CN107702697A - The line frequency computational methods of the vertical rail rotation sweeping imaging of TDI cameras - Google Patents

The line frequency computational methods of the vertical rail rotation sweeping imaging of TDI cameras Download PDF

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CN107702697A
CN107702697A CN201710886354.4A CN201710886354A CN107702697A CN 107702697 A CN107702697 A CN 107702697A CN 201710886354 A CN201710886354 A CN 201710886354A CN 107702697 A CN107702697 A CN 107702697A
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satellite
line frequency
ground
velocity
sweeping
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CN107702697B (en
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杨秀彬
王家骐
金光
王旻
常琳
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
    • G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
    • G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object

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Abstract

The line frequency computational methods of the vertical rail rotation sweeping imaging of TDI cameras,It is related to photoelectric imaging technology field,In order to solve the problem that multiple velocity dynamic changes when satellite quickly rotates super large breadth push-scanning image cause line frequency dyscalculia,This method calculates the demand that can not adapt to the satellite rotation quick real-time change of sweeping dynamic imaging line frequency for traditional remote sensing satellite static state push-scanning image line frequency,Mainly according to orbit altitude,Scenery latitude and spin angular position,Earth rotation speed in the vertical rail rotation sweeping imaging process of satellite is calculated respectively,Satellite precessional evlocity and satellite rotary speed,Three velocities are projected to object plane and synthesized,Calculate the sum velocity vector in image planes,Utilize the ratio between pixel dimension and image planes sum velocity vector,Calculate dynamic sweeping and be imaged real-time line frequency,To realize rail sweeping dynamic imaging line frequency purpose registering in real time of hanging down.The inventive method is simple and reliable, easy, extends the application field of dynamic sweeping satellite.

Description

The line frequency computational methods of the vertical rail rotation sweeping imaging of TDI cameras
Technical field
The present invention relates to photoelectric imaging technology field, and in particular to a kind of line frequency of the vertical rail rotation sweeping imaging of TDI cameras Computational methods.
Background technology
At present, Optical remote satellite is realizes push-scanning image in larger scope, via along rail substar or big side-sway Push-scanning image pattern rotates the development of sweeping imaging pattern to vertical rail, along rail push-scanning image typically using multiple CCD splicings or same Shi Zeng great camera side-sway abilities realize the push-scanning image of certain visual field in extensive area, can not realize super large breadth scope into Picture, and rail rotation sweeping imaging of hanging down is then quickly to rotate to make the Linear CCD Detector parallel with satellite flight direction using satellite 360 ° of continuous spins, the quick push-scanning images in rail direction of hanging down are realized, so as to realize the maximization of satellite image coverage over the ground.
Need to ensure that imaging line frequency accurately matches with along rail speed during Optical remote satellite push-scanning image, it is clear to realize Imaging image.It is different from along rail push-scanning image line frequency computational methods, satellite dynamic be present in rail rotation sweeping imaging process of hanging down Angular velocity of rotation, three space velocity vectors such as earth rotation speed and satellite precessional evlocity；Therefore, sweep into herein being pushed away along rail On the basis of being calculated as line frequency, it is proposed that using the method for velocity projection mapping calculate TDI cameras hang down rail rotate sweeping into As line frequency, realize that dynamic sweeping is imaged each velocity projection mapping synthesis and quickly calculated with the accurate of line frequency.
The content of the invention
The present invention causes to solve multiple velocity dynamic changes when satellite quickly rotates super large breadth push-scanning image A kind of problem of line frequency dyscalculia, there is provided the line frequency computational methods of the vertical rail rotation sweeping imaging of TDI cameras.
The line frequency computational methods of the vertical rail rotation sweeping imaging of TDI cameras, this method are realized by following steps：
Step 1: earth rotation speed vector, satellite precessional evlocity vector satellite rotary speed vector are calculated respectively, and Each velocity is projected to being synthesized on object plane；Specially：
VGround=ωGround×RGround；
VWei Xuan=ωDefend×LSide；
In above formula, ωGround=7.2921 × 10-5Rad/s, RGround=6371.004km, ωDefendFor satellite angular velocity of rotation, VWei XuanFor Satellite rotary speed；μ=3.986 × 1014；H0It is the earth's core away from H0=h+RGround；H is satellite orbital altitude, and φ is satellite rotation pair The side-sway Angle Position answered；
VGround velocity projects=VGround×cosφ；
Satellite precessional evlocity is synthesized with satellite rotary speed, obtains aggregate velocity VClose；
Ball speed is projected and synthesized with the aggregate velocity, obtains the aggregate velocity V on object planeThing；
α=atan (VWei Xuan/VSatellite)+i0-π/2
In formula, i0For orbit inclination angle, angles of the α between ground and object plane；
Step 2: the aggregate velocity on object plane is transformed into image planes, image planes sum velocity V is obtainedPicture, and obtain line frequency；
Upper formula is merged, obtains the calculation formula of line frequency：
In formula, f is TDI camera focus, and a is pixel dimension.
Beneficial effects of the present invention：Method of the present invention is mainly according to orbit altitude, scenery latitude and the anglec of rotation Position, earth rotation speed, satellite precessional evlocity and satellite rotation in the vertical rail rotation sweeping imaging process of satellite are calculated respectively Speed, then three velocities are projected to object plane and synthesized, finally calculated the sum velocity vector in image planes, finally utilize The ratio between pixel dimension and image planes sum velocity vector, calculate dynamic sweeping and be imaged real-time line frequency.
The line frequency of traditional push-scanning image calculates, and is the conjunction using pixel dimension and earth rotation speed and satellite precessional evlocity The ratio between speed carries out line frequency calculating, and imaging process is quiescent imaging, and corresponding velocity component is few, and line frequency is not substantially in imaging process Become, the mission requirements of present satellites rotation sweeping dynamic imaging quick response can not be adapted to.
The present invention has considered TDI camera line frequency control abilities and the gesture stability ability of satellite, according to the vertical rail of satellite Dynamic sweeping is imaged the changing rule of each velocity, devises the line frequency calculating side of friction speed vector project mapping synthesis Method, the synthesis of satellite rotary speed, earth rotation speed and satellite precessional evlocity three is realized, so as to realize vertical rail dynamic sweeping The real-time calculating for being imaged line frequency obtains.This method is promoted to quick rotation three on the basis of two velocities are swept in traditional pushing away The Fast back-projection algorithm of individual velocity, method is simple and easy, expands the scope of multiple speed Vector modulation.
The inventive method is simple and reliable, easy, expands the computational methods of multiple speed Vector modulation in dynamic imaging processes, Extend the application field of dynamic sweeping satellite.The present invention is the domestic first row proposed for the rail dynamic sweeping imaging pattern that hangs down The reliable method that frequency quickly calculates.
Brief description of the drawings
Fig. 1 is the vertical rail spin flight schematic diagram of satellite；
Fig. 2 is that a kind of vertical rail of TDI cameras of the present invention rotates each speed arrow in the line frequency computational methods that sweeping is imaged Measure projection mapping and synthesis schematic diagram；
Fig. 3 is the line frequency computational methods Satellite rotation that a kind of vertical rail of TDI cameras of the present invention rotates sweeping imaging The corresponding relation being imaged between Angle Position and side view object distance.
Fig. 4 is to be rotated into as three velocity schematic diagrames.
Embodiment
Embodiment one, illustrate present embodiment, the row of the vertical rail rotation sweeping imaging of TDI cameras with reference to Fig. 1 to Fig. 4 Frequency computational methods line frequency is determined by motion sum velocity of the object scene in image planes and CCD Pixel sizes, the in-orbit fortune of satellite During row, due to satellite dynamic rotary, three earth rotation speed, satellite precessional evlocity and satellite angular velocity of rotation speed arrows be present Amount.Because three velocities are not in one plane；
First have to calculate each velocity respectively and projected to being synthesized on object plane.
VGround=ωGround×RGround；
VWei Xuan=ωDefend×LSide；
Wherein, ωGround=7.2921 × 10-5rad/s；RGround=6371.004km；ωDefend=10 °/s；μ=3.986 × 1014；H0 =h+RGround；φ is Angle Position corresponding to rotation；
VGround velocity projects=VGround×cosφ
Then satellite velocities and camera rotary speed are synthesized on object plane,
Then ball speed is projected and velocity composite above.
α=atan (VRotation/VSatellite)+i0-π/2
Wherein：i0For orbit inclination angle；
Finally the sum velocity on object plane is transformed into image planes, image planes sum velocity is obtained and solves line frequency.
After above formula is merged, line frequency calculation formula is as follows：
Each velocity projections mapping relations are as shown in Fig. 2 LSideCalculate as shown in Figure 3.
Embodiment two, present embodiment are the vertical rail rotation pendulum of a kind of TDI cameras described in embodiment one Sweep the embodiment of the line frequency computational methods of imaging：According to orbit altitude, geographic latitude and sweeping Angle Position, the vertical rail of detector is calculated Sweeping line frequency size.
(1) hypothesis satellite orbital altitude h=500km, earth radius R=6371km, 0 ° of latitude, rail sweeping of hanging down are imaged to side When putting 45 °, existing three velocities are as shown in figure 4, be respectively：
Earth rotation speed VGround=ωGround×RGround=464.58m/s
Satellite precessional evlocity
Satellite rotation sweeping speed VRotation=ωDefend×LSide=123385.68m/s
(2) on object plane sum velocity vector calculating
i0=97.4 °
α=atan (VRotation/VSatellite)+i0
(3) in image planes line frequency calculating
Wherein f=2m is focal length；A=7 × 10-6For pixel dimension.
It is computed, focal length 2m, orbit altitude 500km, corresponding CCD line frequencies during the 10 °/s of satellite spin that 7 μm of pixel dimension For 50.08KHz.
Obviously, above-described embodiment is only intended to clearly illustrate example, and is not the restriction to embodiment.It is right For those of ordinary skill in the art, can also make on the basis of the above description it is other it is various forms of change or Change.There is no necessity and possibility to exhaust all the enbodiments.And the obvious change thus extended out or Among changing still in the protection domain of the invention.

Claims (1)

  1. The line frequency computational methods of the vertical rail rotation sweeping imaging of 1.TDI cameras, it is characterized in that；This method is realized by following steps：
    Step 1: earth rotation speed vector, satellite precessional evlocity vector satellite rotary speed vector are calculated respectively, and will be each Velocity is projected to being synthesized on object plane；Specially：
    VGround=ωGround×RGround；
    VWei Xuan=ωDefend×LSide；
    In above formula, ωGround=7.2921 × 10-5Rad/s, RGround=6371.004km, ωDefendFor satellite angular velocity of rotation, VWei XuanFor satellite Rotary speed；μ=3.986 × 1014；H0It is the earth's core away from H0=h+RGround；H is satellite orbital altitude, and φ is corresponding to satellite rotation Side-sway Angle Position；
    VGround velocity projects=VGround×cosφ；
    Satellite precessional evlocity is synthesized with satellite rotary speed, obtains aggregate velocity VClose；
    Ball speed is projected and synthesized with the aggregate velocity, obtains the aggregate velocity V on object planeThing；
    α=atan (VWei Xuan/VSatellite)+i0-π/2
    In formula, i0For orbit inclination angle, angles of the α between ground and object plane；
    Step 2: the aggregate velocity on object plane is transformed into image planes, image planes sum velocity V is obtainedPicture, and obtain line frequency；
    Upper formula is merged, obtains the calculation formula of line frequency：
    In formula, f is TDI camera focus, and a is pixel dimension.
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CN108898565A (en) * 2018-07-10 2018-11-27 中国科学院长春光学精密机械与物理研究所 The inverse transform method of TDI CCD camera sweeping imaging image geometric distortion reduction
CN110986886A (en) * 2019-12-18 2020-04-10 中国科学院长春光学精密机械与物理研究所 Double-camera dynamic rotation scanning three-dimensional imaging simulation device
CN112714311A (en) * 2020-12-30 2021-04-27 中国科学院长春光学精密机械与物理研究所 Line frequency calibration method of TDI camera
CN114155444A (en) * 2021-10-22 2022-03-08 中国科学院长春光学精密机械与物理研究所 On-orbit target detection method based on space sweep imaging system
CN115586305A (en) * 2022-10-09 2023-01-10 哈尔滨工业大学 Load vertical orbit rotation scanning-based ultra-wide coverage multi-mode carbon monitoring satellite, construction method and monitoring method
CN116222969A (en) * 2022-12-30 2023-06-06 中国科学院长春光学精密机械与物理研究所 Dynamic line frequency matching simulation device in TDI CCD large attitude angle push broom imaging process
CN116500779A (en) * 2023-04-27 2023-07-28 中国科学院长春光学精密机械与物理研究所 High-frequency wide-range imaging method based on space-based platform and turnover rotating mirror linkage
CN117892039A (en) * 2024-03-14 2024-04-16 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Method for generating slice type rational function model of vertical orbit rotation swing scanning imaging satellite

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CN108898565B (en) * 2018-07-10 2021-09-24 中国科学院长春光学精密机械与物理研究所 Inverse transformation method for geometrical distortion reduction of TDI CCD camera swing scanning imaging image
CN108898565A (en) * 2018-07-10 2018-11-27 中国科学院长春光学精密机械与物理研究所 The inverse transform method of TDI CCD camera sweeping imaging image geometric distortion reduction
CN110986886A (en) * 2019-12-18 2020-04-10 中国科学院长春光学精密机械与物理研究所 Double-camera dynamic rotation scanning three-dimensional imaging simulation device
CN112714311A (en) * 2020-12-30 2021-04-27 中国科学院长春光学精密机械与物理研究所 Line frequency calibration method of TDI camera
CN112714311B (en) * 2020-12-30 2021-10-26 中国科学院长春光学精密机械与物理研究所 Line frequency calibration method and correction system of TDI camera
CN114155444B (en) * 2021-10-22 2024-04-26 中国科学院长春光学精密机械与物理研究所 On-orbit target detection method based on spaceflight swing scanning imaging system
CN114155444A (en) * 2021-10-22 2022-03-08 中国科学院长春光学精密机械与物理研究所 On-orbit target detection method based on space sweep imaging system
CN115586305A (en) * 2022-10-09 2023-01-10 哈尔滨工业大学 Load vertical orbit rotation scanning-based ultra-wide coverage multi-mode carbon monitoring satellite, construction method and monitoring method
CN116222969A (en) * 2022-12-30 2023-06-06 中国科学院长春光学精密机械与物理研究所 Dynamic line frequency matching simulation device in TDI CCD large attitude angle push broom imaging process
CN116500779A (en) * 2023-04-27 2023-07-28 中国科学院长春光学精密机械与物理研究所 High-frequency wide-range imaging method based on space-based platform and turnover rotating mirror linkage
CN116500779B (en) * 2023-04-27 2024-04-26 中国科学院长春光学精密机械与物理研究所 High-frequency wide-range imaging method based on space-based platform and turnover rotating mirror linkage
CN117892039A (en) * 2024-03-14 2024-04-16 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Method for generating slice type rational function model of vertical orbit rotation swing scanning imaging satellite
CN117892039B (en) * 2024-03-14 2024-06-18 哈尔滨工业大学(深圳)(哈尔滨工业大学深圳科技创新研究院) Method for generating slice type rational function model of vertical orbit rotation swing scanning imaging satellite

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