CN106558036B - A kind of spaceborne super-resolution imaging design method - Google Patents
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Abstract
The invention discloses a kind of spaceborne super-resolution imaging network system realizations, sub-pixed mapping displacement information needed for imaging obtains Super-resolution Reconstruction is swept with solidifying by the in-orbit staring imaging of satellite, by designing control optics disc of confusion size to optical system F number, improve Super-resolution Reconstruction effect, it introduces optical flow method and characteristic method mutually verifies the robustness of index model enhancing sub-pixed mapping information extraction, super resolution image is rebuild using full link super resolution algorithm, using the spaceborne super-resolution imaging system of the present invention program design compared with the spaceborne imaging system of tradition of equal resolution scale, it can be effectively reduced the bore of optical system, shorten focal length, to reduce the weight and cost of system.
Description
Technical field
The present invention relates to spectral imaging technology field more particularly to a kind of spaceborne super-resolution imaging design methods.
Background technique
High-definition remote sensing is the important symbol for measuring a national photoelectric technology level, has huge business and military affairs
Value.In the spaceborne imaging system of tradition, high geometric resolution imaging is realized it is necessary to design the optical frames of heavy caliber, long-focus
Head typically operates in the imaging system weight of the meter level High Resolution Remote Sensing Satellites of LEO track so that the weight of system is high
For amount in 300kg or more, the period of system development is very very long, with high costs.Especially current microsatellite is with low cost, period
Flexibly, being easy the advantages that composition constellation completes the task that large satellite is difficult to realize becomes remote sensing fields technological innovation side for short, transmitting
To market demand rapid growth, the whole general weight of star is less than 100kg, and traditional high-resolution imaging system can not necessarily answer
For microsatellite.
Either traditional large satellite or microsatellite will reduce imaging system under the premise of not sacrificing resolution ratio
Weight and development cost, just must Development of Novel imaging system.Super-resolution imaging technology is the important branch in calculating optical field,
It solves the problems, such as optical imagery using calculating mathematics, signal processing scheduling theory, has the multiframe shadow of sub-pixed mapping displacement by extracting
Redundancy as between rebuilds high resolution image, has broken the spatial resolution limit of conventional electrophotographic system, improves
The global index of system opens the new approaches of remotely sensed image detection.Each frame of multiple image super-resolution rebuilding technical requirements is low
There is no other types of affine transformation between image in different resolution in addition to translation and rotation, satellite is due to flying height height, very
Readily satisfy this requirement, therefore, by super-resolution rebuilding technology in conjunction with satellite remote sensing focus on sub-pixed mapping acquisition and
Extract design, the Optical System Design suitable for super-resolution imaging and the design of Super-resolution Reconstruction algorithm.
Existing super-resolution rebuilding technology only from image processing algorithm angle design super resolution ratio reconstruction method, not with imaging
System and carrying platform combine, and cause the missing of physics prior information to a certain extent, it is difficult to realize more accurate rebuild
As a result.
Summary of the invention
The object of the present invention is to provide a kind of spaceborne super-resolution imaging network system realization, have it is light-weight, small in size, grind
The advantage that period processed is short, development cost is low.
The purpose of the present invention is what is be achieved through the following technical solutions:
A kind of spaceborne super-resolution imaging network system realization, comprising:
Acquisition is sampled with sub- picture by staring mode or solidifying mode of sweeping using the detector of spaceborne super-resolution imaging system
The sequence of low resolution pictures of member displacement；
According to the resolution sizes of low-resolution image and the pixel number magnifying power of super-resolution imaging, high-resolution is established
Grid；
Sequence of low resolution pictures is registrated based on full link super resolution algorithm, by the picture of all low-resolution images
Member projects in the fine-resolution meshes according to registration relationship；
Further according to projection result and image recovery method is combined, reconstruction acquisition is carried out to the corresponding pixel of fine-resolution meshes
Super-resolution imaging result.
The parameters relational expression of optical system in the spaceborne super-resolution imaging system are as follows:
2.44λF#=2.44 λ f/D=Dairy=pixel
Wherein, pixelFor detector pixel dimension；F/D=F#Indicate optical system F number, f is focal length, and D is bore；Dairy
For optical system disperse spot diameter；λ is lambda1-wavelength；
In super-resolution imaging, M times of pixel number magnifying power is equivalent in the case where detector size is constant, makes detector
Pixel dimension is reduced to pixel/ M, since super-resolution rebuilding does not change the size of optical system disc of confusion,
After super-resolution imaging, disperse spot diameter are as follows: D 'airy=Dairy/ M corresponds to F number F when Optical System Design#′
Are as follows: F#'=F#/M。
There is the low of sub-pixed mapping displacement by staring mode sampling and obtaining using the detector of spaceborne super-resolution imaging system
Image in different resolution sequence includes:
When staring mode sampling, the optical axis of the spaceborne super-resolution imaging system in satellite is directed at imageable target always, and logical
Motor-driven adjustment is crossed, keeps the shaking of optical axis in a certain range, and the shaking of optical axis is measured and adjusted with some cycles
It is whole so that the shaking volume of optical axis does not accumulate at any time；
The shaking of optical axis is directed toward stability with optical axis to indicate, indicates the maximum angle that optical axis shakes within the unit time,
In coordinate system O-xyz, Oz axis is that the ideal of optical axis is directed toward, and Oxy plane is plane where imageable target, when pointing accuracy is θ
When, optical axis will shake in the circular cone that apex angle is 2 θ；
Due to the shaking of optical axis, meeting between the every frame image for keeping spaceborne super-resolution imaging system captured in the case where staring mode
There is certain random sub-pixed mapping displacement, to obtain the sequence of low resolution pictures with sub-pixed mapping displacement；
When the direction stability of optical axis is θ, in the direction Ox or Oy of Oxy plane plane, first frame low resolution in 1 second
Sub-pixed mapping between image and last frame low-resolution image is displaced maximum are as follows:
If imaging frame frequency is fp, then at this time between every frame average sub-pixed mapping displacement be
Wherein, Rem indicates the operation that rems, and H indicates that the distance between satellite and target range, GSD indicate ground pixel
Resolution ratio.
Mode sampling acquisition is swept with the low of sub-pixed mapping displacement by solidifying using the detector of spaceborne super-resolution imaging system
Image in different resolution sequence includes:
It is solidifying that satellite needs to carry out ground velocity compensation, and spaceborne super-resolution imaging system carries out high frame frequency imaging acquisition when sweeping mode,
It covers imageable target by multiple image, passes through exposure in the sub-pixed mapping displacement of each frame low-resolution image of satellite motion direction
Interval time control, in the direction of motion perpendicular to satellite, sub-pixed mapping is displaced to be obtained by the direction stability of optical axis, passes through one section
After the acquisition of time, the sequence of low resolution pictures with sub-pixed mapping displacement is obtained；
For the compensation of satellite ground velocity than being R (R > 1), satellite motion speed is v, exposure interval ti, optical axis is in satellite motion direction
Direction deviation be De, super-resolution imaging pixel number magnifying power is M, need to be met to obtain higher super-resolution effect along rail direction
Sub-pixed mapping displacement is is uniformly distributed, the relationship between each parameter are as follows:
Wherein, Rem indicates the operation that rems.
According to the resolution sizes of low-resolution image and the pixel number magnifying power of super-resolution imaging, high-resolution is established
Grid includes:
If the resolution sizes of low-resolution image are m × n, the pixel number magnifying power of super-resolution imaging is M, then establishes mM
The fine-resolution meshes of × nM size.
It is described based on full link super resolution algorithm to sequence of low resolution pictures carry out registration include:
Sequence of low resolution pictures is registrated based on full link super resolution algorithm, to extract the Asia of each image
Pixel displacement information；Specific step is as follows:
The mathematical model of super-resolution imaging indicates are as follows:
yk=DkBkMkx+nk(k=1,2 ..., K)
Wherein, ykRefer to that kth width low-resolution image, the sum of sequence of low resolution pictures are K；X refers to super-resolution imaging
As a result；nkIndicate additive noise；DkIndicate the down-sampling function of detector, it is related with super-resolution pixel number enlargement ratio M；MkFor
Movement function indicates the displacement relation between each low-resolution image, related with sub-pixed mapping displacement, by low-resolution image
Sequence registration obtains；BkIndicate ambiguity function；
It is mutually verified using optical flow method and characteristic method to improve registration accuracy, it is accurate to extract sub-pixed mapping displacement information, registration
Mutually verification index model are as follows:
Wherein, MSE indicates the mean square error of image and reference picture subject to registration, and the reference picture is low resolution figure
As appointing the piece image taken in sequence, then other low-resolution images are image subject to registration；SSIM indicates structural similarity；α,β
For weight coefficient, α and β value with when satellite imagery solar elevation and detector dark current noise it is related, by α to MSE
Adjusting and β make mutually to verify that index model value is interior in section [0,1], and J value shows more greatly registration accuracy more to the adjusting of SSIM
Height, JCAnd JOThe respectively verification index of characteristic method and optical flow method, JoptimalMutually to verify index；
Mutual checking procedure is as follows: appointing in sequence of low resolution pictures and takes a width as reference picture, other low resolution
Image is respectively registrated reference picture and image subject to registration using characteristic method and optical flow method, obtains as image subject to registration
The corresponding homography matrix H of respective methodCAnd HO, homography matrix H is used respectivelyCAnd HOImage subject to registration is acted on to reference to figure
As coordinate system is converted, mutual verification index model is acted on into reference picture and changing image, respectively obtains characteristic method and light
The verification index J of stream methodCAnd JO, compare JCAnd JO, optimal registration accuracy is obtained, to improve the extraction essence of sub-pixed mapping information
Degree.
As seen from the above technical solution provided by the invention, acquisition is imaged by the in-orbit staring imaging of satellite and solidifying sweep
Sub-pixed mapping displacement information needed for Super-resolution Reconstruction is improved super by designing control optics disc of confusion size to optical system F number
Resolved reconstruction effect, introduces optical flow method and characteristic method mutually verifies the robustness of index model enhancing sub-pixed mapping information extraction, uses
Full link super resolution algorithm rebuilds super resolution image, using the present invention program design spaceborne super-resolution imaging system with identical point
The spaceborne imaging system of tradition of resolution scale is compared, and be can be effectively reduced the bore of optical system, is shortened focal length, to reduce and be
The weight and cost of system.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill in field, without creative efforts, it can also be obtained according to these attached drawings other
Attached drawing.
Fig. 1 is a kind of schematic diagram of spaceborne super-resolution imaging network system realization provided in an embodiment of the present invention；
Fig. 2 stares mode imaging schematic diagram to be provided in an embodiment of the present invention；
Fig. 3 is satellite imaging equipment LOS point precision schematic diagram provided in an embodiment of the present invention；
Fig. 4 stares imaging displacement relation schematic diagram under mode to be provided in an embodiment of the present invention；
Fig. 5 is that provided in an embodiment of the present invention coagulate sweeps mode imaging schematic diagram；
Fig. 6 is the solidifying displacement relation schematic diagram swept between each frame of mode provided in an embodiment of the present invention；
Fig. 7 is detector pixel provided in an embodiment of the present invention and disc of confusion relation schematic diagram；
Fig. 8 be parfocal provided in an embodiment of the present invention, etc. detectors pixel dimension when, the design of different discs of confusion is to oversubscription
Distinguish the influence contrast schematic diagram of imaging；
Fig. 9 is super-resolution rebuilding algorithm flow chart provided in an embodiment of the present invention；
Figure 10 is the mutual checking process figure of registration provided in an embodiment of the present invention.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on this
The embodiment of invention, every other implementation obtained by those of ordinary skill in the art without making creative efforts
Example, belongs to protection scope of the present invention.
The embodiment of the present invention provides a kind of spaceborne super-resolution imaging network system realization, improves the geometric resolution of imaging,
Make under same rank resolution ratio, there is light-weight, small in size, development week using the imaging system of super-resolution imaging Technology design
The advantage that phase is short, development cost is low.
As shown in Figure 1, this method specifically includes that
A, acquisition is sampled with Asia by staring mode or solidifying mode of sweeping using the detector of spaceborne super-resolution imaging system
The sequence of low resolution pictures of pixel displacement.(triangle, circle, five-pointed star, square in Fig. 1 (a) respectively indicate low resolution figure
The pixel of picture), if the pixel number magnifying power of super-resolution imaging is N, low-resolution image quantity LnL should be metn≥N2。
B, according to the resolution sizes of low-resolution image and the pixel number magnifying power of super-resolution imaging, high-resolution is established
Rate grid.
C, sequence of low resolution pictures is registrated based on full link super resolution algorithm, by all low-resolution images
Pixel projects in the fine-resolution meshes according to registration relationship.
D, further according to projection result and in conjunction with image recovery method, the corresponding pixel of fine-resolution meshes rebuild and is obtained
Obtain super-resolution imaging result.(cross in Fig. 1 (d) is represented by rebuilding the pixel obtained).
It should be noted that only being said by taking 2 times of magnifying power super-resolution imagings of 4 width low-resolution images as an example in Fig. 1
It is bright；In practical applications, user can the pixel number of the size of low-resolution image and super-resolution imaging determines according to actual conditions
Magnifying power.
For ease of description, it elaborates below with reference to following three part to the present invention: 1, Sampling System Design；2,
Optical System Design；3, super-resolution rebuilding algorithm.
1, Sampling System Design
It is to carry out the prerequisite of super-resolution imaging that acquiring, which has the sequence of low resolution pictures of sub-pixed mapping displacement information,.For
Realize that multiple image sampling will use the face battle array CMOS or area array CCD detector of high frame frequency, it is contemplated that frame frequency, refrigeration, as
The factors such as shifting formwork paste should be preferentially using the face battle array cmos detector of high frame frequency under current existing technical conditions.
In the embodiment of the present invention, there are two types of sequence of low resolution pictures acquisition modes, respectively stares mode and coagulates and sweeps mould
Formula.
1) mode is stared.
Mode sampling is stared as shown in Fig. 2, dotted line indicates that the motion profile of satellite, ABC indicate any three movements of satellite
The optical axis of position, the spaceborne super-resolution imaging system in satellite is directed at imageable target always, and by motor-driven adjustment, makes optical axis
Shake and keep in a certain range, and with some cycles the shaking of optical axis is measured and is adjusted so that the shaking volume of optical axis not
It accumulates at any time；
The shaking of optical axis is directed toward stability with optical axis to indicate, indicates the maximum angle that optical axis shakes within the unit time.
As shown in figure 3, Oz axis is that the ideal of optical axis is directed toward, and plane where Oxy plane is imageable target works as finger in coordinate system O-xyz
To precision be θ when, optical axis will apex angle be 2 θ circular cone in shake；
Just because of the shaking of optical axis, had between the every frame low-resolution image for keeping system captured in the case where staring mode
Certain random sub-pixed mapping displacement, to obtain the sequence of low resolution pictures with sub-pixed mapping displacement.In Fig. 4, with any 4 frame
(1. 2. 3. 4. label is 4 frame imaging results) illustrates the displacement relation between every frame low-resolution image for imaging.
When the direction stability of optical axis is θ, in the direction Ox or Oy of Oxy plane plane, first frame low resolution in 1 second
Sub-pixed mapping between image and last frame low-resolution image is displaced maximum are as follows:
If imaging frame frequency is fp, then at this time between every frame average sub-pixed mapping displacement be
Wherein, Rem indicates the operation that rems, and H indicates that the distance between satellite and target range, GSD indicate ground pixel
Resolution ratio.
2) it coagulates and sweeps mode
Solidifying to sweep mode imaging as shown in figure 5, satellite needs to carry out ground velocity compensation, the movement for reducing satellite relative target is fast
Degree, carries out high frame frequency imaging, imageable target is made to cover (dash area in Fig. 5) by multiple image, at this time each frame low resolution
Displacement relation between image is as shown in fig. 6, the sub-pixed mapping displacement in each frame low-resolution image of satellite motion direction can lead to
The control of overexposure interval time, it is identical as mode is stared in the acquisition of the direction of motion perpendicular to satellite, sub-pixed mapping displacement, by light
The direction stability of axis obtains；After the acquisition of a period of time, the low-resolution image sequence with sub-pixed mapping displacement can get
Column；
For the compensation of satellite ground velocity than being R (R > 1), satellite motion speed is v, exposure interval ti, optical axis is in satellite motion direction
Direction deviation be De, super-resolution imaging pixel number magnifying power is M, need to be met to obtain higher super-resolution effect along rail direction
Sub-pixed mapping displacement is is uniformly distributed, the relationship between each parameter are as follows:
Wherein, Rem indicates the operation that rems, and N indicates number of image frames.
2, Optical System Design
Fig. 7 is detector pixel provided in an embodiment of the present invention and disc of confusion relation schematic diagram, wherein the round expression of shade
Disc of confusion.Fig. 7 (a) is that in conventional optical systems design, in order to avoid obscuring caused by optical system disc of confusion, need to make to visit
Survey device a pixel be able to resolution optical system disc of confusion.
Fig. 7 (b) and Fig. 7 (c) is respectively disc of confusion and picture after super-resolution design disc of confusion and pixel and Super-resolution Reconstruction
First relation schematic diagram；In the embodiment of the present invention, the parameters relational expression of optical system in the spaceborne super-resolution imaging system
It is as follows:
2.44λF#=2.44 λ f/D=Dairy=pixel
Wherein, pixelFor detector pixel dimension；F/D=F#Indicate optical system F number, f is focal length, and D is bore；λ be into
Penetrate optical wavelength；DairyFor optical system disperse spot diameter.
In super-resolution imaging, M times of pixel number magnifying power is equivalent in the case where detector size is constant, makes detector
Pixel dimension is reduced to pixel/ M, since super-resolution rebuilding does not change the size of optical system disc of confusion,
After super-resolution imaging, disperse spot diameter are as follows: D 'airy=Dairy/ M corresponds to F number F when Optical System Design#′
Are as follows: F#'=F#/M。
Identical focal length optical system, same probe size, disperse spot diameter are given in Fig. 8 differs one times, super-resolution
The low resolution imaging results and super-resolution imaging that pixel amplification number is all 2 times of two imaging systems are as a result, illustrate originally to set
The validity of meter.Wherein, Fig. 8 (a) and Fig. 8 (b) are respectively F number when being 16 low-resolution image and super-resolution imaging is as a result, Fig. 8
(c) low-resolution image and super-resolution imaging result when be respectively F number with Fig. 8 (d) being 8.
3, super-resolution rebuilding algorithm
In the embodiment of the present invention, sequence of low resolution pictures is registrated based on full link super resolution algorithm, to mention
The sub-pixed mapping displacement information of each image is taken out, step is as shown in Figure 9.
As shown in figure 9, rebuilding high-resolution image by the sub-pixed mapping displacement parameter of estimation sequence of low resolution pictures
It is a height ill-conditioning problem, needs to fully consider that the various of reconstruction process determine factor.It is needed in the embodiment of the present invention
Establish satellite platform motion-blurred model, noise model, optical dimming model, detector fuzzy model, atmosphere fuzzy model, figure
As down-sampling model, while image light stream restricted model is established using characteristics of image and is used restraint to solution space and function space,
It is iterated by multiframe super-resolution rebuilding algorithm to imaging equation, with one group of well-posed problem adjoining with imaging equation
Solution goes to approach the true solution of former problem, makes ill-conditioning problem state as good as possible, to obtain super-resolution imaging result.
In the embodiment of the present invention, the mathematical model of super-resolution imaging can be indicated are as follows:
yk=DkBkMkx+nk(k=1,2 ..., K)
Wherein, ykRefer to that kth width low-resolution image, the sum of sequence of low resolution pictures are K；X refers to super-resolution imaging
As a result；nkIndicate additive noise；DkIndicate the down-sampling function of detector, it is related with super-resolution pixel number enlargement ratio M；MkFor
Movement function indicates the displacement relation between each low-resolution image, related with sub-pixed mapping displacement, by low-resolution image
Sequence registration obtains；BkIndicate ambiguity function；
Sub-pixed mapping displacement represent spaceborne imaging system at sequence of low resolution pictures redundancy, be super-resolution
The key factor of reconstruction, any registration Algorithm all inevitably generates registration error, and registration error can become super-resolution
The major defect source of algorithm for reconstructing.
In the embodiment of the present invention, is mutually verified using optical flow method and characteristic method to improve registration accuracy, accurately extract sub-pixed mapping
Displacement information, the mutual verification index model of registration are as follows:
Wherein, MSE indicates the mean square error of image and reference picture subject to registration, and the reference picture is low resolution figure
As appointing the piece image taken in sequence, then other low-resolution images are image subject to registration；SSIM indicates structural similarity；α,β
For weight coefficient, α and β value with when satellite imagery solar elevation and detector dark current noise it is related, by α to MSE
Adjusting and β make mutually to verify that index model value is interior in section [0,1], and J value shows more greatly registration accuracy more to the adjusting of SSIM
Height, JCAnd JOThe respectively verification index of characteristic method and optical flow method, JoptimalMutually to verify index.
As shown in Figure 10 to be registrated mutual checking process, appoints in sequence of low resolution pictures and takes a width as reference picture,
Other low-resolution images as image subject to registration, respectively using characteristic method and optical flow method to reference picture and image subject to registration into
Row registration, obtains the corresponding homography matrix H of respective methodCAnd HO, image subject to registration is acted on to reference to figure with homography matrix
As coordinate system is converted, mutual verification index model is acted on into reference picture and changing image, respectively obtains characteristic method and light
The verification index J of stream methodCAnd JO, compare JCAnd JO, optimal registration accuracy is obtained, to improve the extraction essence of sub-pixed mapping information
Degree.
Sub-pixed mapping displacement information can be extracted after registration, it can be by image sequence further according to sub-pixed mapping displacement information
In the pixel position of each image project in fine-resolution meshes.
In the above scheme of the embodiment of the present invention, acquisition Super-resolution Reconstruction is imaged by the in-orbit staring imaging of satellite and solidifying sweep
Required sub-pixed mapping displacement information improves Super-resolution Reconstruction effect by designing control optics disc of confusion size to optical system F number
Fruit, introduces optical flow method and characteristic method mutually verifies the robustness of index model enhancing sub-pixed mapping information extraction, using full link oversubscription
Distinguish that algorithm rebuilds super resolution image, using spaceborne super-resolution imaging system and the equal resolution scale of the present invention program design
The spaceborne imaging system of tradition is compared, and be can be effectively reduced the bore of optical system, is shortened focal length, thus reduce system weight and
Cost.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
Within the technical scope of the present disclosure, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Subject to enclosing.
Claims (5)
1. a kind of spaceborne super-resolution imaging network system realization characterized by comprising
Acquisition is sampled with sub-pixed mapping position by staring mode or solidifying mode of sweeping using the detector of spaceborne super-resolution imaging system
The sequence of low resolution pictures of shifting；
According to the resolution sizes of low-resolution image and the pixel number magnifying power of super-resolution imaging, high-resolution net is established
Lattice；
Sequence of low resolution pictures is registrated based on full link super resolution algorithm, the pixel of all low-resolution images is pressed
It is projected in the fine-resolution meshes according to registration relationship；
Further according to projection result and image recovery method is combined, the corresponding pixel of fine-resolution meshes is carried out to rebuild acquisition oversubscription
Resolution imaging results；
Wherein, there is the low of sub-pixed mapping displacement by staring mode sampling and obtaining using the detector of spaceborne super-resolution imaging system
Image in different resolution sequence includes:
When staring mode sampling, the optical axis of the spaceborne super-resolution imaging system in satellite is directed at imageable target always, and passes through machine
Dynamic adjustment keeps the shaking of optical axis in a certain range, and with some cycles the shaking of optical axis is measured and is adjusted with
Accumulate the shaking volume of optical axis at any time；
The shaking of optical axis is directed toward stability with optical axis to indicate, indicates the maximum angle that optical axis shakes within the unit time, is sitting
In mark system O-xyz, Oz axis is that the ideal of optical axis is directed toward, and Oxy plane is plane where imageable target, when pointing accuracy is θ, light
Axis will shake in the circular cone that apex angle is 2 θ；
Due to the shaking of optical axis, one is had between the every frame image for keeping spaceborne super-resolution imaging system captured in the case where staring mode
Fixed random sub-pixed mapping displacement, to obtain the sequence of low resolution pictures with sub-pixed mapping displacement；
When the direction stability of optical axis is θ, in the direction Ox or Oy of Oxy plane plane, first frame low-resolution image in 1 second
Sub-pixed mapping between last frame low-resolution image is displaced maximum are as follows:
If imaging frame frequency is fp, then at this time between every frame average sub-pixed mapping displacement be
Wherein, Rem indicates the operation that rems, and H indicates that the distance between satellite and imageable target, GSD indicate that ground pixel is differentiated
Rate.
2. a kind of spaceborne super-resolution imaging network system realization according to claim 1, which is characterized in that described spaceborne super
The parameters relational expression of optical system in resolution imaging system are as follows:
2.44λF#=2.44 λ f/D=Dairy=pixel
Wherein, pixelFor detector pixel dimension；F/D=F#Indicate optical system F number, f is focal length, and D is bore；DairyFor light
System disperse spot diameter；λ is lambda1-wavelength；
In super-resolution imaging, M times of pixel number magnifying power is equivalent in the case where detector size is constant, makes detector pixel
Size is reduced to pixel/ M, since super-resolution rebuilding does not change the size of optical system disc of confusion,
After super-resolution imaging, disperse spot diameter are as follows: D 'airy=Dairy/ M corresponds to the F number F ' when Optical System Design#Are as follows: F '#
=F#/M。
3. a kind of spaceborne super-resolution imaging network system realization according to claim 1, which is characterized in that surpassed using spaceborne
The detector of resolution imaging system by it is solidifying sweep mode sampling and obtain there is the sequence of low resolution pictures of sub-pixed mapping displacement to include:
Solidifying when sweeping mode, satellite needs to carry out ground velocity compensation, and spaceborne super-resolution imaging system carries out high frame frequency imaging acquisition, makes into
As target is covered by multiple image, pass through exposure interval in the sub-pixed mapping displacement of each frame low-resolution image of satellite motion direction
Time control, in the direction of motion perpendicular to satellite, sub-pixed mapping is displaced to be obtained by the direction stability of optical axis, passes through a period of time
Acquisition after, obtain have sub-pixed mapping displacement sequence of low resolution pictures；
The compensation of satellite ground velocity is than being R, and R > 1, satellite motion speed is v, exposure interval ti, direction of the optical axis in satellite motion direction
Deviation is De, super-resolution imaging pixel number magnifying power is M, need to be met to obtain higher super-resolution effect along rail direction sub-pixed mapping
Displacement is is uniformly distributed, the relationship between each parameter are as follows:
Wherein, Rem indicates the operation that rems, and N indicates number of image frames.
4. a kind of spaceborne super-resolution imaging network system realization according to claim 1, which is characterized in that according to low resolution
The resolution sizes of rate image and the pixel number magnifying power of super-resolution imaging, establishing fine-resolution meshes includes:
If the resolution sizes of low-resolution image are m × n, the pixel number magnifying power of super-resolution imaging is M, then establishes mM × nM
The fine-resolution meshes of size.
5. a kind of spaceborne super-resolution imaging network system realization according to claim 1 or 4, which is characterized in that the base
Carrying out registration to sequence of low resolution pictures in full link super resolution algorithm includes:
Sequence of low resolution pictures is registrated based on full link super resolution algorithm, to extract the sub-pixed mapping of each image
Displacement information；Specific step is as follows:
The mathematical model of super-resolution imaging indicates are as follows:
yk=DkBkMkx+nk, k=1,2 ..., K
Wherein, ykRefer to that kth width low-resolution image, the sum of sequence of low resolution pictures are K；X refers to super-resolution imaging result；
nkIndicate additive noise；DkIndicate the down-sampling function of detector, it is related with super-resolution pixel number enlargement ratio M；MkTo move letter
Number, indicates the displacement relation between each low-resolution image, related with sub-pixed mapping displacement, by matching to sequence of low resolution pictures
Standard obtains；BkIndicate ambiguity function；
It is mutually verified using optical flow method and characteristic method to improve registration accuracy, it is accurate to extract sub-pixed mapping displacement information, the mutual school of registration
Test index model are as follows:
Wherein, MSE indicates the mean square error of image and reference picture subject to registration, and the reference picture is low-resolution image sequence
Appoint the piece image taken in column, then other low-resolution images are image subject to registration；SSIM indicates structural similarity；α, β are power
Weight coefficient, α and β value with when satellite imagery solar elevation and detector dark current noise it is related, by α to the tune of MSE
Section and β make mutually to verify index model value in section [0,1] to the adjusting of SSIM, and J value shows that more greatly registration accuracy is higher, JC
And JOThe respectively verification index of characteristic method and optical flow method, JoptimalMutually to verify index；
Mutual checking procedure is as follows: appointing in sequence of low resolution pictures and takes a width as reference picture, other low-resolution images
As image subject to registration, reference picture and image subject to registration are registrated using characteristic method and optical flow method respectively, obtained respectively
The corresponding homography matrix H of methodCAnd HO, homography matrix H is used respectivelyCAnd HOImage subject to registration is acted on to sit to reference picture
Mark system is converted, and mutual verification index model is acted on reference picture and changing image, respectively obtains characteristic method and optical flow method
Verification index JCAnd JO, compare JCAnd JO, optimal registration accuracy is obtained, to improve the extraction accuracy of sub-pixed mapping information.
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