CN106791803A - One kind disturbance measurement imaging system - Google Patents
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- H04N17/002—Diagnosis, testing or measuring for television systems or their details for television cameras
Abstract
One kind disturbance measurement imaging system, including imaging focal plane module, focal plane control module, view data read module, disturbance measurement module, image processing module, image output module, high speed memory modules, interface module；Interface module receives imaging control information, data output instruction, focal plane control module carries out analytical Calculation, obtain focal plane timing control signal, imaging focal plane module is imaged and is exported imaging data, view data read module is using ping-pong buffers storage imaging data to high speed memory modules, disturbance measurement module carries out disturbance survey calculation to imaging data, image processing module is processed imaging data using disturbance measurement result, image output module exports imaging data result according to data output instruction, or from high speed memory modules reading imaging data and export.
Description
Technical field
The present invention relates to disturb measurement and technical field of imaging, particularly a kind of disturbance measurement imaging system.
Background technology
With the raising of spatial remotely sensed imaging resolution requirement, the in-orbit unstability of remote sensing camera turns into restriction imaging matter
One of key factor of amount.When especially in-orbit TDI remote sensing cameras are imaged over the ground, camera shake causes the optical axis of optical system to disturb
It is dynamic, image quality is influenceed, cause image degradation.Therefore high speed optical axis disturbance measuring system is needed, the wobble information to camera is entered
Row measurement, and then according to the data for obtaining, degraded image is restored.In addition in the in-orbit imaging process of remote sensor, due into
As the light distribution difference of object is excessive, can there is over-exposed or under-exposed situation, it is necessary to be carried out using HDR technologies
The extension of dynamic intensity range, this just needs also exist for measuring disturbance, treatment is then carried out to imaging data and obtains high dynamic
The imaging results of state.It is also required to carry out corresponding displacement measurement with imaging for carry out the Imaging remote sensing device of digital TDI in addition
Data processing.
Existing optical axis disturbance measuring system is typically made up of imaging system with disturbance measuring system, and imaging is surveyed with disturbance
Amount is separated.With the raising of required precision, the image picture elements number for participating in disturbance survey calculation has more demands, by imaging electricity
After road separates with measuring circuit, the transmission delay of view data can have a significant impact to the calculating time, and then influence measurement result
Real-time.Meanwhile, imaging system and disturbance measuring system need to work simultaneously, have larger power demand, radiating requirements and
Size requirement, is unfavorable in the realization of in-orbit remote sensor.
It is, therefore, desirable to provide a kind of disturbance measurement imaging system, while focal plane view data is read in imaging, enters in real time
Row disturbance survey calculation, and then image HDR, numeral TDI treatment can be carried out according to real-time disturbance data, reach improvement image matter
Measure, meet the demand of high dynamic imaging.
The content of the invention
Present invention solves the technical problem that being：Overcome the deficiencies in the prior art, there is provided one kind disturbance measurement imaging system,
Solve the problems, such as that prior art can not be measured to disturbance.
Technical solution of the invention is：One kind disturbance measurement imaging system, including the control of imaging focal plane module, focal plane
Module, view data read module, disturbance measurement module, image processing module, image output module, high speed memory modules, connect
Mouth mold block, wherein,
Interface module, focal plane control module is delivered to after receiving the outside imaging control information for sending, and is imaged control information bag
Include frame frequency, the time of integration；Image output module is forwarded to after receiving the outside data output instruction for sending；Described data output
Instruct the instruction for control image output module output imaging data or imaging data result；
Focal plane control module, analytical Calculation is carried out to imaging control information, is obtained focal plane timing control signal and is delivered into
As focal plane module, focal plane timing control signal includes clock, sampling period, the time of integration；
Imaging focal plane module, is imaged and exports according to focal plane timing control signal imaging data to view data and read mould
Block；
View data read module, using ping-pong buffers storage imaging data to high speed memory modules, while delivering to disturbance
Measurement module；
High speed memory modules, storage imaging data；
Disturbance measurement module, disturbance survey calculation is carried out to imaging data, including：Two-dimensional FFT is carried out to imaging data, is obtained
To the matrix of consequence of Two-dimensional FFT, to the element of same location in each element in matrix of consequence and reference picture FFT result matrix
Conjugate multiplication is carried out, conjugate multiplication result is obtained, FFT inverse transformations are carried out to conjugate multiplication result, obtain FFT inverse transformed result squares
Battle array, to each element modulus in FFT inverse transformed result matrixes, obtains representing being constituted as moving match parameter for matching degree size
As moving match parameter matrix, find as moving the greatest member value in match parameter matrix, obtained according to greatest member value respective coordinates
To disturbance measurement result, and deliver to image processing module；Described reference picture FFT result matrix is last Two-dimensional FFT
Matrix of consequence, when frame image data headed by imaging data, does not carry out disturbance measurement；
Image processing module, reads the imaging data of high speed memory modules storage, using disturbance measurement result to imaging number
According to being processed, imaging data result is delivered into image output module；
Image output module, reception data output instruction is simultaneously defeated by imaging data result according to data output instruction
Go out, or read imaging data from high speed memory modules and export.
The described algorithm processed imaging data using disturbance measurement result includes that HDR algorithms, numeral TDI are calculated
Method.
Imaging data result or imaging data are by CAMERA LINK interfaces by described image output module
Output.
Described disturbance measurement module carries out Two-dimensional FFT to imaging data using FPGA, and the method for carrying out Two-dimensional FFT includes
Following steps：
(1) the pixel grey scale exponent number for assuming the imaging data that carry out Two-dimensional FFT conversion is m, and m is positive integer and 8≤m
≤ 12, the line number of imaging data, columns are 2 n power, and n is positive integer and 4≤n≤9, and the FFT cores for setting FPGA are X=
4m input, sets the memory of real part result, imaginary results to there is symbol Y=2m；
(2) when one-dimensional FFT is carried out to each row of imaging data so that imaging data is expert at after FFT
Significance bit increases p1, when one-dimensional FFT is carried out to each row of imaging data, obtains result data so that number of results
Increase p2 according to the significance bit after row FFT, wherein, m+p1+p2=Y, p1+p2=m, when m is odd number, p1=p2+
1, when m is even number, p1=p2；And then obtain p1, p2；
(3) by the L1 power of the gray value increase 2 of each pixel in imaging data, L1=X-m is then every to imaging data
A line carries out one-dimensional FFT, obtains row FFT result data, by the number at 0 frequency in row FFT result data
According to [n/2] power for reducing 2, all data reduce 2 in the row FFT result data after then being reduced to data at 0 frequency
(L1-p1- [n/2]) power, finally store result data to memory using low Y data storage and as row FFT；
(4) row FFT is stored the L2 power of the gray value increase 2 of each pixel in result data, L2=X- (m+
P1), one-dimensional FFT is carried out to the row FFT each row of storage result data after increase, obtains row FFT result
Data, the data at 0 frequency in row FFT result data are reduced 2 [n/2] power, and then data at 0 frequency are reduced
All data reduce 2 [(n+X)-(Y+ [n/2])] power in row FFT result data afterwards, used as final transformation results
And store to memory, and then obtain the matrix of consequence of Two-dimensional FFT.
Present invention advantage compared with prior art is：
Present invention disturbance measurement imaging system carries out disturbance meter in real time while focal plane view data is read in imaging
Calculate, and then image HDR, numeral TDI treatment can be carried out according to real-time disturbance data, reach improvement picture quality, meet high dynamic
The demand of state imaging, has very strong application prospect, while having very strong number in terms of airborne and spaceborne RS, unmanned plane gondola
Word image high speed processing ability, can be applied to the multiple fields related to high speed digital video treatment.
Brief description of the drawings
Fig. 1 is a kind of disturbance measurement image system hardware structure chart of the present invention.
Specific embodiment
The present invention in view of the shortcomings of the prior art, proposes a kind of disturbance measurement imaging system, and focal plane image is read in imaging
While data, disturbance survey calculation is carried out in real time, and then can be carried out at image HDR, numeral TDI according to real-time disturbance data
Reason, reaches the demand for improving picture quality, meeting high dynamic imaging, and concrete function of the present invention is as follows with implementation method：
(1) hardware system
The hardware system of present system is by power module, CMOS minimum systems, FPGA minimum systems, high speed storing mould
Block, peripheral interface device etc. are constituted.Concrete function is as follows with implementation method：
1) input voltage of Management Controller is converted to voltage required for each chip in hardware system by power module, is entered
Row chip power supply.
2) CMOS minimum systems include CMOS and corresponding electric source filter circuit, and its major function according to FPGA to provide
Clock, SPI signal, adjust the characterisitic parameter (including imaging region, frame frequency, time for exposure, gain, output channel etc.) of CMOS,
And high speed image data and corresponding synchronised clock, row/frame synchronizing signal are exported from corresponding output channel according to setting.
3) after FPGA minimum systems export CMOS control signals and clock, the output signal of CMOS is received.Will figure after demodulation
As data are stored in DDR.The ping-pong buffers of FPGA control datas, while a DDR write-in data, FPGA is to another
The data cached in DDR carry out computing.Main algorithm includes that disturbance Measurement Algorithm, Image Restoration Algorithm, numeral TDI and HDR are calculated
Method, obtains final image.By peripheral interface device, Transistor-Transistor Logic level is converted into LVDS signals, output to Management Controller.
4) high speed memory modules
System carries out high-speed data processing using DDR II, and rattling input form using data can effective buffers images number
According to.During using ping-pong buffers, when one of memory space carries out data write-in, computing is carried out to another memory space.So
Doing can avoid data transmission conflict, effectively using memory space, improve data input output speed and image processing speed.Make
Data-Bus extension technology is used, 16 bit data bus is merged and 32 are expanded to, and then is improved the data throughput in each cycle
Amount, shortens data transmission period, it is ensured that view synthesis.
5) peripheral interface module
Peripheral interface is mainly including three line construction and image monitoring system etc..Wherein image detecting system passes through CAMERA
LINK interfaces are connected with prosecutor equipment, real-time display image, are easy to debugging and effect to show, the hardware configuration of present system connects
Connect relation as shown in Figure 1.
(2) software algorithm and Performance Evaluation
The software algorithm of present system mainly includes focal plane driving, image high speed ping-pong buffer, image motion measurement algorithm, figure
As restoration algorithm, HDR algorithms and numeral TDI etc., the main software flow of system is：Focal plane drives the corresponding control signal of output
Control CMOS output images data are simultaneously demodulated according to sequential, by the data storage after demodulation in high speed Pingpang Memory module
In.Image motion measurement algorithm carries out computing in real time, after drawing interframe picture shifting amount, image is restored by Image Restoration Algorithm.And
HDR and numeral TDI algorithms are carried out according to the actual requirements.Wherein the core algorithm of system is at a high speed as moving detection algorithm.
To ensure at a high speed as the real-time output of shifting detection algorithm, assessment is illustrated to main algorithm below.
1) image motion measurement algorithm
When the view data for carrying out focal plane reads, disturbance survey calculation can be simultaneously carried out, i.e., by view data
Two-dimentional frame data or one-dimensional row data carry out the matching degree measurement of different frame, data in the ranks, obtain image motion measurement result.
In measurement process is disturbed, the amplitude of disturbance is represented using the interframe displacement of frame frequency image high, complete disturbance measurement.For FPGA
For based on FFT image related operation obtain image interframe displacement shared by resource it is relatively fewer, speed.
Specific method is first to carry out the Two-dimensional FFT of image, then to each element in the matrix of consequence of FFT and with reference to figure
As the conjugate multiplication of each element of FFT result matrix.FFT inverse transformations are carried out again to multiplied result.Matrix after inverse transformation is taken
, it is necessary to obtain the picture shifting match parameter for representing matching degree size after mould.The maximum modulus value corresponding points position reflection of match parameter
The relative position of image interframe.During match parameter is calculated, if the data for participating in computing are excessive, easily cause FPGA
Data overflow or take more multiple resource, reduce arithmetic speed；If too small, it is difficult to meet high-precision disturbance measurement need
Will, therefore propose the left side that the digit of the relevant parameter calculated according to actual participation is synchronized to the match parameter in calculating process
Move (increase) or move to right the adjustment of (reduction).Use the data displacement method of self adaptation, it is ensured that the precision of matching primitives.
Assuming that to carry out the pixel grey scale exponent number of the imaging data of Two-dimensional FFT conversion is m, m for positive integer and 8≤m≤
12, the line number of imaging data, columns are 2 n power, and n is positive integer and 4≤n≤9, and the FFT cores for setting FPGA are X=4m
Position input, sets the memory of real part result, imaginary results to there is symbol Y=2m；
When one-dimensional FFT is carried out to each row of imaging data so that imaging data is expert at effective after FFT
Position increases p1, when one-dimensional FFT is carried out to each row of imaging data, obtains result data so that result data exists
Significance bit after row FFT increases p2, wherein, m+p1+p2=Y, p1+p2=m, when m is odd number, p1=p2+1 works as m
During for even number, p1=p2；And then obtain p1, p2；
By the L1 power of the gray value increase 2 of each pixel in imaging data, L1=X-m is then each to imaging data
Row carries out one-dimensional FFT, row FFT result data is obtained, by the data at 0 frequency in row FFT result data
2 n/2 power is reduced, all data reduce 2 in the row FFT result data after then being reduced to data at 0 frequency
(L1-p1-n/2) power, finally stores result data to memory using low Y data storage and as row FFT.Wherein n/
2 result round numbers part；
By row FFT store result data in each pixel gray value increase 2 L2 power, L2=X- (m+p1),
One-dimensional FFT is carried out to the row FFT each row of storage result data after increase, row FFT result data is obtained,
Data at 0 frequency in row FFT result data are reduced 2 n/2 power, the row after then being reduced to data at 0 frequency
All data reduce 2 [(n+X)-(Y+n/2)] power in FFT result data, as final transformation results and store to
Memory, and then obtain the matrix of consequence of Two-dimensional FFT.The result round numbers part of wherein n/2.Thus in limited FPGA resource
Under, it is ensured that the more accurate result of Two-dimensional FFT conversion.
2) HDR algorithms
The method for obtaining HDR image at present is many exposure image integration technologies, i.e., corresponding most using each time for exposure
The image of good details synthesizes final HDR image, can provide more dynamic orientations and image detail.In-orbit camera or other boats
The factors such as empty space flight load is disturbed by platform, target movement are influenceed, and directly carrying out many exposure image fusions often makes fusion
Image afterwards produces " ghost ".Simultaneously current many exposure image integration technologies can lose when target dynamic scope is larger
Lose part detailed information.
Use of the present invention will disturb measurement result and be combined with many exposure integration technologies, be utilized before fusion and disturb measurement result
Dynamic image is converted into still image, so as to eliminate " ghost " during fused images, lose details the problems such as.It is simultaneously guarantee
Real-time, several many exposure images are added up, and obtain HDR image
Operation result of the invention and the Demand Design algorithm of many exposure fusions, the main implementation process of algorithm is：
(1) focal plane driver controls the time for exposure of CMOS according to HDR algorithm requirements, is sequentially output several low dynamic models
The image of (LDR) is enclosed, and demodulation is stored in high speed Pingpang Memory equipment.
(2) image motion measurement algorithm carries out computing in real time, draws the interframe displacement of image.Image Restoration Algorithm is to each figure simultaneously
As being restored.
(3) after image restoration is completed, image is added up, HDR image is received in real time.
Digital TDI technologies are a kind of effective expansion sensor integration times so as to the method for improving detection system sensitivity.
In the present invention, the picture shifting amount of a line image is measured using disturbing process of measurement, after the completion of according to result to current line
Restored, added up with previous row and stored.It is so constantly cumulative, until after meeting the series requirement of numeral TDI, will be tired
Plus after row data output.With numeral TDI be combined image motion measurement by the present invention, can be effectively prevented from caused by platform is disturbed
Row data misplace, so as to reduce the signal to noise ratio of TDI images.
The content not being described in detail in description of the invention belongs to the known technology of those skilled in the art.
Claims (4)
1. a kind of disturbance measures imaging system, it is characterised in that read including imaging focal plane module, focal plane control module, view data
Modulus block, disturbance measurement module, image processing module, image output module, high speed memory modules, interface module, wherein,
Interface module, focal plane control module is delivered to after receiving the outside imaging control information for sending, and imaging control information includes frame
Frequently, the time of integration；Image output module is forwarded to after receiving the outside data output instruction for sending；Described data output instruction
It is the instruction of control image output module output imaging data or imaging data result；
Focal plane control module, analytical Calculation is carried out to imaging control information, is obtained focal plane timing control signal and is delivered to imaging Jiao
Face mould block, focal plane timing control signal includes clock, sampling period, the time of integration；
Imaging focal plane module, is imaged and exports imaging data to view data read module according to focal plane timing control signal；
View data read module, using ping-pong buffers storage imaging data to high speed memory modules, while delivering to disturbance measurement
Module；
High speed memory modules, storage imaging data；
Disturbance measurement module, disturbance survey calculation is carried out to imaging data, including：Two-dimensional FFT is carried out to imaging data, two are obtained
The matrix of consequence of FFT is tieed up, the element to same location in each element in matrix of consequence and reference picture FFT result matrix is carried out
Conjugate multiplication, obtains conjugate multiplication result, and FFT inverse transformations are carried out to conjugate multiplication result, obtains FFT inverse transformed result matrixes,
To each element modulus in FFT inverse transformed result matrixes, the picture for obtaining representing matching degree size moves the picture that match parameter is constituted
Match parameter matrix is moved, is found as moving the greatest member value in match parameter matrix, obtained according to greatest member value respective coordinates
Disturbance measurement result, and deliver to image processing module；Described reference picture FFT result matrix is the knot of last Two-dimensional FFT
Fruit matrix, when frame image data headed by imaging data, does not carry out disturbance measurement；
Image processing module, reads the imaging data of high speed memory modules storage, and imaging data is entered using disturbance measurement result
Row treatment, image output module is delivered to by imaging data result；
Image output module, receives data output instruction and is exported imaging data result according to data output instruction, or
Person reads imaging data and exports from high speed memory modules.
2. a kind of disturbance according to claim 1 measures imaging system, it is characterised in that：Described uses disturbance measurement knot
The algorithm that fruit is processed imaging data includes HDR algorithms, numeral TDI algorithms.
3. a kind of disturbance according to claim 1 and 2 measures imaging system, it is characterised in that：Described image output mould
Imaging data result or imaging data are to be exported by CAMERALINK interfaces by block.
4. a kind of disturbance according to claim 1 and 2 measures imaging system, it is characterised in that：Described disturbance measurement mould
Block carries out Two-dimensional FFT to imaging data using FPGA, and the method for carrying out Two-dimensional FFT comprises the following steps：
(1) assume the pixel grey scale exponent number of the imaging data that carry out Two-dimensional FFT conversion for m, m for positive integer and 8≤m≤
12, the line number of imaging data, columns are 2 n power, and n is positive integer and 4≤n≤9, and the FFT cores for setting FPGA are X=4m
Position input, sets the memory of real part result, imaginary results to there is symbol Y=2m；
(2) when one-dimensional FFT is carried out to each row of imaging data so that imaging data is expert at effective after FFT
Position increases p1, when one-dimensional FFT is carried out to each row of imaging data, obtains result data so that result data exists
Significance bit after row FFT increases p2, wherein, m+p1+p2=Y, p1+p2=m, when m is odd number, p1=p2+1 works as m
During for even number, p1=p2；And then obtain p1, p2；
(3) by the L1 power of the gray value increase 2 of each pixel in imaging data, L1=X-m, then to imaging data per a line
One-dimensional FFT is carried out, row FFT result data is obtained, by the data contracting at 0 frequency in row FFT result data
Small 2 [n/2] power, all data reduce 2 in the row FFT result data after then being reduced to data at 0 frequency
(L1-p1- [n/2]) power, finally stores result data to memory using low Y data storage and as row FFT；
(4) row FFT is stored the L2 power of the gray value increase 2 of each pixel in result data, L2=X- (m+p1) is right
The row FFT each row of storage result data after increase carry out one-dimensional FFT, obtain row FFT result data, will
Data in row FFT result data at 0 frequency reduce 2 [n/2] power, the row after then being reduced to data at 0 frequency
All data reduce 2 [(n+X)-(Y+ [n/2])] power in FFT result data, as final transformation results and store
To memory, and then obtain the matrix of consequence of Two-dimensional FFT.
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