CN108981673B - Method for calculating three-dimensional position of ground point by using sequence satellite-borne optical remote sensing image - Google Patents

Method for calculating three-dimensional position of ground point by using sequence satellite-borne optical remote sensing image Download PDF

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CN108981673B
CN108981673B CN201810513510.7A CN201810513510A CN108981673B CN 108981673 B CN108981673 B CN 108981673B CN 201810513510 A CN201810513510 A CN 201810513510A CN 108981673 B CN108981673 B CN 108981673B
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尤红建
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Abstract

The invention provides a method for calculating a three-dimensional position of a ground point by using sequence satellite-borne optical remote sensing images, which comprises the steps of firstly, extracting two-dimensional image coordinates of the ground point on each satellite-borne optical remote sensing image, and calculating three-dimensional auxiliary coordinates corresponding to the ground point on each satellite-borne optical remote sensing image by using a satellite-sensitive quaternion parameter corresponding to each satellite-borne optical remote sensing image; secondly, calculating a transformation coefficient formed by any two satellite-borne optical remote sensing images according to the satellite position corresponding to each satellite-borne optical remote sensing image and the three-dimensional auxiliary coordinate corresponding to the ground point; and finally, calculating the three-dimensional position of the ground point by using the transformation coefficient, the satellite position and the ground point auxiliary coordinate. The method directly and explicitly calculates the three-dimensional position of the ground point by using the platform parameters and the camera parameters of the satellite-borne optical remote sensing image without initial approximate values of the ground point and iteration and approximation processes in calculation, effectively simplifies the calculation process and is more suitable for large-scale engineering application.

Description

Method for calculating three-dimensional position of ground point by using sequence satellite-borne optical remote sensing image
Technical Field
The disclosure relates to the technical field of remote sensing image processing, in particular to a method for calculating a three-dimensional position of a ground point by using a sequence satellite-borne optical remote sensing image.
Background
The satellite-borne optical remote sensing image can only obtain ground two-dimensional image information after geometric positioning or geometric correction, and in order to obtain ground three-dimensional position information, a stereo relative method is generally needed to obtain ground point three-dimensional information. The stereo-correlation is to calculate the three-dimensional position of a ground point by using a space geometric relationship according to two acquired images in the same region, a conventional processing flow is to pass through two processes of relative orientation and absolute orientation, and each process needs more complex nonlinear iterative solution. The three-dimensional position precision of a ground point calculated based on the stereo relative of two images is relatively limited, a plurality of optical remote sensing images can be obtained at a certain point on the ground at a plurality of times along with the development of remote sensing at present, the remote sensing presents certain big data characteristic, and the plurality of optical remote sensing images covering the same area form a sequence remote sensing image (the number of the sequence images is generally more than 20). Because these sequence optical remote sensing images are repeatedly observed for a plurality of times for the same ground point, a plurality of geometric constraint relations exist between them, the space geometric relation between the sequence images can be fully applied to improve the ground three-dimensional position resolving precision, namely, the three-dimensional position precision of the ground point calculated by the sequence optical remote sensing images is higher than that of the three-dimensional position calculated by the conventional two three-dimensional images, and along with the increase of the number of the sequence remote sensing images, the three-dimensional position precision can be improved, therefore, the sequence optical remote sensing images can refine the three-dimensional position of the ground point.
The three-dimensional position of the ground point is calculated by utilizing the serialized satellite optical remote sensing images, two images can be extracted from the serialized images each time to carry out the conventional nonlinear iterative calculation process with relatively complex relative orientation and absolute orientation, and then all calculation results are integrated to calculate the optimal value of the ground point, but the serialized images with large data volume can cause the calculation process to be very complex and are not suitable for large-scale engineering application.
Disclosure of Invention
Technical problem to be solved
The present disclosure provides a method for calculating a three-dimensional position of a ground point using a sequence satellite-borne optical remote sensing image to at least partially solve the technical problems set forth above.
(II) technical scheme
According to one aspect of the disclosure, a method for calculating a three-dimensional position of a ground point by using a sequence satellite-borne optical remote sensing image is provided, which comprises the following steps: step S10: extracting two-dimensional image coordinates of ground points on each satellite-borne optical remote sensing image, and calculating three-dimensional auxiliary coordinates corresponding to the ground points on each satellite-borne optical remote sensing image by using the satellite-sensitive quaternion parameters corresponding to each satellite-borne optical remote sensing image; step S20: calculating a transformation coefficient formed by any two satellite-borne optical remote sensing images according to the satellite position corresponding to each satellite-borne optical remote sensing image and the three-dimensional auxiliary coordinate corresponding to the ground point; step S30: and calculating the three-dimensional position of the ground point by using the transformation coefficient, the satellite position and the ground point auxiliary coordinate.
In some embodiments of the present disclosure, step S10 includes: step S11: extracting the coordinates (x) of the two-dimensional image of the ground point on each satellite-borne optical remote sensing imagei，yi) (ii) a Step S12: the satellite-sensitive quaternion parameters corresponding to each satellite-borne optical remote sensing image are q0, q1, q2 and q 3; step S13: calculating three-dimensional auxiliary coordinates corresponding to the ground points on each satellite-borne optical remote sensing image, wherein the calculation formula is as follows:
Figure BDA0001672370880000021
Figure BDA0001672370880000022
Figure BDA0001672370880000023
wherein (X)i、Yi、Zi) Calculating three-dimensional auxiliary coordinates corresponding to ground points on each satellite-borne optical remote sensing image; i represents the index number of the satellite-borne optical remote sensing image from 1 to n; n represents the total number of the sequence satellite-borne optical remote sensing images; f represents the corresponding optical camera focal length of the satellite-borne optical remote sensing image.
In some embodiments of the present disclosure, step S20 includes: step S21: calculating according to the step S10 to obtain three-dimensional auxiliary coordinates corresponding to ground points on each satellite-borne optical remote sensing image; step S22: calculating a transformation coefficient formed by any two satellite-borne optical remote sensing images, wherein the calculation formula is as follows:
Figure BDA0001672370880000024
Figure BDA0001672370880000025
wherein N isijAnd MijRepresenting two transformation coefficients with index numbers i and j, wherein i represents the index number of the optical satellite-borne optical remote sensing image from 1 to (n-1), n represents the total number of the sequence satellite-borne optical remote sensing images, and j represents the index number from i +1 to n; when the index serial number is i, the satellite three-dimensional auxiliary coordinate corresponding to the satellite-borne optical remote sensing image extracted from the auxiliary data downloaded from the satellite is
Figure BDA0001672370880000031
When the index serial number is i, the corresponding ground point three-dimensional auxiliary coordinate is (X)i、Yi、Zi) (ii) a When the index serial number is j, the satellite-borne optical remote sensing image extracted from auxiliary data downloaded from the satellite corresponds toSatellite three-dimensional auxiliary coordinates of
Figure BDA0001672370880000032
The three-dimensional auxiliary coordinate of the corresponding ground point with the index serial number j is (X)j、Yj、Zj)。
In some embodiments of the present disclosure, the calculation formula for calculating the ground three-dimensional position in step S30 is:
Figure BDA0001672370880000033
Figure BDA0001672370880000034
Figure BDA0001672370880000035
wherein, (X, Y, Z) represents the calculated three-dimensional location of the ground point; n represents the total number of the sequence satellite-borne optical remote sensing images;
Figure BDA0001672370880000036
representing that i starts from 1 and ends at n-1 to perform summation calculation;
Figure BDA0001672370880000037
indicates that j starts from (i +1) and ends with n;
Figure BDA0001672370880000038
when the index serial number is i, representing satellite three-dimensional auxiliary coordinates corresponding to satellite-borne optical remote sensing images extracted from auxiliary data downloaded by a satellite;
Figure BDA0001672370880000039
when the index serial number is j, satellite three-dimensional auxiliary coordinates corresponding to satellite-borne optical remote sensing images extracted from auxiliary data downloaded by a satellite are represented; (X)i、Yi、Zi) Representing a corresponding ground point three-dimensional auxiliary coordinate when the index serial number is i;(Xj、Yj、Zj) Representing a corresponding ground point three-dimensional auxiliary coordinate when the index serial number is j; n is a radical ofijAnd MijRepresenting two transform coefficients between indices i and j.
In some embodiments of the present disclosure, the method for extracting the two-dimensional image coordinates of the ground point on each satellite-borne optical remote sensing image in step S10 is to perform extraction through image matching software and/or manually.
(III) advantageous effects
According to the technical scheme, the method for calculating the three-dimensional position of the ground point by using the sequence satellite-borne optical remote sensing image has at least one or part of the following beneficial effects:
(1) platform parameters and camera parameters of the satellite-borne optical remote sensing image are used for directly and explicitly calculating the three-dimensional position of the ground point, initial approximate values of the ground point are not needed, iteration and approximation processes are not needed in calculation, the calculation process is effectively simplified, and the method is more suitable for large-scale engineering application.
(2) The calculation of the three-dimensional position integrates all the sequence satellite-borne optical remote sensing images together and adopts a unified calculation method, so that the calculation steps and the calculation method cannot be influenced by the quantity change of the satellite-borne optical remote sensing images.
Drawings
Fig. 1 is a block flow diagram of a method for calculating a three-dimensional position of a ground point using a sequence satellite-borne optical remote sensing image according to an embodiment of the present disclosure.
Detailed Description
The invention provides a method for calculating a three-dimensional position of a ground point by using sequence satellite-borne optical remote sensing images, which comprises the steps of firstly, extracting two-dimensional image coordinates of the ground point on each satellite-borne optical remote sensing image, and calculating three-dimensional auxiliary coordinates corresponding to the ground point on each satellite-borne optical remote sensing image by using a satellite-sensitive quaternion parameter corresponding to each satellite-borne optical remote sensing image; secondly, calculating a transformation coefficient formed by any two satellite-borne optical remote sensing images according to the satellite position corresponding to each satellite-borne optical remote sensing image and the three-dimensional auxiliary coordinate corresponding to the ground point; and finally, calculating the three-dimensional position of the ground point by using the transformation coefficient, the satellite position and the ground point auxiliary coordinate. The method directly and explicitly calculates the three-dimensional position of the ground point by using the platform parameters and the camera parameters of the satellite-borne optical remote sensing image without initial approximate values of the ground point and iteration and approximation processes in calculation, effectively simplifies the calculation process and is more suitable for large-scale engineering application.
For the purpose of promoting a better understanding of the objects, aspects and advantages of the present disclosure, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
Certain embodiments of the present disclosure will now be described more fully hereinafter with reference to the accompanying drawings, in which some, but not all embodiments of the disclosure are shown. Indeed, various embodiments of the disclosure may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will satisfy applicable legal requirements.
In one exemplary embodiment of the present disclosure, a method for calculating a three-dimensional position of a ground point using a sequence of satellite-borne optical remote sensing images is provided. Fig. 1 is a block flow diagram of a method for calculating a three-dimensional position of a ground point using a sequence satellite-borne optical remote sensing image according to an embodiment of the present disclosure. As shown in fig. 1, the present disclosure includes:
step S10: extracting two-dimensional image coordinates of ground points on each satellite-borne optical remote sensing image, and calculating three-dimensional auxiliary coordinates corresponding to the ground points on each satellite-borne optical remote sensing image by using the satellite-sensitive quaternion parameters corresponding to each satellite-borne optical remote sensing image; the step S10 includes: step S11: extracting the coordinates (x) of the two-dimensional image of the ground point on each satellite-borne optical remote sensing imagei，yi) The method for extracting the two-dimensional image coordinates of the ground points on each satellite-borne optical remote sensing image can be image matching software or manual extraction; step S12: the satellite-sensitive quaternion parameters corresponding to each satellite-borne optical remote sensing image are q0, q1, q2 and q 3; step S13: calculating three-dimensional auxiliary coordinates corresponding to the ground points on each satellite-borne optical remote sensing image, wherein the calculation formula is as follows:
Figure BDA0001672370880000051
Figure BDA0001672370880000052
Figure BDA0001672370880000053
wherein (X)i、Yi、Zi) Calculating three-dimensional auxiliary coordinates corresponding to ground points on each satellite-borne optical remote sensing image; i represents the index number of the satellite-borne optical remote sensing image from 1 to n; n represents the total number of the sequence satellite-borne optical remote sensing images; f represents the corresponding optical camera focal length of the satellite-borne optical remote sensing image.
Step S20: calculating a transformation coefficient formed by any two satellite-borne optical remote sensing images according to the satellite position corresponding to each satellite-borne optical remote sensing image and the three-dimensional auxiliary coordinate corresponding to the ground point; the step S20 includes: step S21: calculating according to the step S10 to obtain three-dimensional auxiliary coordinates corresponding to ground points on each satellite-borne optical remote sensing image; step S22: calculating a transformation coefficient formed by any two satellite-borne optical remote sensing images, wherein the calculation formula is as follows:
Figure BDA0001672370880000054
Figure BDA0001672370880000061
wherein N isijAnd MijRepresenting two transformation coefficients with index numbers i and j, wherein i represents the index number of the satellite-borne optical remote sensing images from 1 to (n-1), n represents the total number of the sequence satellite-borne optical remote sensing images, and j represents the index number from i +1 to n; when the index serial number is i, the satellite three-dimensional auxiliary coordinate corresponding to the satellite-borne optical remote sensing image extracted from the auxiliary data downloaded from the satellite is
Figure BDA0001672370880000062
When the index serial number is i, the corresponding ground point three-dimensional auxiliary coordinate is (X)i、Yi、Zi) (ii) a When the index serial number is j, the satellite three-dimensional auxiliary coordinate corresponding to the satellite-borne optical remote sensing image extracted from the auxiliary data downloaded from the satellite is
Figure BDA0001672370880000063
The three-dimensional auxiliary coordinate of the corresponding ground point with the index serial number j is (X)j、Yj、Zj)。
Step S30: calculating the three-dimensional position of the ground point by using the transformation coefficient, the satellite position and the ground point auxiliary coordinate, wherein the specific calculation formula is as follows:
Figure BDA0001672370880000064
Figure BDA0001672370880000065
Figure BDA0001672370880000066
wherein, (X, Y, Z) represents the calculated three-dimensional location of the ground point; n represents the total number of the sequence satellite-borne optical remote sensing images;
Figure BDA0001672370880000067
representing that i starts from 1 and ends at n-1 to perform summation calculation;
Figure BDA0001672370880000068
indicates that j starts from (i +1) and ends with n;
Figure BDA0001672370880000069
when the index serial number is i, representing satellite three-dimensional auxiliary coordinates corresponding to satellite-borne optical remote sensing images extracted from auxiliary data downloaded by a satellite;
Figure BDA00016723708800000610
when the index serial number is j, satellite three-dimensional auxiliary coordinates corresponding to satellite-borne optical remote sensing images extracted from auxiliary data downloaded by a satellite are represented; (X)i、Yi、Zi) Representing a corresponding ground point three-dimensional auxiliary coordinate when the index serial number is i; (X)j、Yj、Zj) Representing a corresponding ground point three-dimensional auxiliary coordinate when the index serial number is j; n is a radical ofijAnd MijRepresenting two transform coefficients between indices i and j.
So far, the embodiments of the present disclosure have been described in detail with reference to the accompanying drawings. It is to be noted that, in the attached drawings or in the description, the implementation modes not shown or described are all the modes known by the ordinary skilled person in the field of technology, and are not described in detail. Further, the above definitions of the various elements and methods are not limited to the various specific structures, shapes or arrangements of parts mentioned in the examples, which may be easily modified or substituted by those of ordinary skill in the art.
From the above description, those skilled in the art should clearly understand that the method for calculating the three-dimensional position of the ground point by using the sequential satellite-borne optical remote sensing images in the present disclosure.
In summary, in the calculation of the three-dimensional position, all the sequence satellite-borne optical remote sensing images are integrated together and a unified calculation method is adopted, and the calculation steps and the calculation method are not affected by the quantity change of the sequence satellite-borne optical remote sensing images. The three-dimensional position of the ground point is directly and explicitly calculated by applying the platform parameters and the camera parameters of the satellite-borne optical remote sensing image, the initial approximate value of the ground point is not needed, the iteration and the approximation process are not needed in the calculation, the calculation process is effectively simplified, and the method is more suitable for large-scale engineering application.
In addition, unless steps are specifically described or must occur in sequence, the order of the steps is not limited to that listed above and may be changed or rearranged as desired by the desired design. The embodiments described above may be mixed and matched with each other or with other embodiments based on design and reliability considerations, i.e., technical features in different embodiments may be freely combined to form further embodiments.
The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose systems may also be used with the teachings herein. The required structure for constructing such a system will be apparent from the description above. Moreover, this disclosure is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the present disclosure as described herein, and any descriptions above of specific languages are provided for disclosure of enablement and best mode of the present disclosure.
The disclosure may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. Various component embodiments of the disclosure may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some or all of the components in the relevant apparatus according to embodiments of the present disclosure. The present disclosure may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present disclosure may be stored on a computer-readable medium or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the disclosure, various features of the disclosure are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various disclosed aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that is, the claimed disclosure requires more features than are expressly recited in each claim. Rather, as the following claims reflect, disclosed aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this disclosure.
The above-mentioned embodiments are intended to illustrate the objects, aspects and advantages of the present disclosure in further detail, and it should be understood that the above-mentioned embodiments are only illustrative of the present disclosure and are not intended to limit the present disclosure, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.

Claims (4)

1. A method for calculating the three-dimensional position of a ground point by using a sequence satellite-borne optical remote sensing image comprises the following steps:
step S10: extracting two-dimensional image coordinates of ground points on each satellite-borne optical remote sensing image, and calculating three-dimensional auxiliary coordinates corresponding to the ground points on each satellite-borne optical remote sensing image by using the satellite-sensitive quaternion parameters corresponding to each satellite-borne optical remote sensing image; the step S10 includes:
step S11: extracting the coordinates (x) of the two-dimensional image of the ground point on each satellite-borne optical remote sensing imagei，yi)；
Step S12: the satellite-sensitive quaternion parameters corresponding to each satellite-borne optical remote sensing image are q0, q1, q2 and q 3;
step S13: calculating three-dimensional auxiliary coordinates corresponding to the ground points on each satellite-borne optical remote sensing image, wherein the calculation formula is as follows:
Figure FDA0002514628820000011
Figure FDA0002514628820000012
Figure FDA0002514628820000013
wherein (X)i、Yi、Zi) Calculating three-dimensional auxiliary coordinates corresponding to ground points on each satellite-borne optical remote sensing image; i represents the index number of the satellite-borne optical remote sensing image from 1 to n; n represents the total number of the sequence satellite-borne optical remote sensing images; f represents the corresponding optical camera focal length of the satellite-borne optical remote sensing image
Step S20: calculating a transformation coefficient formed by any two satellite-borne optical remote sensing images according to the satellite position corresponding to each satellite-borne optical remote sensing image and the three-dimensional auxiliary coordinate corresponding to the ground point;
step S30: and calculating the three-dimensional position of the ground point by using the transformation coefficient, the satellite position and the ground point auxiliary coordinate.
2. The method for calculating the three-dimensional position of the ground point by using the sequence satellite-borne optical remote sensing images as claimed in claim 1, wherein the step S20 comprises:
step S21: calculating according to the step S10 to obtain three-dimensional auxiliary coordinates corresponding to ground points on each satellite-borne optical remote sensing image;
step S22: calculating a transformation coefficient formed by any two satellite-borne optical remote sensing images, wherein the calculation formula is as follows:
Figure FDA0002514628820000021
Figure FDA0002514628820000022
wherein N isijAnd MijRepresenting two transformation coefficients with index numbers i and j, wherein i represents the index number of the optical satellite-borne optical remote sensing image from 1 to (n-1), n represents the total number of the sequence satellite-borne optical remote sensing images, and j represents the index number from i +1 to n;
index number i, from satellite downThe satellite three-dimensional auxiliary coordinate corresponding to the satellite-borne optical remote sensing image extracted from the transmitted auxiliary data is
Figure FDA0002514628820000023
When the index serial number is i, the corresponding ground point three-dimensional auxiliary coordinate is (X)i、Yi、Zi)；
When the index serial number is j, the satellite three-dimensional auxiliary coordinate corresponding to the satellite-borne optical remote sensing image extracted from the auxiliary data downloaded from the satellite is
Figure FDA0002514628820000024
The three-dimensional auxiliary coordinate of the corresponding ground point with the index serial number j is (X)j、Yj、Zj)。
3. The method for calculating the three-dimensional position of the ground point by using the sequential satellite-borne optical remote sensing images as claimed in claim 1, wherein the calculation formula for calculating the three-dimensional position of the ground in the step S30 is as follows:
Figure FDA0002514628820000025
Figure FDA0002514628820000026
Figure FDA0002514628820000027
wherein, (X, Y, Z) represents the calculated three-dimensional location of the ground point; n represents the total number of the sequence satellite-borne optical remote sensing images;
Figure FDA0002514628820000028
representing that i starts from 1 and ends at n-1 to perform summation calculation;
Figure FDA0002514628820000029
denotes that j is opened from (i +1)Starting to n and finishing to carry out summation calculation;
Figure FDA0002514628820000031
when the index serial number is i, representing satellite three-dimensional auxiliary coordinates corresponding to satellite-borne optical remote sensing images extracted from auxiliary data downloaded by a satellite;
Figure FDA0002514628820000032
when the index serial number is j, satellite three-dimensional auxiliary coordinates corresponding to satellite-borne optical remote sensing images extracted from auxiliary data downloaded by a satellite are represented; (X)i、Yi、Zi) Representing a corresponding ground point three-dimensional auxiliary coordinate when the index serial number is i; (X)j、Yj、Zj) Representing a corresponding ground point three-dimensional auxiliary coordinate when the index serial number is j; n is a radical ofijAnd MijRepresenting two transform coefficients between indices i and j.
4. The method for calculating the three-dimensional position of the ground point by using the sequential satellite-borne optical remote sensing images as claimed in claim 1, wherein the method for extracting the two-dimensional image coordinates of the ground point on each satellite-borne optical remote sensing image in the step S10 is extraction through image matching software and/or manual work.
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