CN106895851A - A kind of sensor calibration method that many CCD polyphasers of Optical remote satellite are uniformly processed - Google Patents
A kind of sensor calibration method that many CCD polyphasers of Optical remote satellite are uniformly processed Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
A kind of sensor calibration method that many CCD polyphasers of Optical remote satellite are uniformly processed, the first step：On the basis of the position installed along rail direction by many each CCD linear arrays of camera on Optical remote satellite platform, virtual CCD linear arrays are built, and virtual CCD linear arrays are arranged on center line of the polyphaser along rail direction；Second step：Set up the rigorous geometry model of the unified platform；3rd step：Build each rigorous geometry model of CCD；4th step：For each picture point in virtual CCD linear arrays, the rigorous geometry model direct transform according to the unified platform calculates its ground point plane coordinates, and is assigned to its dispersed elevation, that is, obtain the geographical coordinate of the point；5th step：According to each rigorous geometry model of CCD, the ground point geographical coordinate calculated in step 4 is calculated the picpointed coordinate of the point using rigorous geometry model inverse transformation, is assigned at virtual CCD picture points；6th step：Repeat step four arrives step 5, until all pixel treatment are completed on virtual CCD.
Description
Technical field
The invention belongs to Optical remote satellite data processing field, it is adaptable to field of aerial photography measurement.
Background technology
With remote sensing and the progress and development of satellite technology, user is to high-resolution satellite image geometric resolution, geometry
The requirement more and more higher of quality and breadth.
The limitation of CCD device is limited by, in current and a period of time later, domestic high score remote sensing satellite is to meet user couple
The requirement of breadth spells width imaging, projection imaging centered on every camera using multi-disc CCD, many cameras.Meanwhile, in sub-meter grade
In remote sensing camera, load side is to mitigate the influence guarantee image definition that edge MTF declines；Start to borrow in the design of focal plane
External advanced experience of reflecting uses cambered design, de-emphasizes the conllinear splicing design in camera focal plane.And user is side
Just use and improve the angle of high score remotely-sensed data service efficiency, it is desirable to provide the high-quality sensor level that unified physics spell width
Audio and video products.
Due on platform every camera be multicenter projection imaging, in camera between alignment error, the camera of each CCD linear arrays
The factor such as stitching error caused by installation parallax, causes many CCD polyphasers to be unified between the alignment error and camera of CCD linear arrays
The sensor calibration technical difficulty for the treatment of is big, therefore, how sensor calibration, unification are carried out to many cameras on platform and solved
It is geometric distortion, the splicing of many CCD polyphasers, imaging time normalization, registering between wave band registration, PAN and multi-spectral, preferably full
Sufficient user's request becomes a technical barrier urgently to be resolved hurrily.
Published an article with from the point of view of open source information from current, the research in terms of sensor calibration mainly has in following
Hold：
1、《No. three satellite sensor correction product processes researchs of resource》(Tang new people etc. write, Wuhan University Journal (letter
Breath science version) publishing house, 2 months 2014)
Propose the sensor calibration product processes of basic virtual TDI ccd array weight imaging technique.Especially for
4 spectral coverages of multispectral image solve the problems, such as geometrical registration between spectral coverage using virtual TDI CCD.Produce Hebei Anping area
Three line scanner and multispectral sensor correction product, carry out adjustment experiment and three-dimensional model orientation accuracy analysis, and carried out DSM with
DOM productive experiments.Result shows：The geometric accuracy of No. three satellite sensor correction products of resource fully meets 1:50000 three-dimensional surveys
Figure is required.
2、《No. three satellite three line scanner imaging geometry model constructions of resource and precision preliminary identification》(Tang new people etc. write, mapping
Journal publishing house, in April, 2012)
Propose No. three cartographic satellite imaging geometry models of resource of basic virtual CCD linear array imaging technologies.Using resource
No. three satellite the first rail image Dalian Area data, complete forward sight, face, the production of the sensor calibration product of backsight, and
The adjustment experiment under the conditions of different control points is carried out, has as a result shown that DOM puts down in the case of the arrangement control point of test block corner
Face precision is better than 3m, and DSM precision is better than 2m, and compared with external close definition satellite, No. three cartographic satellites of resource can reach
Geometric accuracy higher.
3、《A kind of No. three production methods of cartographic satellite system geometric correction product of resource》(all equality writes, Surveying and mapping
Publishing house, in July, 2014)
Devise based on No. three sensor calibrations of cartographic satellite of resource come the crucial skill of production system geometric correction product
Art flow, proposes and has derived the puzzle imaging geometry model of system geometric correction product.Test result indicate that：The method is produced
No. three cartographic satellite system geometric correction products of resource geometric accuracy it is higher, it is overall to be better than sensor calibration product, and energy
Meet 1:The requirement of 50000 stereoplottings.
4、《Virtual CCD inner field stitchings》(opened etc. write, Journal of Image and Graphics publishing house, in June, 2012)
Using many CCD images weight imaging algorithm based on virtual CCD linear arrays as the technological means of inner field stitching.To by
On the basis of many CCD image joints errors that hypsography causes carry out theory analysis and derive, it is proposed that without the virtual of DEM
The many CCD images weight imaging algorithms of CCD linear arrays, and propose the method using the space intersection based on tight imaging geometry model
Directly evaluate precision influence of the image joint precision on photogrammetric production.Spliced using positive backsight image before ALOS satellites
Experiment, as a result shows, image joint is worked well, and the method can be promoted in aerial camera image joint.
But the above method is individually processed camera different on platform, the mutual pass between sensor has been isolated
System, need to carry out multiple resampling, cause the reduction of user's service efficiency and cannot eliminate the parallax between two cameras, cause
There is certain stitching error.
The content of the invention
Technology solve problem of the invention is：Overcome the deficiencies in the prior art, there is provided a kind of many CCD of Optical remote satellite are more
The sensor calibration method that camera is uniformly processed.
Technical solution of the invention is：The sensor school that a kind of many CCD polyphasers of Optical remote satellite are uniformly processed
Correction method, step is as follows：
The first step：On the basis of the position installed along rail direction by many each CCD linear arrays of camera on Optical remote satellite platform,
Virtual CCD linear arrays are built, and virtual CCD linear arrays are arranged on center line of the polyphaser along rail direction；
Second step：Imaging moment is calculated according to virtual CCD linear arrays installation site, and in the appearance rail data passed down according to satellite
The elements of exterior orientation of each scan line is inserted out, the rigorous geometry model of the unified platform is set up；
3rd step：Imaging moment, and the appearance rail data passed down according to satellite are calculated according to each Precise Installation Position of CCD
Interpolation goes out the elements of exterior orientation of each scan line, builds each rigorous geometry model of CCD；
4th step：For each picture point in virtual CCD linear arrays, the rigorous geometry model direct transform meter according to the unified platform
Its ground point plane coordinates is calculated, and is assigned to its dispersed elevation, that is, obtain the geographical coordinate of the point；
5th step：According to each rigorous geometry model of CCD, the ground point geographical coordinate calculated in step 4, using tight
Lattice imaging model inverse transformation calculates the picpointed coordinate of the point, is assigned at virtual CCD picture points；
6th step：Repeat step four arrives step 5, until all pixel treatment are completed on virtual CCD, that is, completes many CCD many
The sensor calibration treatment that camera is uniformly processed.
The rigorous geometry model of the described unified platform is as follows：
[XGPS,YGPS,ZGPS]=[XGPS,YGPS,ZGPS,tgps]
[Dx,Dy,Dz]=[Dx,Dy,Dz,t]
In formulaRepresent respectively camera coordinates be tied to satellite body coordinate system spin matrix,
Satellite body coordinate is tied to the spin matrix that the spin matrix of J2000 marks system, J2000 coordinates are tied to WGS84 coordinate systems；[X、Y、
Z]WGS84、[XGPS、YGPS、ZGPS] it is respectively the coordinate of corresponding object space point and GPS phase centers under WGS84 coordinate systems, [Dx、
Dy、Dz] represent the eccentric error of GPS phase centers and satellite platform center, Δ tattRepresent attitude measurement system and camera measurement
Time error between system, Δ tgpsRepresent time error between GPS measuring systems and camera measurement system；tcamAttitude measurement system
Time of measuring, tgpsThe time of measuring of GPS measuring systems, the imaging moment of the virtual CCD of t.
In the 4th step, gone out using the dem data for covering video imaging region, interpolation after calculating its ground point plane coordinates
Ground elevation coordinate, that is, obtain the geographical coordinate of the point.
In the 5th step, whether the picpointed coordinate that judgement is calculated takes region between being located at two panels CCD, if being located at, enters
Row weighted color equilibrium treatment, and be assigned at virtual CCD picture points, no person's indirect assignment is at virtual CCD picture points.
The present invention has the beneficial effect that compared with prior art：
(1) the inherent connection between the present invention overcomes existing sensor calibration technology to isolate many CCD of polyphaser in identical platform
It is property, it is impossible to ensure registration accuracy between relative geometric accuracy, the PAN and multi-spectral on platform between polyphaser, subsequent user is still needed to
Treatment, expends a large amount of manpower and materials.
The present invention constructs the sensor school that rigorous geometry model and many CCD polyphasers based on the unified platform are uniformly processed
Correction method is unified to solve geometric distortion, geometry splicing, imaging time normalization, registration etc. between wave band registration, PAN and multi-spectral
Problem, (user is met to domestic high score remote sensing satellite so as to be automatically obtained many camera high accuracy geometry splicings in identical platform
The demand of breadth, the service efficiency for greatly improving high score remotely-sensed data), automatic matching somebody with somebody of realizing between multi-disc CCD and multiple sensor
It is accurate that (registration accuracy is superior to 0.3 pixel between many each wave bands of spectral coverage, between PAN and multi-spectral, meets user and subsequently merges automatically
The demand for the treatment of).
(2) present invention constructs the accurate rigorous geometric model of the unified platform, overcomes traditional rigorous geometry model and builds
When it is separate, isolated inner link between many CCD of polyphaser in identical platform, caused the phase between polyphaser on platform
The problem that cannot ensure geometric accuracy, using many cameras, multi-disc CCD, multiple sensors in identical platform, in the same time
Elements of exterior orientation constant characteristic during imaging, by introducing platform unified time system, unified appearance rail model, establishes based on system
The rigorous geometry model of one platform, the model is according to the accurate actual position independence that unit is visited in each CCD device of each spectral coverage in camera
Geometrical model is built, it is unified to solve geometric distortion, geometry splicing, imaging time normalization, wave band registration etc., so as to ensure satellite
The high accuracy Internal Geometric Accuracy of image.
(3) due to image positioning precision after polyphaser sensor calibration and internal distortions error by outer orientation parameter (attitude,
Track), each sensor internal geometric distortion and the influence of the class error of object space elevation three, be analyzed by above-mentioned error, it is high
The influence of journey error is maximum, and conventional method is processed using dispersed elevation, and installing parallax between causing camera cannot eliminate at all, so that shadow
The Internal Geometric Accuracy of the final sensor calibration audio and video products of sound.
Brief description of the drawings
Fig. 1 is flow chart of the present invention；
Fig. 2 is that the sensor calibration installation site that many CCD polyphasers of the invention are uniformly processed is illustrated；
Fig. 3 is two camera installation relation schematic diagrames of certain satellite of the invention；
Fig. 4 is the displacement error schematic diagram that elevation fluctuating causes to image after sensor calibration；
Fig. 5 is the geometrical relationship between double camera sensor calibration error and vertical error；
Fig. 6 is image simulation signal after many CCD polyphasers sensor calibrations based on the unified platform；
Fig. 7 is uniformly processed the original image before sensor calibration for two camera multi-disc CCD of XXX satellites；
Fig. 8 is uniformly processed image after sensor calibration for two camera multi-disc CCD of XXX satellites.
Specific embodiment
Below in conjunction with the accompanying drawings and example elaborates to the present invention.
A kind of sensor calibration method that many CCD polyphasers of Optical remote satellite are uniformly processed, step is as follows：
The first step：On the basis of the position installed along rail direction by many each CCD linear arrays of camera on Optical remote satellite platform,
Virtual CCD linear arrays are built, and virtual CCD linear arrays are arranged on center line of the polyphaser along rail direction；
(1) sensor calibration imaging characteristic and advantage based on the unified platform
A, rail direction of hanging down are for preferable, distortionless central projection imaging, each CCD visit first in the same size；
It is b, consistent along the time of integration in rail direction, without time of integration saltus step；Along rail direction without geometric distortion；
C, CCD visit radiationless difference between unit；
Image inside and outside geometric positioning accuracy free of losses before and after d, many CCD polyphasers sensor calibrations.
E, without extra process, between many cameras, between PAN and multi-spectral registration accuracy meet directly fusion or spelling
The demand for connecing.
(2) the virtual ccd sensor based on the unified platform is installed
On the basis of the position installed along rail direction by each CCD linear arrays of polyphaser, by CCD linear arrays after polyphaser sensor calibration
On the center line of " installation " in polyphaser along rail direction, the width of CCD linear arrays is true multiple CCD after polyphaser sensor calibration
The overall width in the vertical rail direction of linear array, each CCD visits first in the same size, and wherein solid line represents actual multiple CCD linear arrays, dotted line
CCD linear arrays after polyphaser sensor calibration are represented, as shown in Figure 2.
Second step：Imaging moment is calculated according to virtual CCD linear arrays installation site, and in the appearance rail data passed down according to satellite
The elements of exterior orientation of each scan line is inserted out, the rigorous geometry model of the unified platform is set up；
Traditional rigorous geometry model has following limitation, separate in imaging process between each camera on platform, i.e., respectively
Camera is imaged to different atural objects simultaneously.But relative accuracy is very high between as user requires each camera, be conducive to user's logarithm
According to fusion used with the splicing across visual field data.Therefore, it is necessary to the rigorous geometry model based on the unified platform is built, so as to protect
Card platform interior camera between, it is relative several between each linear array, between camera internal sensor and sensor between camera internal linear array
What precision.
[XGPS,YGPS,ZGPS]=[XGPS,YGPS,ZGPS,tgps]
[Dx,Dy,Dz]=[Dx,Dy,Dz,t]
In formulaRepresent respectively camera coordinates be tied to satellite body coordinate system spin matrix,
Satellite body coordinate is tied to the spin matrix that the spin matrix of J2000 marks system, J2000 coordinates are tied to WGS84 coordinate systems；[X、Y、
Z]WGS84、[XGPS、YGPS、ZGPS] it is respectively the coordinate of corresponding object space point and GPS phase centers under WGS84 coordinate systems, [Dx、
Dy、Dz] represent the eccentric error of GPS phase centers and satellite platform center, Δ tattRepresent attitude measurement system and camera measurement
Time error between system, Δ tgpsRepresent time error between GPS measuring systems and camera measurement system；tcamAttitude measurement system
Time of measuring, tgpsThe time of measuring of GPS measuring systems, the imaging moment of the virtual CCD of t.
Using many cameras, multi-disc CCD, multiple sensors, the elements of exterior orientation in same time image in identical platform
Constant characteristic, by introducing platform unified time system, unified appearance rail model, establishes the strict imaging based on the unified platform
Model, the model independently builds geometrical model according to the accurate actual position that unit is visited in each CCD device of each spectral coverage in camera, unified
Geometric distortion, geometry splicing, imaging time normalization, wave band registration etc. are solved, so as to ensure inside the high accuracy of satellite image
Geometric accuracy.
Proposed when being unified by introducing platform by the geometrical feature on tight analysis satellite during each camera imaging, derivation
Between system method, so as to set up the rigorous geometry model of the unified platform.
3rd step：Imaging moment, and the appearance rail data passed down according to satellite are calculated according to each Precise Installation Position of CCD
Interpolation goes out the elements of exterior orientation of each scan line, builds each rigorous geometry model of CCD；
4th step：For each picture point in virtual CCD linear arrays, the rigorous geometry model direct transform meter according to the unified platform
Its ground point plane coordinates is calculated, and is assigned to its dispersed elevation, that is, obtain the geographical coordinate of the point；
By after unified platform elements of exterior orientation technical finesse, along rail, rail direction of hanging down mainly by outer orientation ginseng between polyphaser
Number (attitude, track), each sensor internal geometric distortion and the influence of object space vertical error, this three classes error can all cause
Image positioning precision and internal distortions error after polyphaser sensor calibration；Because polyphaser is located at identical platform, the imaging time difference
Angle very little between very little, camera, it is contemplated that state is more steady in orbit for satellite, therefore, caused by outer orientation parameter error
Sensor calibration after image positioning precision error very little, can be ignored；Due to first to each sensor of polyphaser point
Do not carried out in-orbit geometric calibration, sensor internal geometric distortion influence can also ignore, below primary focus analyte
Affecting laws of the square vertical error to image positioning precision after polyphaser sensor calibration.
As shown in figure 3, as shown in Figure 4,5, H represents orbit altitude, f is camera to two camera installation relations of certain model satellite
Master is away from θ1And θ2Camera 1, camera 2 are represented respectively along the rail direction angle of visual field.If there is vertical error (or elevation fluctuating) Δ H, by
The error of image positioning precision after its sensor calibration for causingIt is mainly shown as that, along rail direction, computing formula is：
Picture point is projected into ground point P using the rigorous geometry model, dem data, the latitude and longitude coordinates of the point is obtained, such as
It is 1. shown in Fig. 6.
5th step：According to each rigorous geometry model of CCD, the ground point geographical coordinate calculated in step 4, using tight
Lattice imaging model inverse transformation calculates the picpointed coordinate of the point, and whether the picpointed coordinate that judgement is calculated is taken between being located at two panels CCD
Region, if being located at, is weighted color balance treatment, and is assigned at virtual CCD picture points, and no person's indirect assignment is to virtual
At CCD picture points.
Specific to Fig. 6, using tight imaging model, the DEM of the latitude and longitude coordinates of ground point P, camera 1 or camera 2
Data, inverse obtains the picpointed coordinate on camera 1 or camera 2, as shown in Fig. 6 2., then, carries out many CDD colors of polyphaser
It is color balanced, and by the gray value under camera 1 or the image coordinate system of camera 2 by shadow after interpolation imparting polyphaser sensor calibration
In the picture point of picture.
6th step：Repeat step four arrives step 5, until all pixel treatment are completed on virtual CCD, that is, completes many CCD many
The sensor calibration treatment that camera is uniformly processed.
By taking the experiment of XXX satellite PMS camera images as an example, Fig. 7 is uniformly processed sensing for two camera multi-disc CCD of XXX satellites
Original image before device correction, its pixel resolution is 2 meters, and quantizing bit number is 10, and interval overlay region is overlapped between two cameras
About 1 kilometer of domain.Fig. 8 is uniformly processed the image after sensor calibration for two camera multi-disc CCD of XXX satellites.Through inspection：High score one
Relative orientation precision is better than 0.2 pixel between each CCD of totally 8 ccd sensor correcting images for number satellite double camera；High score two
Relative orientation precision is better than 0.2 pixel to satellite double camera between each CCD of totally 10 ccd sensor correcting images；Double camera it
Between relative accuracy be better than 0.25 Pixel；Relative accuracy is better than 0.25 Pixel between PAN and multi-spectral image；It is multispectral
Between wave band registration precision be better than 0.2Pixel.
Unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (4)
1. the sensor calibration method that a kind of many CCD polyphasers of Optical remote satellite are uniformly processed, it is characterised in that step is as follows：
The first step：On the basis of the position installed along rail direction by many each CCD linear arrays of camera on Optical remote satellite platform, build
Virtual CCD linear arrays, and virtual CCD linear arrays are arranged on center line of the polyphaser along rail direction；
Second step：Imaging moment is calculated according to virtual CCD linear arrays installation site, and the appearance rail interpolation of data passed down according to satellite goes out
The elements of exterior orientation of each scan line, sets up the rigorous geometry model of the unified platform；
3rd step：Imaging moment, and the appearance rail interpolation of data passed down according to satellite are calculated according to each Precise Installation Position of CCD
Go out the elements of exterior orientation of each scan line, build each rigorous geometry model of CCD；
4th step：For each picture point in virtual CCD linear arrays, the rigorous geometry model direct transform according to the unified platform calculates it
Ground point plane coordinates, and be assigned to its dispersed elevation, that is, obtain the geographical coordinate of the point；
5th step：According to each rigorous geometry model of CCD, the ground point geographical coordinate calculated in step 4, using strictly into
The picpointed coordinate of the point is calculated as model inverse transformation, is assigned at virtual CCD picture points；
6th step：Repeat step four arrives step 5, until all pixel treatment are completed on virtual CCD, that is, completes many CCD polyphasers
The sensor calibration treatment being uniformly processed.
2. method according to claim 1, it is characterised in that：The rigorous geometry model of the described unified platform is as follows：
[XGPS,YGPS,ZGPS]=[XGPS,YGPS,ZGPS,tgps]
[Dx,Dy,Dz]=[Dx,Dy,Dz,t]
In formulaCamera coordinates are represented respectively is tied to the spin matrix of satellite body coordinate system, satellite sheet
Body coordinate is tied to the spin matrix that the spin matrix of J2000 marks system, J2000 coordinates are tied to WGS84 coordinate systems；[X、Y、Z]WGS84、
[XGPS、YGPS、ZGPS] it is respectively the coordinate of corresponding object space point and GPS phase centers under WGS84 coordinate systems, [Dx、Dy、Dz] generation
Table GPS phase centers and the eccentric error at satellite platform center, Δ tattWhen representing between attitude measurement system and camera measurement system
Between error, Δ tgpsRepresent time error between GPS measuring systems and camera measurement system；tcamDuring the measurement of attitude measurement system
Between, tgpsThe time of measuring of GPS measuring systems, the imaging moment of the virtual CCD of t.
3. method according to claim 1, it is characterised in that：In the 4th step, profit after its ground point plane coordinates is calculated
With the dem data in covering video imaging region, interpolation goes out ground elevation coordinate, that is, obtains the geographical coordinate of the point.
4. method according to claim 1, it is characterised in that：In the 5th step, the picpointed coordinate that judgement is calculated is
Region is taken between the no CCD positioned at two panels, if being located at, color balance treatment is weighted, and is assigned at virtual CCD picture points, it is no
Person's indirect assignment is at virtual CCD picture points.
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| CN117109519A (en) * | 2023-08-25 | 2023-11-24 | 自然资源部国土卫星遥感应用中心 | Satellite linear array image stitching method and system assisted by laser altimetry data |
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