elements of exterior orientation data after being aligned.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (1)
1. a kind of elements of exterior orientation data alignment method of aviation large field of view scan instrument, which is characterized in that the big visual field of aviation
The elements of exterior orientation data of scanner include position and attitude measuring system (POS) data and athletic posture data, wherein movement appearance
State data and motion control clock TscanThrough time delay Δ t1It is transmitted to scanner, POS data and POS clocks TpDelayed Δ t2It passes
Transport to scanner；
This method includes the following steps：
Step 1：POS clocks are synchronous with scanner motion control clock；
PPS signal is exported using GPS, POS clocks and scanner motion control clock information are triggered：PPS is recorded to arrive
Moment POS clock and the PPS count values N received；Record same PPS arrive moment scanner motion control clock information and
PPS count value M are zeroed out scanner motion control clock at the PPS arrival moment；Then clock synchronous error is
Δ t=dt0+max{Δt1,Δt2}+dt1+dt2
=dt0+max{t1,t2}+dt1+dt2
Wherein, Δ t is clock synchronous error；dt0To be floated when PPS；dt1It is floated when being controlled for scanner motion in 1s；dt2For in 1s
It is floated when POS；t1For the motion control clock cycle；t2For the POS clock cycle；Δt1For motion control clock synchronization delayed time；Δt2For
POS clock synchronization delayed times；
Step 2：It is that starting is traversed with zero moment, according to the scanner motion control time PPS adjacent times triggered twice
Whether interval is more than 1s, judges whether PPS count values are lost or had more, and accordingly change subsequent count values；
Step 3：Record POS clocks and scanner motion clock alignment in data；
By the preposition known delay Δ T time of POS data in data packet, adjacent PPS triggering moment scanner motions control is searched
Clock Tscan(M) and POS clocks Tp(N), have
Tscan(M)=Tp(N)
By after clock alignment POS data and scanner motion control data by the expected time carry out difference, after being aligned
Scanner elements of exterior orientation data.
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| CN201610946372.2A CN106406145B (en) | 2016-11-02 | 2016-11-02 | The elements of exterior orientation data alignment method of aviation large field of view scan instrument |
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| CN110879519B (en) * | 2019-11-08 | 2021-02-12 | 中国科学院长春光学精密机械与物理研究所 | Time system method and system for aerial stereo mapping camera |
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| EP0198269B1 (en) * | 1985-03-30 | 1991-03-27 | Dainippon Screen Mfg. Co., Ltd. | Method and apparatus for interpolating image signals |
| CN103048643A (en) * | 2011-10-14 | 2013-04-17 | 中国科学院电子学研究所 | Radar absolute time holding method of satellite-borne SAR (synthetic aperture radar) |
| CN105890591A (en) * | 2016-06-21 | 2016-08-24 | 上海航天控制技术研究所 | Method using pulse signals per second to calculate exposure moment of high-precision star sensor |
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2016
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|---|---|---|---|---|
| SU1129529A1 (en) * | 1983-08-02 | 1984-12-15 | Предприятие П/Я А-7208 | Oscilloscope having matrix-type screen |
| EP0198269B1 (en) * | 1985-03-30 | 1991-03-27 | Dainippon Screen Mfg. Co., Ltd. | Method and apparatus for interpolating image signals |
| CN103048643A (en) * | 2011-10-14 | 2013-04-17 | 中国科学院电子学研究所 | Radar absolute time holding method of satellite-borne SAR (synthetic aperture radar) |
| CN105890591A (en) * | 2016-06-21 | 2016-08-24 | 上海航天控制技术研究所 | Method using pulse signals per second to calculate exposure moment of high-precision star sensor |
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| 无外触发的激光扫描仪的时间同步方法研究;张迪等;《激光与红外》;20130630;第43卷(第6期);618-621页 * |
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