CN107966137A - A kind of satellite platform flutter detection method based on TDICCD splice regions image - Google Patents
A kind of satellite platform flutter detection method based on TDICCD splice regions image Download PDFInfo
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Abstract
The invention discloses a kind of satellite platform flutter detection method of TDICCD splice regions image, comprise the following steps：1) acquisition of overlay chart picture, overlay chart picture is obtained using time delay integration charge coupling device splice region.2) two width overlay chart pictures are carried out accurate dense Stereo Matching processing, obtain homonymy matching point, it is poor to calculate opposite image space of the same target in two width overlay chart pictures by the calculating of opposite image space difference；3) estimation of satellite platform flutter, it is poor according to opposite image space, estimate satellite platform flutter.The present invention can effectively solve the problems, such as that flutter detection accuracy is low, be only capable of detecting some isolated Frequency points, for satellite platform provide a kind of high accuracy, in wider frequency section all standing flutter detection method, so as to improve the accuracy of satellite attitude acquisition ability and remote sensing image information interpretation.
Description
Technical field
The present invention relates to space remote sensing image field, and in particular to one kind is based on time delay integration charge coupling device
The satellite of (Time-delayed and Integration Charge Coupled Device TDICCD) splice region image is put down
Platform flutter detection method.
Background technology
Satellite attitude stabilization control and ground later image information of the attitude of satellite information for the stage in orbit carry
Take all most important, flutter has directly the accuracy of attitude of satellite data as the universal phenomenon during satellite transit
Influence.Under the support of high performance satellite attitude transducer, the remote sensing such as America and Europe science and technology power can quiver to a certain range of
Shake and effectively detected, so as to obtain high-precision attitude of satellite data, however, at present domestic sensing technology still not into
It is ripe, and foreign countries have carried out sale block in high-performance attitude transducer market, the currently employed spaceborne attitude transducer in China is deposited
Measurement bandwidth is low, low precision the problems such as, satellite platform flutter can not effectively be measured, constrain China's high-resolution
The image quality of space camera and the accuracy of later image information extraction.How to be sensed independent of high-precision satellite attitude
In the case of equipment, the flutter of High Resolution Remote Sensing Satellites platform is effectively detected, becomes Chinese Space remotely sensed image field
One of key issue urgently to be resolved hurrily.
In recent years, the flutter detection method based on remote sensing images is paid close attention to both at home and abroad, the primary bar as flutter detection
Part, the acquisition of the remote sensing images with overlapping region become the focus of related focus of attention both at home and abroad.Univ cambridge uk utilizes
Face battle array stares camera and obtains overlay chart picture, and long light institute and Wuhan University propose the increase secondary surface battle array imaging sensor on focal plane
Mode is shot overlay chart picture, Tokyo Univ Japan and Tongji University and is obtained using the imaging sensor of multispectral camera different spectral coverage
Overlapping scene image.Although overlapping image acquisition mode is varied, flutter probe algorithm is roughly the same, generally use frequency
Spectral analysis technology solves amplitude, frequency and the phase of flutter, and then using trigonometric function fitting flutter curve, which can be right
Energy concentrate isolated Frequency point at main flutter component extracted, and for energy it is relatively low, occupy frequency band it is wider time
The then more difficult detection of flutter component is wanted, further, since flutter caused by the energy leakage phenomenon being difficult to avoid that in spectrum analysis technique
Calculation error cannot be ignored.Therefore, how to solve in the prior art that flutter detection accuracy is low, it is some isolated to be only capable of detecting
The problem of Frequency point, propose a kind of brand-new high accuracy, in wider frequency section all standing flutter detection method, become current China
The urgent task of High Resolution Remote Sensing Satellites.
The content of the invention
The purpose of the present invention is in view of the above-mentioned drawbacks of the prior art, proposing that one kind is based on TDICCD splice regions image
Satellite platform flutter detection method, to can effectively solve, flutter detection accuracy is low, is only capable of detecting some isolated Frequency points
The problem of, for satellite platform provide a kind of high accuracy, in wider frequency section all standing flutter detection method, so as to improve Satellite Attitude
The accuracy of state detectivity and remote sensing image information interpretation.
The present invention adopts the following technical scheme that to solve technical problem：
A kind of the characteristics of satellite platform flutter detection method based on TDICCD splice regions image of the present invention is by following step
It is rapid to carry out：
The acquisition of step 1, overlay chart picture：
Step 1.1, be equipped with High Resolution Space Camera on satellite platform, and Jiao of the High Resolution Space Camera puts down
Interlock on face there are multi-disc and splice the TDICCD of arrangement, it is any to choose the adjacent TDICCD of two panels, it is denoted as TDICCD1With
TDICCD2, along TDI directions, TDICCD1And TDICCD2Spaced rows number scale be L, on TDI directions,
TDICCD1And TDICCD2There are the overlapping pixel of several columns for junction to form splice region, be denoted as OA1And OA2, the splice region OA1
And OA2Interior overlapping pixel columns is denoted as C；
The initial time of the arbitrarily once shooting task of the High Resolution Space Camera was denoted as 0 moment, shot duration
It is denoted as Tw, wherein Tw∈ Q, Tw＞ 0, Q represent rational set；
Utilize the splice region OA1And OA2[0, Tw] during in search coverage all targets carry out timesharing twice clap
Take the photograph, obtain image I1=(I1 1,I1 2,…,I1 r,…,I1 R)TAnd I2=(I2 1,I2 2,…,I2 r,…,I2 R)T, whereinFor
Described image I1And I2Total line number, TrFor the exposure time of every row image, I1 rAnd I2 rRespectively described image I1And I2R
Row image, Tr∈ Q, Tr＞ 0,1≤r≤R；
Step 1.2, extraction described image I1And I2In lap (I1 1,I1 2,…,I1 R-L)T(I2 L+1,I2 L+2,…,
I2 R)T, overlay chart is denoted as respectively as O1And O2, the overlay chart is as O1And O2Total columns be C, total line number is is denoted as M=R-L；
The calculating of step 2, opposite image space difference：
Step 2.1, using method for registering images to the overlay chart as O1And O2Matching treatment line by line is carried out, is obtained of the same name
Registering point set P={ (p1 1,p2 1),(p1 2,p2 2),…,(p1 m,p2 m),…,(p1 M,p2 M), wherein (p1 m,p2 m) it is described overlapping
Image O1And O2M row image registrations after obtained a pair of registration point of the same name, 1≤m≤M, and having： WithRespectively point p1 mIn the overlay chart as O1Interior row coordinate and row coordinate,WithRespectively point p2 mIn the overlay chart as O2Interior row coordinate and row coordinate,
Step 2.2, the row coordinate difference for calculating in the registering point set P of the same name 2 points in each pair registration point of the same name respectively
With row coordinate difference, obtain along the opposite image space difference set S on TDI directions||={ s||(1),s||(2) ..., s||
(m) ..., s||(M) } the opposite image space difference set S and on TDI directions⊥={ s⊥(1),s⊥(2) ..., s⊥
(m) ..., s⊥(M) }, wherein s||(m) for the overlay chart as O1And O2M row image registrations after obtain along TDI directions
Opposite image space it is poor, ands⊥(m) for the overlay chart as O1And O2M row image registrations after
The obtained opposite image space on TDI directions is poor, and
Step 2.3, by the opposite image space difference set S along on TDI directions||Per continuous since first element
L element be in line, so as to form the two-dimensional matrix S of N rows × L row∑ ||：
Wherein
Step 2.4, by the opposite image space difference set S on TDI directions⊥It is every since first element
Continuous L element is in line, so as to form the two-dimensional matrix S of N rows × L row∑ ⊥：
Wherein
Step 3, the estimation of satellite platform flutter：
Step 3.1, definition are along the flutter on TDI directions：
Wherein, g||(vL+u) it is (vL+u) × TrFlutter of the moment along TDI directions, g||(vL+u) ∈ Q, u ∈ Z, v
∈ Z, 1≤u≤L, 0≤v≤N, Z represent integer set；
Defining flutter on TDI directions is：
Wherein, g⊥(vL+u) it is (vL+u) × TrMoment is perpendicular to the flutter in TDI directions, g⊥(vL+u) ∈ Q, u
∈ Z, v ∈ Z, 1≤u≤L, 0≤v≤N；
Definition flutter is G∑={ gij}(N+1)×L, wherein
For along the unit vector in TDI directions,For perpendicular to the unit vector in TDI directions, 1≤i≤N+1,1≤j≤L；
Definition flutter G along TDI directions∑||In the first row element [g||(1),g||(2),…,g||(L)] it is along TDI side
Upward flutter sub-block G1 ||；
Definition flutter G on TDI directions∑ ⊥In the first row element [g⊥(1),g⊥(2),…,g⊥(L)] it is vertical
In the flutter sub-block G on TDI directions1 ⊥；
Definition flutter G along TDI directions∑ ||In the second row element to N+1 row elements
For along on TDI directions flutter son
Block G2 ||；
Definition flutter G on TDI directions∑ ⊥In the second row element to N+1 row elements
For on TDI directions
Flutter sub-block G2 ⊥；
Step 3.2, by [T in the shooting taskr,L·Tr] parameter brings substar into orbit for satellite in the period
Over the ground in imaging model, the flutter sub-block G along TDI directions is respectively obtained1 ||In the low frequency component of below 1HzWith the flutter sub-block G on TDI directions1 ⊥In the low frequency point of below 1Hz
AmountWhereinRepresent u × TrMoment flutter along TDI directions exists
The low frequency component of below 1Hz,Represent u × TrMoment on TDI directions flutter below 1Hz low frequency component,
Step 3.3, with the flutter sub-block G along TDI directions1 ||With its low frequency componentBetween opposite residual error it is flat
Side and as along the object function H (G on TDI directions1 ||), as shown in formula (1)：
In formula (1), g||(i) i × T is representedrMoment along the flutter on TDI directions,Represent j × TrMoment is along TDI side
Low frequency component of the upward flutter in below 1Hz；
With the flutter sub-block G on TDI directions1 ⊥With its low frequency componentBetween opposite residual error quadratic sum
As the object function H (G on TDI directions1 ⊥), as shown in formula (2)：
In formula (2), g⊥(i) i × T is representedrFlutter of the moment on TDI directions,Represent j × TrMoment hangs down
Directly in flutter on TDI directions in the low frequency component of below 1Hz；
Step 3.4, solve the object function H (G using optimizing algorithm respectively1 ||) and H (G1 ⊥) minimum pointWithAnd respectively as the flutter sub-block G along TDI directions1 ||With the flutter sub-block G on TDI directions1 ⊥Estimate,
As shown in formula (3) and formula (4)：
Step 3.5, push-scanning image principle and TDICCD splice regions imaging characteristics according to space camera, are established such as formula (5)
With shown in formula (6) along TDI directions and the flutter detection model perpendicular to TDI directions：
G2 ||=AG1 ||+B·S∑ || (5)
G2 ⊥=AG1 ⊥+B·S∑ ⊥ (6)
In formula (5) and formula (6), A and B represent coefficient matrix, and
Step 3.6, according to formula (5) along the flutter detection model in TDI directions, calculated using formula (7) along TDI directions
Flutter sub-block G2 ||Estimate
Perpendicular to the flutter detection model in TDI directions according to formula (6), calculated using formula (8) on TDI directions
Flutter sub-block G2 ⊥Estimate
Step 3.7, the definition according to the flutter along TDI directions, are synthesized along the flutter G on TDI directions using formula (9)∑ ||'s
Estimate
According to the definition of the flutter on TDI directions, the flutter G on TDI directions is synthesized using formula (10)∑ ⊥
Estimate
Compared with prior art, the beneficial effects of the present invention are：
1st, the present invention for prior art flutter detection accuracy is low, be only capable of detecting some isolated Frequency points the problem of, carry
Go out a kind of satellite platform flutter detection method based on TDICCD splice regions image, realize and do not depending on high-precision attitude sensing
In the case of equipment and associated image sensor, all standing carried out to satellite platform flutter in high-precision, wider frequency section detects.
2nd, satellite platform flutter frequency complicated component, existing method are fitted flutter using the superposition of several trigonometric functions,
The flutter principal component of energy concentration can be extracted, often several isolated Frequency points, and it is relatively low to energy and occupy big section
The secondary component of Continuous Band is then difficult to detect, and causes between flutter result of detection and truth that there are larger gap.This hair
It is bright by establishing flutter detection model, specify that the quantitative relationship between flutter and opposite image space difference, avoid existing skill
The theoretical error that art introduces flutter approximate fits, is the powerful support for improving flutter detection accuracy.
3rd, existing method generally relies on spectrum analysis technique and obtains the frequency, amplitude and phase of trigonometric function, and frequency spectrum divides
The energy leakage phenomenon being difficult to avoid that in analysis technology can introduce significant frequency, amplitude and phase estimation error, ultimately result in
Flutter detecting error can not be ignored.The present invention is based on flutter detection model, using time-domain analysis technology, directly obtains shooting
The time-domain value of moment satellite platform flutter, avoids the flutter detecting error that energy leakage introduces in the prior art, further carries
The high accuracy of flutter detection.
4th, the difference of the flutter on satellite at diverse location, even if the flutter at same position is also constantly to become with the time
Change, and on space camera focal plane at main imaging sensor, the flutter of image capture moment be that people are concerned about the most.For non-
For staring imaging and non-multispectral camera, what the prior art was aided in often through increasing on focal plane near main imaging sensor
Face battle array imaging sensor detects flutter, and result of detection is at associated image sensor on focal plane and at non-master imaging sensor
Flutter, has differences between the two, for the less space camera of relative aperture, on focal plane at diverse location
Flutter difference is more notable.In addition, the working method difference of two class imaging sensors can not synchronously expose, above-mentioned two aspects factor
There are deviation in the position and moment for ultimately resulting in flutter result of detection and required detection.The present invention is by extracting main imaging sensor
Splice region shot image detected for flutter, result of detection at main imaging sensor, the flutter of image capture moment, overcome
The position and moment of flutter result of detection and required detection are there are the problem of deviation in the prior art, to further improve flutter
The accuracy of detection is laid a good foundation.
5th, the frequency band that satellite platform flutter occupies is wider, and existing method can be detected at the isolated Frequency point of energy concentration
Flutter, and not yet realize all standing in wider frequency section detect.The present invention can be carried by improving the closeness of image registration
The high sample frequency of flutter, and then the bandwidth of flutter detection is improved, flutter detective bandwidth highest can improve most camera
The often half of row image exposure duration inverse.
Brief description of the drawings
Fig. 1 is the method for the present invention FB(flow block)；
Fig. 2 equidistantly uniformly takes point mode schematic diagram for the present invention；
Fig. 3 is the sub-pixed mapping registration flow chart that rough registration of the present invention and smart registration are combined；
Fig. 4 is adjacent two panels TDICCD splice regions imaging schematic diagram in the prior art；
Fig. 5 is certain high-resolution TDICCD Visible Light Cameras focal plane arrangement schematic diagram in the prior art；
Fig. 6 is the panchromatic remote sensing figure of visible ray of the in-orbit shooting of certain high-resolution TDICCD Visible Light Cameras in the prior art
Picture；
Fig. 7 a are satellite platform flutter result of detection figure of the present invention perpendicular to TDI directions；
Fig. 7 b are satellite platform flutter result of detection figure of the present invention along TDI directions；
Fig. 7 c are power spectral density plot of the present invention perpendicular to TDI directions satellite platform flutter result of detection；
Fig. 7 d are power spectral density plot of the present invention along TDI directions satellite platform flutter result of detection.
Embodiment
In the present embodiment, a kind of satellite platform flutter detection method based on TDICCD splice regions image, as shown in Figure 1,
Carry out as follows：
The acquisition of step 1, overlay chart picture：
Step 1.1, be equipped with High Resolution Space Camera on satellite platform, on the focal plane of High Resolution Space Camera
Usually staggeredly splice arrangement TDICCD there are multi-disc, the adjacent TDICCD of any selection two panels, is denoted as TDICCD1And TDICCD2,
Along along TDI directions, TDICCD1And TDICCD2Spaced rows number scale be L, on TDI directions, TDICCD1With
TDICCD2There are the overlapping pixel of several columns for junction to form splice region, be denoted as OA1And OA2, splice region OA1And OA2Interior is overlapping
Pixel columns is denoted as C；
The initial time of the arbitrarily once shooting task of High Resolution Space Camera was denoted as 0 moment, and shooting duration is denoted as
Tw, wherein Tw∈Q,Tw＞ 0；Q represents rational set；
Utilize splice region OA1And OA2[0, Tw] during in its search coverage all targets carry out timesharing twice clap
Take the photograph, obtain image I1=(I1 1,I1 2,…,I1 r,…,I1 R)TAnd I2=(I2 1,I2 2,…,I2 r,…,I2 R)T, whereinFor
Image I1And I2Total line number, TrFor the exposure time of every row image, I1 rAnd I2 rRespectively image I1And I2R row images, Tr
∈ Q, Tr＞ 0,1≤r≤R；
Step 1.2, extraction image I1And I2In lap (I1 1,I1 2,…,I1 R-L)T(I2 L+1,I2 L+2,…,I2 R
)T, overlay chart is denoted as respectively as O1And O2, overlay chart is as O1And O2Total columns be C, total line number is (R-L), remember M=R-L；
The calculating of step 2, opposite image space difference：
Step 2.1, using method for registering images to overlapping image O1And O2Carry out matching treatment line by line.Matching treatment line by line
Detailed process is as shown in Fig. 2, in overlay chart as O1Often row image in, several registration points are chosen with equidistant non-uniform manner,
A certain size template is chosen using centered on each registration point as template is referred to, chooses overlay chart as O2Interior corresponding position
Template carries out matching treatment to two width templates using method for registering images, obtains a pair of registration point of the same name as template subject to registration.
Other registration points in peer graph picture are equally handled, and the registration result of all registration points in colleague is taken into arithmetic average
Value, the registration result as full line image.
The sub-pixed mapping method for registering that the present invention is combined using rough registration and smart registration, specific registration process as shown in figure 3,
Based on the relevant rough registration method of phase, its basic principle is：If reference template and template subject to registration are respectively u1(m, n) and u2
(m, n), corresponding Fourier transformation are respectively：
Wherein ξ and η is spatial frequency variable.Template u1(m, n) and u2The crosspower spectrum of (m, n) is：
Wherein U1 *(ξ, η) is U1The complex conjugate of (ξ, η).To crosspower spectrum Cps(ξ, η) carries out Fourier inversion, obtains two
Tie up impulse function δ (i, j), as shown in formula (15), the peak point (i of Two-dimensional Pulsed functionp,jp) it is pixel level rough registration result.
IFFT2{Cps(ξ, η) }=IFFT2 { ej2π(iξ+jη)}=δ (i, j) (3)
Based on the smart method for registering of cross-correlation Two-dimensional Surfaces fitting, its basic principle is：According to rough registration as a result, overlapping
Image O1And O2Middle selection template u1(m, n) and u2(m-ip,n-jp), it is used as two templates of measurement by the use of normalized-cross-correlation function
The evaluation index of similarity, expression formula are as follows：
Wherein C (u, v) be the central point of two templates at a distance of (u, v) when normalized-cross-correlation function.Utilize a most young waiter in a wineshop or an inn
Multiplication solves the quadric expression formula of cross-correlation coefficient, and the peak value of curved surface is the maximum of normalized-cross-correlation function C (u, v)
Point, the central point of corresponding two templates is registration point of the same name at this time.
Using above-mentioned method for registering images to overlapping image O1And O2Matching treatment line by line is carried out, obtains registering point set of the same name
Close P={ (p1 1,p2 1),(p1 2,p2 2),…,(p1 m,p2 m),,…,(p1 M,p2 M), wherein (p1 m,p2 m) it is overlapping image O1And O2
M row registrations after obtained a pair of registration point of the same name, 1≤m≤M, and having： WithRespectively point p1 mIn the overlay chart as O1Interior row coordinate
With row coordinate,WithRespectively point p2 mIn the overlay chart as O2Interior row coordinate and row coordinate,
Step 2.2, calculate in registering point set P of the same name 2 points of row coordinate difference and row in each pair registration point of the same name respectively
Coordinate difference, obtains along the opposite image space difference set S on TDI directions||={ s||(1),s||(2) ..., s||(m) ..., s||
(M) } the opposite image space difference set S and on TDI directions⊥={ s⊥(1),s⊥(2) ..., s⊥(m) ..., s⊥(M) },
Wherein s||(m) for the overlay chart as O1And O2M row image registrations after obtain along the opposite image space on TDI directions
Difference, ands⊥(m) for the overlay chart as O1And O2M row image registrations after obtain perpendicular to
Opposite image space on TDI directions is poor, and
Step 2.3, by along the opposite image space difference set S on TDI directions||Per continuous L since first element
A element is in line, so as to form the two-dimensional matrix S of N rows × L row∑ ||：
Wherein
Step 2.4, will be perpendicular to opposite image space difference set S on TDI directions⊥Per continuous since first element
L element be in line, so as to form the two-dimensional matrix S of N rows × L row∑ ⊥：
Wherein
Step 3, the estimation of satellite platform flutter：
Step 3.1, definition are along the flutter on TDI directions
Wherein, g||(vL+u) it is (vL+u) × TrFlutter of the moment along TDI directions, g||(vL+u) ∈ Q, u ∈ Z, v
∈ Z, 1≤u≤L, 0≤v≤N, Z represent integer set；
Defining flutter on TDI directions is
Wherein, g⊥(vL+u) it is (vL+u) × TrMoment is perpendicular to the flutter in TDI directions, g⊥(vL+u) ∈ Q, u
∈ Z, v ∈ Z, 1≤u≤L, 0≤v≤N；
Definition flutter is G∑={ gij}(N+1)×L, wherein
For along the unit vector in TDI directions,For perpendicular to the unit vector in TDI directions, 1≤i≤N+1,1≤j≤L；
Definition flutter G along TDI directions∑||In the first row element [g||(1),g||(2),…,g||(L)] it is along TDI side
Upward flutter sub-block G1 ||；
Definition flutter G on TDI directions∑ ⊥In the first row element [g⊥(1),g⊥(2),…,g⊥(L)] it is vertical
In the flutter sub-block G on TDI directions1 ⊥；
Definition flutter G along TDI directions∑ ||In the second row element to N+1 row elements
For along on TDI directions flutter son
Block G2 ||；
Definition flutter G on TDI directions∑ ⊥In the second row element to N+1 row elements
For on TDI directions
Flutter sub-block G2 ⊥；
Step 3.2, by [T in shooting taskr,L·Tr] parameter brings document " Wang into orbit for satellite in the period
Jiaqi,Yu Ping,Yan Changxiang,Ren Jianyue,Hebin.Space optical remote sensor
image motion velocity vector computational modeling,error budget and
synthesis[J].Chinese Optics Letters,2005,(07):The substar that 414-417. " is provided is imaged mould over the ground
In type, the flutter sub-block G along TDI directions is respectively obtained1 ||In the low frequency component of below 1HzWith the flutter sub-block G on TDI directions1 ⊥In the low frequency point of below 1Hz
AmountWhereinRepresent u × TrMoment flutter along TDI directions exists
The low frequency component of below 1Hz,Represent u × TrMoment on TDI directions flutter below 1Hz low frequency component,
Step 3.3, with the flutter sub-block G along TDI directions1 ||With its low frequency componentBetween opposite residual error quadratic sum
As along the object function H (G on TDI directions1 ||), as shown in formula (5)：
In formula (5), g||(i) i × T is representedrMoment along the flutter on TDI directions,Represent j × TrMoment is along TDI side
Low frequency component of the upward flutter in below 1Hz；
With the flutter sub-block G on TDI directions1 ⊥With its low frequency componentBetween opposite residual error quadratic sum conduct
Object function H (G on TDI directions1 ⊥), as shown in formula (6)：
In formula (6), g⊥(i) i × T is representedrFlutter of the moment on TDI directions,Represent j × TrMoment hangs down
Directly in flutter on TDI directions in the low frequency component of below 1Hz；
Step 3.4, using the rate of convergence and operand that optimize in algorithm conjugate gradient method placed in the middle solve mesh respectively
Scalar functions H (G1 ||) and H (G1 ⊥) minimum pointWithAnd respectively as the flutter sub-block G along TDI directions1 ||With it is vertical
In flutter sub-block G on TDI directions1 ⊥Estimate, as shown in formula (7) and formula (8)：
Step 3.5, derive flutter detection according to the push-scanning image principle and TDICCD splice regions imaging characteristics of space camera
Model, specific derivation process are as follows：
According to push-scanning image principle, same target can be by the splice region timesharing imaging of adjacent two panels TDICCD twice, and defends
Star platform flutter is, splice region OA continually changing with the time1And OA2The satellite corresponding to same target timesharing twice imaging
Platform chatter state may be different, and then cause the target in splice region OA1And OA2In image space have differences, such as Fig. 4
It is shown, it is poor with respect to image space to be expressed as with the relation of flutter exemplified by perpendicular to TDI directions：
s⊥(t)=g⊥(t+Δt)-g⊥(t) (9)
In formula (9), g⊥(t) it is flutter of the t moment on TDI directions, Δ t is splice region OA1And OA2To same mesh
Mark the time interval being imaged twice, and Δ t=L × Tr, interval line numbers of the L between adjacent two panels TDICCD, TrFor every row image
Exposure time, s⊥(t) it is poor for opposite image space of the t moment on TDI directions.
To formula (9) with the exposure time T of every row imagerObtained after carrying out discretization and arrangement for the sampling period：
g⊥(m+L)=g⊥(m)+s⊥(m) (10)
In formula (10), g⊥(m) it is m × TrFlutter of the moment on TDI directions, g⊥(m+L) it is (m+L) × TrMoment
Flutter on TDI directions, s⊥(m) it is m × TrOpposite image space of the moment on TDI directions is poor, and 1≤m≤
M。
To the flutter g on TDI directions⊥(m+L), m=1,2 ..., M is a per continuous L since first element
Element is divided into one group, is expressed as：
In formula (11)
According to the flutter sub-block G on TDI directions1 ⊥, flutter sub-block G on TDI directions2 ⊥With perpendicular to
Opposite image space difference S on TDI directions∑ ⊥Definition, formula (11) can be expressed as：
Make coefficient matrixCoefficient matrixThen formula (12) can be with table
It is shown as：
G2 ⊥=AG1 ⊥+B·S∑ ⊥ (13)
Formula (13) is the flutter detection model on TDI directions, similarly, derives and is visited along the flutter on TDI directions
Survey shown in model such as formula (14)：
G2 ||=AG1 ||+B·S∑ || (14)
G in formula (14)1 ||、G2 ||And S∑ ||Implication with the definition in specification, the value of coefficient matrices A and B are same as above；
Step 3.6, according to formula (14) along the flutter detection model in TDI directions, utilize the flutter sub-block along TDI directions
G1 ||EstimateWith along the opposite image space difference matrix S on TDI directions∑ ||Calculate the flutter sub-block G along TDI directions2 ||
EstimateAs shown in formula (15)：
Perpendicular to the flutter detection model in TDI directions according to formula (13), the flutter sub-block on TDI directions is utilized
G1 ⊥EstimateThe opposite image space difference matrix S with TDI directions∑ ⊥Calculate the flutter on TDI directions
Sub-block G2 ⊥EstimateAs shown in formula (16)：
Step 3.7, the definition according to the flutter along TDI directions, will along TDI directions flutter sub-block G1 ||Estimate
With the flutter sub-block G along TDI directions2 ||EstimateSynthesize along the flutter G on TDI directions∑ ||EstimateSuch as formula
(17) shown in：
According to the definition of the flutter on TDI directions, flutter sub-block G on TDI directions will be perpendicular to1 ⊥Estimate
With the flutter sub-block G on TDI directions2 ⊥EstimateSynthesize the flutter G on TDI directions∑ ⊥EstimateAs shown in formula (18)：
It is proposed method of the present invention is illustrated by taking China's high-resolution TDICCD cameras as an example below.Jiao of the camera
Face arrangement mode is as shown in figure 5, five TDICCD staggeredly splice arrangement, along TDI directions, arbitrary neighborhood two panels TDICCD's
It is spaced line number L=3028, on TDI integration directions, the pixel columns C=in arbitrary neighborhood two panels TDICCD splice regions
40, once shooting task duration TwThe exposure time T of=30s, often row imager=73 μ s.This experiment chooses the camera in north
38.8436 °~39.4515 ° rail lift stage TDICCD of latitude3And TDICCD4The remote sensing images of shooting, are detected using the method for the present invention
Satellite platform flutter during image taking, TDICCD3And TDICCD4The row image of 411520 rows × 4096, such as Fig. 6 are shot respectively
It is shown, left side TDICCD3The part remote sensing images of shooting, right side TDICCD4The part remote sensing images of shooting, are in dotted line
Part splice region overlay chart picture.
The acquisition of step 1, overlay chart picture：
Utilize TDICCD3And TDICCD4Splice region OA1And OA2Obtain image I1=(I1 1,I1 2,…,I1 411520)TAnd I2
=(I2 1,I2 2,…,I2 411520)T, extraction image I1And I2In lap (I1 1,I1 2,…,I1 408492)T(I2 3029,
I2 3030,…,I2 411520)T, overlay chart is denoted as respectively as O1And O2；
The calculating of step 2, opposite image space difference：
Using method for registering images to overlapping image O1And O2Carry out matching treatment line by line.Matching treatment is specially line by line：
Overlay chart is as O1In, often row image shares 40 pixels, chooses the 10th, 20,30 pixel therein respectively as registration
Point, 8 row *, the 8 row neighborhoods centered on each registration point are reference template, choose overlay chart as O2The module of interior corresponding position
As template subject to registration, the sub-pixed mapping method for registering being combined using rough registration and smart registration carries out at matching two width templates
Reason, obtains a pair of registration point of the same name, arithmetic mean of instantaneous value is taken as full line figure to the registration result of three registration points in peer graph picture
The registration result of picture, to overlapping image O1The 11st row to the 408482nd row image carried out according to above-mentioned steps line by line at matching
Reason, obtains registering point set of the same name.2 points in each pair registration point of the same name of row coordinate difference is calculated in registering point set of the same name respectively
Value and row coordinate difference, obtain the opposite imaging along the opposite image space difference set on TDI directions and on TDI directions
Position difference set；
Step 3, the estimation of satellite platform flutter：
By [73 μ s, 3028 × 73 μ s] in shooting task in the period satellite in orbit parameter bring into substar over the ground into
As in model, respectively obtaining the flutter sub-block G along TDI directions1 ||In the low frequency component of below 1HzWith perpendicular to TDI directions
Upper flutter sub-block G1 ⊥In the low frequency component of below 1HzWith the flutter sub-block G along TDI directions1 ||With its low frequency component
Between opposite residual error quadratic sum as along the object function H (G on TDI directions1 ||), with flutter on TDI directions
Block G1 ⊥With its low frequency componentBetween opposite residual error quadratic sum as the object function H (G on TDI directions1 ⊥), solve object function H (G respectively using conjugate gradient method1 ||) and H (G1 ⊥) minimum pointWithAnd respectively as edge
Flutter sub-block G on TDI directions1 ||With the flutter sub-block G on TDI directions1 ⊥Estimate, according to the flutter along TDI directions
Detection model, utilizes the flutter sub-block G along TDI directions1 ||EstimateWith along the opposite image space difference square on TDI directions
Battle array S∑ ||Calculate the flutter sub-block G along TDI directions2 ||EstimateAccording to the flutter detection model perpendicular to TDI directions, profit
With the flutter sub-block G on TDI directions1 ⊥EstimateThe opposite image space difference matrix with TDI directions
S∑ ⊥Calculate the flutter sub-block G on TDI directions2 ⊥EstimateWill along TDI directions flutter sub-block G1 ||EstimateWith the flutter sub-block G along TDI directions2 ||EstimateSynthesize along the flutter G on TDI directions∑ ||EstimateWill
The flutter sub-block G on TDI directions1 ⊥EstimateWith the flutter sub-block G on TDI directions2 ⊥EstimateClose
Into the flutter G on TDI directions∑ ⊥Estimate
Flutter result of detection is as shown in Fig. 7 a, Fig. 7 b, Fig. 7 c, Fig. 7 d, on TDI directions, 0.24Hz,
There are vibration peak point at 4.54Hz, 9.08Hz, 13.53Hz, 18Hz and 22.48Hz；Along along TDI directions, except above-mentioned peak value
Point, there are vibration peak at 0.13Hz.Show that the method for the present invention can effectively detect satellite platform flutter.
Specific implementation can be found in the respective description of the above method.
Claims (1)
1. a kind of satellite platform flutter detection method based on TDICCD splice regions image, its feature carry out as follows：
The acquisition of step 1, overlay chart picture：
Step 1.1, be equipped with High Resolution Space Camera on satellite platform, on the focal plane of the High Resolution Space Camera
Interlock there are multi-disc and splice the TDICCD of arrangement, it is any to choose the adjacent TDICCD of two panels, it is denoted as TDICCD1And TDICCD2,
Along along TDI directions, TDICCD1And TDICCD2Spaced rows number scale be L, on TDI directions, TDICCD1And TDICCD2
There are the overlapping pixel of several columns for junction to form splice region, be denoted as OA1And OA2, the splice region OA1And OA2Interior superposition image
First columns is denoted as C；
The initial time of the arbitrarily once shooting task of the High Resolution Space Camera was denoted as 0 moment, and shooting duration is denoted as
Tw, wherein Tw∈ Q, Tw＞ 0, Q represent rational set；
Utilize the splice region OA1And OA2[0, Tw] during in search coverage all targets carry out timesharing twice shooting,
Obtain image I1=(I1 1,I1 2,…,I1 r,…,I1 R)TAnd I2=(I2 1,I2 2,…,I2 r,…,I2 R)T, whereinFor institute
State image I1And I2Total line number, TrFor the exposure time of every row image, I1 rAnd I2 rRespectively described image I1And I2R rows
Image, Tr∈ Q, Tr＞ 0,1≤r≤R；
Step 1.2, extraction described image I1And I2In lap (I1 1,I1 2,…,I1 R-L)T(I2 L+1,I2 L+2,…,I2 R)T,
Overlay chart is denoted as respectively as O1And O2, the overlay chart is as O1And O2Total columns be C, total line number is is denoted as M=R-L；
The calculating of step 2, opposite image space difference：
Step 2.1, using method for registering images to the overlay chart as O1And O2Matching treatment line by line is carried out, obtains registration of the same name
Point set P={ (p1 1,p2 1),(p1 2,p2 2),…,(p1 m,p2 m),…,(p1 M,p2 M), wherein (p1 m,p2 m) it is the overlay chart picture
O1And O2M row image registrations after obtained a pair of registration point of the same name, 1≤m≤M, and having： WithRespectively point p1 mIn the overlay chart as O1Interior row coordinate and row coordinate,WithRespectively point p2 mIn the overlay chart as O2Interior row coordinate and row coordinate,
Step 2.2, calculate in the registering point set P of the same name 2 points of row coordinate difference and row in each pair registration point of the same name respectively
Coordinate difference, obtains along the opposite image space difference set S on TDI directions||={ s||(1),s||(2) ..., s||(m) ..., s||
(M) } the opposite image space difference set S and on TDI directions⊥={ s⊥(1),s⊥(2) ..., s⊥(m) ..., s⊥(M) },
Wherein s||(m) for the overlay chart as O1And O2M row image registrations after obtain along the opposite image space on TDI directions
Difference, ands⊥(m) for the overlay chart as O1And O2M row image registrations after obtain perpendicular to
Opposite image space on TDI directions is poor, and
Step 2.3, by the opposite image space difference set S along on TDI directions||Per continuous L since first element
A element is in line, so as to form the two-dimensional matrix S of N rows × L row∑ ||：
Wherein
Step 2.4, by the opposite image space difference set S on TDI directions⊥Per continuous since first element
L element be in line, so as to form the two-dimensional matrix S of N rows × L row∑ ⊥：
Wherein
Step 3, the estimation of satellite platform flutter：
Step 3.1, definition are along the flutter on TDI directions：
Wherein, g||(vL+u) it is (vL+u) × TrFlutter of the moment along TDI directions, g||(vL+u) ∈ Q, u ∈ Z, v ∈ Z,
1≤u≤L, 0≤v≤N, Z represent integer set；
Defining flutter on TDI directions is：
Wherein, g⊥(vL+u) it is (vL+u) × TrMoment is perpendicular to the flutter in TDI directions, g⊥(vL+u) ∈ Q, u ∈ Z, v
∈ Z, 1≤u≤L, 0≤v≤N；
Definition flutter is G∑={ gij}(N+1)×L, wherein For edge
The unit vector in TDI directions,For perpendicular to the unit vector in TDI directions, 1≤i≤N+1,1≤j≤L；
Definition flutter G along TDI directions∑ ||In the first row element [g||(1),g||(2),…,g||(L)] it is along TDI directions
Flutter sub-block G1 ||；
Definition flutter G on TDI directions∑ ⊥In the first row element [g⊥(1),g⊥(2),…,g⊥(L)] it is perpendicular to TDI
Flutter sub-block G on direction1 ⊥；
Definition flutter G along TDI directions∑ ||In the second row element to N+1 row elementsFor along the flutter sub-block G on TDI directions2 ||；
Definition flutter G on TDI directions∑ ⊥In the second row element to N+1 row elementsFor the flutter sub-block on TDI directions
G2 ⊥；
Step 3.2, by [T in the shooting taskr,L·Tr] parameter brings substar into over the ground in orbit for satellite in the period
In imaging model, the flutter sub-block G along TDI directions is respectively obtained1 ||In the low frequency component of below 1HzWith the flutter sub-block G on TDI directions1 ⊥In the low frequency point of below 1Hz
AmountWhereinRepresent u × TrMoment flutter along TDI directions exists
The low frequency component of below 1Hz,Represent u × TrMoment on TDI directions flutter below 1Hz low frequency component,
Step 3.3, with the flutter sub-block G along TDI directions1 ||With its low frequency componentBetween opposite residual error quadratic sum
As along the object function H (G on TDI directions1 ||), as shown in formula (1)：
In formula (1), g||(i) i × T is representedrMoment along the flutter on TDI directions,Represent j × TrMoment is along TDI directions
Low frequency component of the flutter in below 1Hz；
With the flutter sub-block G on TDI directions1 ⊥With its low frequency componentBetween opposite residual error quadratic sum conduct
Object function H (the G on TDI directions1 ⊥), as shown in formula (2)：
In formula (2), g⊥(i) i × T is representedrFlutter of the moment on TDI directions,Represent j × TrMoment perpendicular to
Low frequency component of the flutter in below 1Hz on TDI directions；
Step 3.4, solve the object function H (G using optimizing algorithm respectively1 ||) and H (G1 ⊥) minimum pointWithAnd
Respectively as the flutter sub-block G along TDI directions1 ||With the flutter sub-block G on TDI directions1 ⊥Estimate, such as formula
(3) and shown in formula (4)：
Step 3.5, push-scanning image principle and TDICCD splice regions imaging characteristics according to space camera, are established such as formula (5) and formula
(6) shown in along TDI directions and the flutter detection model perpendicular to TDI directions：
G2 ||=AG1 ||+B·S∑ || (5)
G2 ⊥=AG1 ⊥+B·S∑ ⊥ (6)
In formula (5) and formula (6), A and B represent coefficient matrix, and
Step 3.6, according to formula (5) along the flutter detection model in TDI directions, utilize formula (7) to calculate the flutter along TDI directions
Sub-block G2 ||Estimate
Perpendicular to the flutter detection model in TDI directions according to formula (6), the flutter on TDI directions is calculated using formula (8)
Sub-block G2 ⊥Estimate
Step 3.7, the definition according to the flutter along TDI directions, are synthesized along the flutter G on TDI directions using formula (9)∑ ||Estimation
Value
According to the definition of the flutter on TDI directions, the flutter G on TDI directions is synthesized using formula (10)∑ ⊥Estimate
Evaluation
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