CN107941201A - The zero intersection optical satellite image simultaneous adjustment method and system that light is constrained with appearance - Google Patents
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Abstract
Optical satellite image simultaneous adjustment method and system are intersected with appearance constrains zero the invention discloses a kind of light, the described method includes：S1 establishes the tight imaging geometry model of optical satellite image according to the three point on a straight line principle of instantaneous projection centre, ground point and its corresponding picture point；S2 introduces the translation item and drift term of the attitude of satellite on the basis of satellite attitude measurement value, builds the compensation of attitude error model of optical satellite image；Imaging light attitude angles the adjacent two scape image described in of the S3 according to corresponding to picture point on adjacent two scapes image in same band is identical, builds the light of optical satellite image with appearance restricted model；S4 solves compensation of attitude error parameter using least square method.The present invention utilizes the tie point between adjacent image, constrained by light intrinsic between image with appearance, all zero intersection images are connected into an entirety, so that in the case of a small amount of ground control point, while realize being accurately positioned for all zero intersection optical satellite images.
Description
Technical Field
The invention belongs to the technical field of photogrammetry and remote sensing, and particularly relates to a light homography constrained zero-intersection optical satellite image joint adjustment method and system.
Background
High-resolution satellite remote sensing earth observation technology has become one of the important means for acquiring earth space information for human beings, and a series of geospatial information products (such as digital elevation models and digital orthoimages) produced by high-resolution satellite images have been widely applied to the application fields of topographic mapping, land utilization investigation and updating, geological exploration, agriculture and forestry resource investigation, earthquake resistance and disaster relief and the like. In order to realize the productization of the high-resolution satellite image more quickly, serve the social economy and national defense construction of China better and create social and economic benefits more, the problem of accurate target positioning of the high-resolution satellite image must be solved first, and the image positioning accuracy directly determines the accuracy of a geospatial information product.
In order to improve the image positioning accuracy, a GPS receiver, a star sensor, and a gyroscope are generally mounted on a high-resolution optical satellite, and used for determining the position and attitude of the satellite during satellite image acquisition. However, due to the performance of the satellite orbit determination attitude determination equipment, the satellite position and attitude measurement values inevitably contain measurement errors. Without ground control points, it is still difficult for high-resolution optical satellite imagery to obtain optimal positioning accuracy. At present, in order to eliminate the influence of these errors on image positioning to obtain optimal positioning accuracy, ground control points are still indispensable. As is known, the field acquisition of ground control points requires a great deal of manpower, material resources and financial resources, especially in the large area covered by high-resolution optical satellite images. For a three-linear array three-dimensional mapping satellite with a sky plot I, a resource plot III and the like, forward-looking images, downward-looking images and rear-looking images covering the same area can be acquired from different angles. Geometric constraints among the three-vision images are fully utilized, adjustment processing of the area network by the traditional beam method is carried out, and accurate positioning of the three-linear array three-dimensional satellite images can be realized under the assistance of a small number of ground control points. However, for single line array optical mapping satellites such as high-resolution one-number, high-resolution two-number, and high-view one-number, only a single-view strip image along the direction of the satellite can be acquired in a push-broom mode, and the strip image is divided into a plurality of standard images with a certain overlap and distributed to users. After the strip image is divided into a plurality of standard images, the homonymous light rays between the adjacent standard images are substantially the same light rays, and the intersection angle is 0 degree (namely zero intersection). Under the influence of the zero-crossing problem, the adjacent standard images in the same band are difficult to form an ideal stereopair, and the basic geometric constraint of intersection of the same-name ray pairs under the good-crossing condition in the adjustment of the area network by the traditional beam method cannot be met. That is to say, for the zero-crossing optical satellite image in the same strip, it is difficult to realize the satellite image accurate positioning assisted by a small number of ground control points by using the traditional beam method block adjustment method.
In order to realize accurate positioning of the zero-crossing optical satellite images in the same strip, a certain number of ground control points need to be uniformly distributed on each scene image, which is often difficult to meet in the actual processing process. The main reasons are two reasons: firstly, the ground coverage of a single-scene high-resolution optical satellite image can reach 20 x 20km generally2To 50X 50km2A large amount of cost investment is required for uniformly distributing ground control points on each scene image; secondly, due to the influence of cloud cover, forest coverage, lack of texture and other factors, it is difficult to obtain uniformly distributed control points on each scene image. Therefore, how to realize the accurate positioning of the zero-crossing optical satellite image under the assistance of a small number of ground control points has important significance for fully exerting the application value of single line array satellite images such as high-grade first satellite images, high-grade second satellite images, high-view first satellite images and the like in China.
Disclosure of Invention
Aiming at the current situation that a large number of ground control points are needed for accurately positioning a multi-scene zero-crossing optical satellite image in the same band, the invention provides a light homomorphic constraint zero-crossing optical satellite image joint adjustment method and a light homomorphic constraint zero-crossing optical satellite image joint adjustment system.
The invention provides a light homothetic constrained zero-crossing optical satellite image joint adjustment method, which comprises the following steps:
s1, establishing a strict imaging geometric model of the optical satellite image according to the three-point collinear principle of the instantaneous projection center, the ground point and the corresponding image point;
s2, introducing a translation term and a drift term of the satellite attitude on the basis of the satellite attitude measurement value, and constructing an attitude error compensation model of the optical satellite image; the translation term and the drift term form an attitude error compensation parameter of the optical satellite image;
s3, constructing a light homography constraint model of the optical satellite image according to the same attitude angles described in the two adjacent images by the imaging light corresponding to the image points on the two adjacent images in the same strip;
s4, solving attitude error compensation parameters by using a least square method, specifically:
4.1 respectively establishing error equations of the 1 st scene image and the last 1 st scene image by using a rigorous imaging geometric model and an attitude error compensation model according to ground control points on the 1 st scene image and the last 1 st scene image in the same strip;
4.2 according to each connection point between two adjacent scene images in the same strip, respectively establishing an error equation between each two adjacent scene images by using a light homography constraint model between the two adjacent scene images;
4.3 establishing a normal equation according to the least square adjustment principle based on the error equations established in the substep 4.1 and the substep 4.2;
4.4, iteratively solving a method equation to obtain an attitude error compensation parameter.
Further, the attitude error compensation model is as follows:
wherein (phi, omega, kappa) represents the satellite attitude;representing satellite attitude measurements;a translation term representing the satellite attitude;a drift term representing a satellite attitude; l and l0Respectively representing the line positions of the image point and the central scanning line image under the image plane coordinate systemMarking;
and the light ray same-posture constraint model is as follows:
wherein,andrespectively representing the satellite attitude measurement values described by the imaging light in the ith scene and the i +1 scene images;andrespectively representing attitude error compensation parameters described by imaging light in the ith scene and the (i + 1) th scene images; liAnd li+1Respectively representing the line coordinates of the image points under the image plane coordinate systems of the ith scene and the i +1 th scene images;andrespectively representing the line coordinates of the central scanning line images of the ith scene and the i +1 th scene in respective image plane coordinate systems; the ith scene and the i +1 scene are adjacent two scenes in the same strip.
Further, the error equation established in substep 4.1 is:
V1＝A1X1-L1
Vk＝AkXk-Lk
wherein, the vector V1And VkRespectively representing the correction numbers of the coordinate observed values of the image points on the 1 st scene image and the last 1 st scene image; matrix A1And AkRespectively representing a design matrix formed by partial derivatives of attitude error compensation parameters of the 1 st scene image and the last 1 st scene image, wherein the design matrix is obtained according to the rigorous imaging geometric model and the attitude error compensation model; vector X1And XkRespectively representing the correction numbers of the attitude error compensation parameters of the 1 st scene image and the last 1 st scene image; vector L1And LkAnd respectively representing the residual error of the coordinate of the image point on the 1 st scene image and the last 1 st scene image.
Further, the error equation established in substep 4.2 is:
wherein, the vector Vi,i+1The correction number represents the light attitude inconsistency value between two adjacent scene images i and i +1, and the light attitude inconsistency value represents the difference of satellite attitudes described by the same imaging light in the two adjacent scene images; vector XiAnd Xi+1Respectively representing the correction numbers of the attitude error compensation parameters of two adjacent scenes of the images i and i + 1;andrespectively representing a design matrix formed by partial derivatives of attitude error compensation parameters of images i and i +1 in two adjacent scenes of images i and i +1, wherein the design matrix is obtained according to a light homography constraint model.
The invention provides a zero-crossing optical satellite image combined adjustment system with light ray homotaxial constraint, which comprises:
the rigorous imaging geometric model building module is used for building a rigorous imaging geometric model of the optical satellite image according to the three-point collinear principle of the instantaneous projection center, the ground point and the corresponding image point;
the attitude error compensation model establishing module is used for introducing a translation term and a drift term of the satellite attitude on the basis of the satellite attitude measurement value and establishing an attitude error compensation model of the optical satellite image; the translation term and the drift term form an attitude error compensation parameter of the optical satellite image;
the light same-attitude constraint model establishing module is used for establishing a light same-attitude constraint model of the optical satellite image according to the same attitude angles described by the imaging light corresponding to the image points on the two adjacent images in the same strip;
the attitude error compensation parameter solving module is used for solving the attitude error compensation parameters by adopting a least square method;
the attitude error compensation parameter solving module further comprises:
the first error equation establishing module is used for respectively establishing error equations of the 1 st scene image and the last 1 st scene image by utilizing a rigorous imaging geometric model and an attitude error compensation model according to ground control points on the 1 st scene image and the last 1 st scene image in the same strip;
the second error equation establishing module is used for respectively establishing an error equation between each two adjacent scene images by utilizing a light homomorphic constraint model between the two adjacent scene images according to each connecting point between the two adjacent scene images in the same strip;
the normal equation establishing module is used for establishing a normal equation based on the error equations established by the first error equation establishing module and the second error equation establishing module and establishing a normal equation according to the least square adjustment principle;
and the iterative solution module is used for iteratively solving the equation of the method to obtain the attitude error compensation parameter.
The invention has the following advantages and beneficial effects:
the invention provides a zero-crossing optical satellite image joint adjustment method and system based on an imaging mechanism of an optical satellite sensor, establishes an optical satellite image light homodyne constraint model, and combines an optical satellite image rigorous imaging geometric model and an attitude error compensation model on the basis of the optical satellite image homodyne constraint model. The invention can simultaneously realize the accurate positioning of the multi-scene zero-crossing optical satellite images in the same strip under the condition of a small number of ground control points, thereby providing technical support for the wide application of the single linear array optical satellite images in China.
Drawings
FIG. 1 is a flow chart of a method of an embodiment of the present invention;
FIG. 2 is a schematic diagram of single line matrix stripe image segmentation according to an embodiment of the present invention;
FIG. 3 is a graph of the distribution of control points in the Wuhan-Xianning test area used in the example of the present invention.
Detailed Description
In order to more clearly illustrate the embodiments of the present invention and/or the technical solutions in the prior art, the following description will explain specific embodiments of the present invention with reference to the accompanying drawings. It is obvious that the drawings in the following description are only examples of the invention, and that for a person skilled in the art, other drawings and embodiments can be derived from them without inventive effort.
The invention will be further described with reference to the following figures and examples.
The invention logically connects all zero-crossing optical satellite images in the same strip into a complete strip image by utilizing the connection points between the images and through light same-attitude constraint, thereby realizing the combined accurate solution of attitude error compensation parameters of all the satellite images in the strip under the condition of a small number of ground control points. Therefore, when the zero-intersection optical satellite image in the same band is accurately positioned, the light same-attitude constraint is fully utilized, and the economic, manpower and material resource costs required by field measurement of ground control points are expected to be greatly reduced.
The flow of the method provided by the embodiment of the invention is shown in fig. 1, and comprises the following steps: (1) establishing a strict imaging geometric model of the optical satellite image; (2) establishing an attitude error compensation model of the optical satellite image; (3) establishing a light same-attitude constraint model of an optical satellite image; (4) and solving the attitude error compensation parameter of the optical satellite image.
The concrete implementation of each step will be described below.
And (1) establishing a strict imaging geometric model of the optical satellite image.
Let (X, Y, Z) and (X)S,YS,ZS) Respectively the object space coordinates of the ground point P and the instantaneous projection center S; (0, y) is the image space coordinate of the image point P corresponding to the ground point P in the instantaneous image coordinate system; (x)0,y0) Is the coordinate of the image principal point; (Δ x, Δ y) is the camera lens distortion correction value; f is the main distance of the camera; λ is a scale factor; the corresponding attitude angle of the scanning line image where the image point p is located isThe rotation matrix formed by it is R.
According to the three-point collinear principle of the instantaneous projection center, the ground point P and the corresponding image point P, a strict imaging geometric model for accurately positioning the optical satellite image is established, and the mathematical expression is as follows:
and (2) establishing an attitude error compensation model of the optical satellite image.
High-resolution optical satellites are generally equipped with GPS receivers, star sensors and gyroscopesSpirometer for measuring (X)S,YS,ZS) Andas can be seen from the analysis formula (1), the errors affecting the positioning accuracy of the high-resolution optical satellite image can be classified into two categories: one is static error, mainly including errors like principal point, principal distance and lens distortion; the other is time-varying error, mainly including measurement errors of satellite positions and attitudes.
For ease of understanding, various types of errors will be described separately below.
1) Errors like principal point, principal distance and lens distortion.
In recent years, the in-orbit geometric calibration technology of the high-resolution optical satellite sensor in China has a qualitative leap. Through periodic on-orbit geometric calibration, accurate values of image principal point, principal distance and lens distortion parameters can be obtained. Therefore, in the precise positioning process of the high-resolution optical satellite image, the image principal point, the principal distance and the lens distortion can be regarded as known values.
2) Measurement error of satellite position.
With the continuous development of the optical satellite orbit determination technology in China, the position measurement precision of the optical remote sensing satellite in China can reach sub-meter level or even higher. Therefore, in the process of accurately positioning the high-resolution optical satellite images, the measurement error of the satellite positions can be ignored or compensated through the satellite attitude parameters.
3) Measurement error of satellite attitude.
At present, the measurement precision of the attitude of the optical remote sensing satellite in China can only reach a few angular seconds or even a few tens of angular seconds. Compared with the measurement error of the satellite position, the measurement error of the satellite attitude has a particularly obvious influence on the image positioning precision. For satellite attitude measurement errors, the optimal optical satellite image positioning accuracy can be obtained only by eliminating the satellite attitude measurement errors by using ground control points.
Hair brushApparent satellite attitude measurementOn the basis of (2) introducing a translation termAnd drift termEstablishing an attitude error compensation model of the optical satellite image, namely:
in the formula (2), l and l0The line coordinates of the image point p and the central scanning line image in the image plane coordinate system are respectively.
And (3) establishing a light same-attitude constraint model of the optical satellite image.
An imaging sensor carried on a high-resolution optical remote sensing satellite is generally a linear array sensor. By the push-and-sweep along mode, the single line array sensor can acquire a complete strip image, as shown in fig. 2. In the figure, o-ls represents the image plane coordinate system of the strip image, point o is defined as the first pixel point of the first scan line, i-axis is along the satellite orbit direction, and s-axis is perpendicular to the satellite orbit direction.
The point P is any ground point in the object space, and the point P is a corresponding image point of the ground point P on the strip image.
Generally, a satellite image provider will cut the complete strip image into several scenes with a certain overlapping standard image, and provide the standard image to the image user. The ith scene and i +1 scene images in FIG. 2 are two adjacent standard scenes, oi-lisiAnd oi+1-li+1si+1Image plane coordinate systems respectively representing images of an ith scene and an i +1 th scene, which are defined as same as o-ls; with the picture point p in both imagesWithin the overlap region.
In fact, after the strip image is divided into the standard images, the image points P on the ith view and the i +1 th view are still the constellation of the ground point P, and the pose of the imaging light pP corresponding to the image points P in the object space coordinate system is not changed. That is, the attitude angle of the imaging light pP described in the ith scene imageAnd the attitude angle described in the (i + 1) th scene imageAre the same.
According to the light ray homotaxial constraint, the following can be obtained:
substituting the formula (2) into the formula (3), namely establishing a light ray homography constraint model of the zero-intersection optical satellite image:
in the formula (4), the meaning of each parameter is the same as that of the formula (2), and the superscripts i and i +1 represent the ith scene and the i +1 th scene images, respectively.
More specifically:
the image point p represents a connection point between two adjacent zero-crossing images in the same strip;
andrespectively representing the satellite attitude measurement described by the imaging light pP in the ith scene and the i +1 sceneA magnitude;
andtranslation terms respectively representing the satellite attitudes of the ith view and the i +1 th view images,anddrift items respectively representing the satellite attitudes of the ith scene and the i +1 scene images;
i.e. the attitude error compensation parameter described by the imaging light pP in the ith scene image,namely, the attitude error compensation parameter described by the imaging light pP in the (i + 1) th scene image;
liand li+1Respectively is the line coordinate of the image point p under the image plane coordinate system of the ith scene and the i +1 scene images;
andthe line coordinates of the central scanning line images of the ith scene and the i +1 th scene in the respective image plane coordinate systems are respectively.
And (4) solving attitude error compensation parameters of the optical satellite image.
For simplicity, the method for solving the attitude error compensation parameter according to the present invention is described by taking only the zero-crossing optical satellite images of adjacent 3 scenes (1 st scene, 2 nd scene and 3 rd scene) in the same strip as an example. For more zero-crossing optical satellite images within the same strip, and so on. The ground control points are only distributed on the 1 st scene (namely, the 1 st scene) image and the last 1 st scene (namely, the 3 rd scene) image in the strip, and the middle scene (namely, the 2 nd scene) image is connected with other images through connecting points.
The solving process of the attitude error compensation parameters is realized as follows:
1) for each ground control point on the 1 st scene image and the 3 rd scene image, respectively establishing an error equation of the 1 st scene image and an error equation of the 2 nd scene image according to the rigorous imaging geometric model established in the step (1) and the attitude error compensation model established in the step (2), wherein the error equations comprise the following equations:
V1＝A1X1-L1(5)
V3＝A3X3-L3(6)
in formulae (5) to (6):
vector V1And V3Respectively representing the correction numbers of the observed values of the image point coordinates on the 1 st scene image and the 3 rd scene image;
matrix A1And A3Respectively representing a design matrix formed by partial derivatives of attitude error compensation parameters of the 1 st scene image and the 3 rd scene image, wherein the design matrix is obtained according to the rigorous imaging geometric model and the attitude error compensation model;
vector X1And X3Respectively representing the correction numbers of the attitude error compensation parameters of the 1 st scene image and the 3 rd scene image;
vector L1And L3The residual error of the coordinates of the image points on the 1 st scene image and the 3 rd scene image are respectively shown.
2) For each connection point between the 1 st scene image and the 2 nd scene image and between the 2 nd scene image and the 3 rd scene image, respectively establishing an error equation according to the light homomorphic constraint model established in the step (3), as follows:
in formulae (7) to (8):
vector V1,2And V2,3Respectively correcting the light ray attitude inconsistency value between the 1 st scene image and the 2 nd scene image and between the 2 nd scene image and the 3 rd scene image, wherein the light ray attitude inconsistency value represents the difference value of satellite attitudes described by the same imaging light ray in two adjacent scene images;
matrix arrayAndrespectively representing a design matrix formed by partial derivatives of attitude error compensation parameters of the 1 st scene image and the 2 nd scene image, wherein the design matrix is obtained according to a light same-attitude constraint model;
andrespectively forming design matrixes by partial derivatives of attitude error compensation parameters of the 2 nd scene images and the 3 rd scene images;
vector X2The correction number of the attitude error compensation parameter of the 2 nd view image is shown.
3) Based on the error equations (5) - (8), a normal equation is formed according to the least square adjustment principle:
4) iterative solution of unknowns X in the normal equation1、X2And X3Thereby obtaining the attitude error compensation parameters of the 1 st scene, the 2 nd scene and the 3 rd scene images.
Examples
In the embodiment, the four view source three downward-looking images (image 1, image 2, image 3 and image 4) covering the areas from martin to dunning in the north of Hubei are selected for testing, and adjacent images are overlapped by a small amount and belong to zero-crossing optical satellite images in the same strip. The basic information of the test area is shown in table 1, and the ground control point distribution is shown in fig. 3.
TABLE 1 basic information of the Wuhan-Xianning test area
To verify the effectiveness and practicability of the present invention, in this embodiment, 4 ground control points are first used to respectively solve the attitude error compensation parameter of each scene image, and the remaining ground control points are used as check points to count the image positioning accuracy, which is listed in table 2.
TABLE 2 satellite image positioning accuracy of resource III
The analysis of the test results in table 2 shows that the positioning accuracy of each scene resource satellite image III is better than 0.9 pixel. However, in order to obtain such high image positioning accuracy, it is necessary to uniformly arrange 4 ground control points on each scene image. Therefore, under the condition of not considering the internal geometric constraint of the zero-crossing optical satellite image, when the number of the images is increased, the number of the ground control points required by the image positioning is also increased, which undoubtedly obviously increases the workload of the field measurement of the ground control points and increases the labor and financial cost. Moreover, due to the influence of cloud cover, forest coverage, lack of texture and other factors, it is difficult to obtain uniformly distributed control points on each scene image, which brings difficulty to the precise positioning of the optical satellite image.
Table 3 lists the positioning accuracy of the satellite image No. three resource acquired by the method of the present invention, namely: the method comprises the steps of respectively arranging 2 ground control points on a first scene image (image 1) and a last scene image (image 4) in the same strip, connecting adjacent images through connecting points, carrying out zero-crossing optical satellite image joint adjustment processing of light same-posture constraint, taking the remaining ground control points on each scene image as check points, and respectively counting the positioning accuracy of each scene image.
TABLE 3 satellite image positioning accuracy of resource III
Analysis of the test results in table 3 shows that: by utilizing the inherent light homomorphic constraint between the zero-crossing optical satellite images, the four scene satellite images in the same strip can be logically connected into a scene strip image, and the four scene images can be simultaneously and accurately positioned only under the condition that 2 ground control points are respectively distributed on the first scene image and the last scene image, and the positioning precision of the obtained image is superior to 0.8 pixel. Therefore, the method can greatly reduce the number of ground control points required by the accurate positioning of the zero-crossing optical satellite image on the premise of ensuring the image positioning accuracy, thereby effectively reducing the economic cost of field measurement of the ground control points.
In conclusion, the method for jointly adjusting the homodyne-constrained zero-crossing optical satellite images is feasible. Aiming at the current situation that ground control points need to be uniformly distributed on each scene of satellite images in the traditional zero-crossing optical satellite image accurate positioning, the method can simultaneously and accurately solve the attitude error compensation parameters of each scene of satellite images by uniformly distributing a small number of ground control points on the first scene and the last scene of images, thereby realizing the zero-crossing optical satellite image accurate positioning.
In specific implementation, the method provided by the invention can realize automatic operation flow based on software technology, and can also realize a corresponding system in a modularized mode.
The above-described embodiments are intended to illustrate rather than to limit the invention, and any modifications and variations of the present invention are possible within the spirit and scope of the appended claims.
Claims (5)
1. The light same-attitude constrained zero-intersection optical satellite image joint adjustment method is characterized by comprising the following steps of:
s1, establishing a strict imaging geometric model of the optical satellite image according to the three-point collinear principle of the instantaneous projection center, the ground point and the corresponding image point;
s2, introducing a translation term and a drift term of the satellite attitude on the basis of the satellite attitude measurement value, and constructing an attitude error compensation model of the optical satellite image; the translation term and the drift term form an attitude error compensation parameter of the optical satellite image;
s3, constructing a light homography constraint model of the optical satellite image according to the same attitude angles described in the two adjacent images by the imaging light corresponding to the image points on the two adjacent images in the same strip;
s4, solving attitude error compensation parameters by using a least square method, specifically:
4.1 respectively establishing error equations of the 1 st scene image and the last 1 st scene image by using a rigorous imaging geometric model and an attitude error compensation model according to ground control points on the 1 st scene image and the last 1 st scene image in the same strip;
4.2 according to each connection point between two adjacent scene images in the same strip, respectively establishing an error equation between each two adjacent scene images by using a light homography constraint model between the two adjacent scene images;
4.3 establishing a normal equation according to the least square adjustment principle based on the error equations established in the substep 4.1 and the substep 4.2;
4.4, iteratively solving a method equation to obtain an attitude error compensation parameter.
2. The method of claim 1, wherein the method comprises:
the attitude error compensation model is as follows:
wherein (phi, omega, kappa) represents the satellite attitude;representing satellite attitude measurements;a translation term representing the satellite attitude;a drift term representing a satellite attitude; l and l0Respectively representing the line coordinates of the image point and the central scanning line image under an image plane coordinate system;
and the light ray same-posture constraint model is as follows:
wherein,andrespectively representing the satellite attitude measurement values described by the imaging light in the ith scene and the i +1 scene images;andrespectively representing attitude error compensation parameters described by imaging light in the ith scene and the (i + 1) th scene images; liAnd li+1Respectively representing the line coordinates of the image points under the image plane coordinate systems of the ith scene and the i +1 th scene images;andrespectively representing the line coordinates of the central scanning line images of the ith scene and the i +1 th scene in respective image plane coordinate systems; the ith scene and the i +1 scene are adjacent two scenes in the same strip.
3. The method of claim 1, wherein the method comprises:
the error equation established in substep 4.1 is:
V1＝A1X1-L1
Vk＝AkXk-Lk
wherein, the vector V1And VkRespectively representing the correction numbers of the coordinate observed values of the image points on the 1 st scene image and the last 1 st scene image; matrix A1And AkRespectively representing a design matrix formed by partial derivatives of attitude error compensation parameters of the 1 st scene image and the last 1 st scene image, wherein the design matrix is obtained according to the rigorous imaging geometric model and the attitude error compensation model; vector X1And XkRespectively representing the correction numbers of the attitude error compensation parameters of the 1 st scene image and the last 1 st scene image; vector L1And LkAnd respectively representing the residual error of the coordinate of the image point on the 1 st scene image and the last 1 st scene image.
4. The method of claim 1, wherein the method comprises:
the error equation established in substep 4.2 is:
<mrow> <msub> <mi>V</mi> <mrow> <mi>i</mi> <mo>,</mo> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> <mo>=</mo> <msubsup> <mi>B</mi> <mi>i</mi> <mrow> <mi>i</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </msubsup> <msub> <mi>X</mi> <mi>i</mi> </msub> <mo>-</mo> <msubsup> <mi>B</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> <mrow> <mi>i</mi> <mrow> <mo>(</mo> <mi>i</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow> </msubsup> <msub> <mi>X</mi> <mrow> <mi>i</mi> <mo>+</mo> <mn>1</mn> </mrow> </msub> </mrow>
wherein, the vector Vi,i+1The correction number represents the light attitude inconsistency value between two adjacent scene images i and i +1, and the light attitude inconsistency value represents the difference of satellite attitudes described by the same imaging light in the two adjacent scene images; vector XiAnd Xi+1Respectively representing the correction numbers of the attitude error compensation parameters of two adjacent scenes of the images i and i + 1;andrespectively representing a design matrix formed by partial derivatives of attitude error compensation parameters of images i and i +1 in two adjacent scenes of images i and i +1, wherein the design matrix is obtained according to a light homography constraint model.
5. The optical satellite image of zero intersection of the light with the appearance constraint unites the adjustment system, its characteristic is, including:
the rigorous imaging geometric model building module is used for building a rigorous imaging geometric model of the optical satellite image according to the three-point collinear principle of the instantaneous projection center, the ground point and the corresponding image point;
the attitude error compensation model establishing module is used for introducing a translation term and a drift term of the satellite attitude on the basis of the satellite attitude measurement value and establishing an attitude error compensation model of the optical satellite image; the translation term and the drift term form an attitude error compensation parameter of the optical satellite image;
the light same-attitude constraint model establishing module is used for establishing a light same-attitude constraint model of the optical satellite image according to the same attitude angles described by the imaging light corresponding to the image points on the two adjacent images in the same strip;
the attitude error compensation parameter solving module is used for solving the attitude error compensation parameters by adopting a least square method;
the attitude error compensation parameter solving module further comprises:
the first error equation establishing module is used for respectively establishing error equations of the 1 st scene image and the last 1 st scene image by utilizing a rigorous imaging geometric model and an attitude error compensation model according to ground control points on the 1 st scene image and the last 1 st scene image in the same strip;
the second error equation establishing module is used for respectively establishing an error equation between each two adjacent scene images by utilizing a light homomorphic constraint model between the two adjacent scene images according to each connecting point between the two adjacent scene images in the same strip;
the normal equation establishing module is used for establishing a normal equation based on the error equations established by the first error equation establishing module and the second error equation establishing module and establishing a normal equation according to the least square adjustment principle;
and the iterative solution module is used for iteratively solving the equation of the method to obtain the attitude error compensation parameter.
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| CN105761248A (en) * | 2016-01-30 | 2016-07-13 | 武汉大学 | Super-large scale uncontrolled regional network robust adjustment method and system |
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