CN109064500B - Mapping method for sight line and remote sensing image of static meteorological satellite imager - Google Patents
Mapping method for sight line and remote sensing image of static meteorological satellite imager Download PDFInfo
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- G06—COMPUTING; CALCULATING OR COUNTING
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- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
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- G06T2207/00—Indexing scheme for image analysis or image enhancement
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- G06T2207/10032—Satellite or aerial image; Remote sensing
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- G06T2207/30181—Earth observation
Abstract
The invention discloses a mapping method of a static meteorological satellite imager sight line and a remote sensing image, which is characterized in that the imager sight line described by a corner coordinate is mapped into an internal light path for collimation, and the imager image coordinate formed by the static meteorological satellite imager without distortion and mismatch is obtained, so that the corresponding relation between the imager sight line and an image is obtained, and the calculation and analysis of the mapping relation from the imager corner coordinate to the imager image coordinate are completed; the static meteorological satellite imager is arranged on a static orbit triaxial stable satellite platform, and the sight line is moved back and forth through the rotation motion of the two-dimensional scanning mechanism, so that the imaging coverage of the earth is realized. The method can be used for data processing of the ground application system of the static meteorological satellite.
Description
Technical Field
The invention relates to a mapping method of an earth fixed grid of a static remote sensing satellite imager, in particular to a mapping method of a static meteorological satellite imager sight line and a remote sensing image.
Background
The static remote sensing satellite senses the radiation information of an object on the earth surface by using the scanning type imager, and can be used for mapping, weather diagnosis, disaster monitoring and generating other qualitative and quantitative remote sensing products. When the static meteorological satellite imager generates L1-level data, it is necessary to convert the remote sensing information collected by each scanning angle sight line into image content, and it is necessary to convert the corner coordinates in the remote sensing data into image coordinates. Currently, all countries of geostationary meteorological satellites need to process the fixed grid when generating the L1 data.
The projection relationship between geographic coordinates and satellite scan angles is described in the Global Specification for communication Transmission data (LRIT/HRIT Global Specification) [1] published by the Coordination Group of Meteorological Satellites (CGMS) in 2013. Its fixed grid is described as the imager scan angular coordinate; selecting a coastline as a surface feature target; the WGS84 ellipsoid model is used to represent the surface of the earth when calculating the position of a surface target in the geocentric earth's solid.
The european meteorological satellite organization published a data set user guide for the MTG satellite primary payload FCI under development in 2015 [2 ]. The description of the geographical coordinate projection is in accordance with document [1 ].
The product definition and user manual of the main payload ABI of the new generation of geostationary meteorological satellite GOES-R in the United states was published by Harris corporation in 2015 [3 ]. The mapping of geographic coordinates to north-south/east-west angles of a fixed grid is described herein. Its fixed grid is described as the imager scan angular coordinate; selecting a coastline as a surface feature target; the WGS84 ellipsoid model is used to represent the surface of the earth when calculating the position of a surface target in the geocentric earth's solid.
The paper [4] for the image positioning of the Chinese wind cloud second stationary meteorological satellite imager describes the corresponding relationship between the object on the earth surface and the spin satellite scanning imaging, but does not give the definition and derivation process of the fixed grid.
In the document [5], a method for defining a satellite, earth and imager related coordinate system is adopted to describe the relationship between an object on the earth surface and the coordinates of a triaxial stable stationary meteorological satellite imager, and on the basis of the relationship, the influence of various attitude errors on an imaging result is analyzed, and a method for processing the errors based on Kalman filtering is adopted.
In summary, the defects of the stationary meteorological satellite fixed grids in various countries are mainly as follows: no projection relationship is established from imager scan mirror corners to image coordinates, nor from geographic coordinates to image coordinates. So that the L1-level data product still needs to be subjected to the conversion process of the angle coordinates into the image coordinates.
[1]EUMETSAT.Coordination Group for Meteorological Satellite LRIT/HRIT Global Specification.Issue 2.8.Oct,2013
[2]EUMETSAT.FCI L1 Dataset User Guide[FCIL1DUG][R/OL].EUM/MTG/USR/13/719113.Darmstadt:EUMETSAT,2015[2017-03-26].
[3]Harris Corporation.Product Definition and Users’Guide(PUG)Volume 5:Level2+Products[R/OL].DCN 7035538,Revision D.Florida:Harris Corporation,2015.[2017-03-26].
[4]Lu F,Zhang X,Xu J.Image navigation for the FY2 geosynchronous meteorological satellite[J].Journal of Atmospheric and Oceanic Technology,2008,25(7):1149-1165.
[5].Ahmed A.Kamel,Handol Kim,Dochul Yang,et al.Generalized Image Navigation&Registration Method Based on Kalman Filter.31st ISTS Special Issue.Oct,2017.
Disclosure of Invention
Aiming at the problem of conversion from the sight line of the existing static remote sensing satellite imager to an image, the invention provides a mapping method of the sight line of the static meteorological satellite imager and the remote sensing image, which can be used for data processing of a ground application system of a static meteorological satellite.
In order to achieve the purpose, the invention is specifically realized by the following technical scheme:
a mapping method of a static meteorological satellite imager sight line and a remote sensing image,
mapping the imager sight line described by the corner coordinate to an internal light path for collimation, and obtaining the corresponding relation between the imager sight line and the image by the imager image coordinate formed by the static meteorological satellite imager without distortion and mismatch, and then completing the calculation and analysis of the mapping relation from the imager corner coordinate to the imager image coordinate;
the static meteorological satellite imager is arranged on a static orbit triaxial stable satellite platform, and the sight line is moved back and forth through the rotation motion of the two-dimensional scanning mechanism, so that the imaging coverage of the earth is realized; the invention discloses a two-dimensional scanning mechanism of a preferred static meteorological satellite imager, which is provided with a two-sided reflector and two mutually vertical rotating shafts. Light rays emitted from the earth are firstly incident on the north and south mirrors, are reflected and then enter the east and west mirrors, and enter the internal imaging system after being reflected again.
The origin of the image coordinates of the imager is located at a certain characteristic position on the imager, the Z axis is the direction of the central sight line of the field of view of the imager, the X axis is perpendicular to the direction corresponding to the east of the image of the point under the satellite and the central sight line points to the east, and the Y axis is determined according to the right-hand rule.
The corner coordinates of the imager comprise an east-west mirror scanning angle epsilon and a south-north mirror scanning angle eta, and the unit is degree. The preferred definition of the zero point and polarity of the invention is as follows: when the sight line of the imager moves to the sight line of the center of the view field, the corner coordinate of the imager is positioned at a (0,0) point; the positive direction of the X axis of the south-north mirror around the optical reference coordinate system of the imager is defined to be the positive direction of epsilon according to the right-hand direction, and the positive direction of the Z axis of the east-west mirror around the optical reference coordinate system of the imager is defined to be the positive direction of eta according to the right-hand direction.
The imager image coordinate comprises a north-south pixel number m and an east-west pixel number n, and the unit is a pixel. The invention preferably defines the pixel at the upper left corner of the image as a (1,1) point, the direction from top to bottom is the increasing direction of the pixel numbers in the north-south direction, and the direction from left to right is the increasing direction of the pixel numbers in the east-west direction.
The calculation of the mapping relation from the corner coordinate of the imager to the image coordinate of the imager is completed through the following steps: step 1, determining north-south field angles kappa and east-west field angles tau of pixels of an imager according to optical characteristics of the imager, determining signs of the kappa and the tau according to image orientations to adjust corresponding relations between images of the imager and the orientations, and determining an imager corner coordinate point (epsilon) corresponding to an image coordinate (1,1) point1,η1)。
In connection with the preferred imager image coordinate polarity definition of the present invention, it is preferred that κ and τ be negative. In order to adapt to the technical index that the resolution of the satellite point of the stationary orbit imager is 1 kilometer, the invention preferably takes the k and the tau as 1/35786.035 radian. According to the field of view of the stationary orbit imager and the motion stroke of the scanning mechanism, the invention preferably sets the corresponding image coordinate (1,1) point of the angle coordinates (6,6) of the imager.
and 3, for any imager corner coordinate (epsilon, eta), the east-west direction pixel number n of the imager image coordinate can be expressed as:
the method can be used for data processing of the ground application system of the static meteorological satellite.
Drawings
FIG. 1 is a schematic diagram of the projection relationship of a stationary weather satellite imager to the earth in the embodiment of the invention.
FIG. 2 is a schematic view of an internal scanning reflective mechanism of an imager in an embodiment of the invention.
Fig. 3 is a flowchart illustrating the calculation of the mapping from the rotation angle coordinate of the imager to the image coordinate of the imager according to the embodiment of the present invention.
In the figure: 1-the earth; 2-equator; 3-geographical arctic; 4-geocentric; 5-this elementary meridian; 6-geocentric coordinate system; 7-point under the star; 8-earth surface feature objects; 9-star-ground connection; 10-an imager; 11-a light shield; 12-imager optical reference coordinate system; 13-imager line of sight; 14-pixel No. (1,1) in the imager image; 15-imager image coordinates; 16-imager image; 17-projection of the earth in the imager image; 18-projection of earth surface feature objects in the imager image; 19-imager internal camera system; 20-east-west mirror rotation axis; 21-east-west mirror; 22-north-south mirror rotating shaft; 23-north-south mirror; 24-line of sight inside the imager.
Detailed Description
The method for mapping the line of sight and the remote sensing image of the static meteorological satellite imager provided by the invention is further described in detail by combining the attached drawings and the specific embodiment.
Examples
The new generation of stationary meteorological satellites are all in a three-axis stable working mode, and the scanning mechanism of the imager is divided into a single-mirror double-axis mode and a double-mirror double-axis mode. For example, the imagers of the China Fengyun No. four satellite and the American GOES-R satellite are both provided with two reflectors and two mutually perpendicular rotating shafts, and adopt the proposal of reciprocating scanning in the east-west direction. Light rays emitted from the earth are firstly incident on the north and south mirrors, are reflected and then enter the east and west mirrors, and enter the internal imaging system after being reflected again.
When the internal optical path of the imager is collimated and no distortion or mismatching exists, the imager is considered to be in a nominal ideal state, and the relationship between the sight line and the image can be established for the object.
Defining an imager optical reference coordinate system: the origin is located at a certain characteristic position on the imager, the Z axis is the direction of the central sight line of the field of view of the imager, the X axis is perpendicular to the direction corresponding to the east of the image of the point under the satellite, and the Y axis is determined according to the right-hand rule.
And defining a corner coordinate of the imager, wherein the corner coordinate comprises an east-west mirror scanning angle epsilon and a north-south mirror scanning angle eta, and the unit is degree. The coordinate zero and polarity are defined as follows: when the sight line of the imager moves to the sight line of the center of the view field, the corner coordinate of the imager is positioned at a (0,0) point; the positive direction of the X axis of the south-north mirror around the optical reference coordinate system of the imager is defined to be the positive direction of epsilon according to the right-hand direction, and the positive direction of the Z axis of the east-west mirror around the optical reference coordinate system of the imager is defined to be the positive direction of eta according to the right-hand direction.
Imager image coordinates are defined, including a north-south pixel number m and an east-west pixel number n in pixels. The invention preferably defines the pixel at the upper left corner of the image as a (1,1) point, the direction from top to bottom is the increasing direction of the pixel numbers in the north-south direction, and the direction from left to right is the increasing direction of the pixel numbers in the east-west direction.
And then, completing the calculation and analysis of the mapping relation from the corner coordinate of the imager to the image coordinate of the imager based on the obtained relation, wherein the calculation input is as follows: the scanning mirror rotation angle coordinates (epsilon, eta) of the sight line of the static meteorological satellite imager; the output is: image coordinates (m, n) of the feature object in the imager image.
The calculation of the mapping of the imager corner coordinates (epsilon, eta) to the imager image coordinates (m, n) comprises the following steps:
In connection with the preferred imager image coordinate polarity definition of the present invention, it is preferred that κ and τ be negative. In order to adapt to the technical index that the resolution of the satellite point of the stationary orbit imager is 1 kilometer, the invention preferably takes the k and the tau as 1/35786.035 radian. According to the field of view parameters of the imager, setting the corner coordinate epsilon of the imager1＝6°，η1The 6 ° point is mapped to the imager image coordinates (1, 1).
and 3, for any imager corner coordinate [ epsilon, eta ], the east-west direction pixel number n of the imager image coordinate can be expressed as:
the foregoing is only a preferred embodiment of the present invention, and it should be noted that those skilled in the art can make various improvements and modifications without departing from the principle of the present invention, and these improvements and modifications should also be construed as the protection scope of the present invention.
Claims (2)
1. A mapping method of a static meteorological satellite imager sight line and a remote sensing image is characterized in that the imager sight line described by a corner coordinate is mapped to an internal light path for collimation, and the imager image coordinate formed by the static meteorological satellite imager without distortion and mismatch is obtained, so that the corresponding relation between the imager sight line and the image is obtained, and then the calculation and analysis of the mapping relation from the imager corner coordinate to the imager image coordinate are completed;
the static meteorological satellite imager is arranged on a static orbit triaxial stable satellite platform, and the sight line is moved back and forth through the rotation motion of the two-dimensional scanning mechanism, so that the imaging coverage of the earth is realized;
the origin of the image coordinate of the imager is positioned at a certain characteristic position on the imager, the Z axis is the direction of the central sight line of the field of view of the imager, the X axis is perpendicular to the direction corresponding to the east of the image of the central sight line pointing to the point below the star, and the Y axis is determined according to the right-hand rule;
the corner coordinates of the imager comprise an east-west mirror scanning angle epsilon and a south-north mirror scanning angle eta, and the unit is degree; the zero and polarity are as follows: when the sight line of the imager moves to the sight line of the center of the view field, the corner coordinate of the imager is positioned at a (0,0) point; defining the positive direction of an X axis of an optical reference coordinate system of the imaging instrument rotated to the positive direction of epsilon according to the right-hand direction, and defining the positive direction of a Z axis of an optical reference coordinate system of the imaging instrument rotated to the positive direction of eta according to the right-hand direction;
the imager image coordinate comprises a north-south pixel number m and an east-west pixel number n, the unit is a pixel, wherein the pixel at the upper left corner of the image is a (1,1) point, the direction from top to bottom is the north-south pixel number increasing direction, and the direction from left to right is the east-west pixel number increasing direction;
the calculation of the mapping relation from the corner coordinate of the imager to the image coordinate of the imager is completed through the following steps:
step 1, determining north-south field angles kappa and east-west field angles tau of pixels of an imager according to optical characteristics of the imager, determining signs of the kappa and the tau according to image orientations to adjust corresponding relations between images of the imager and the orientations, and determining an imager corner coordinate point (epsilon) corresponding to an image coordinate (1,1) point1,η1)；
Step 2, for any imager corner coordinate (epsilon, eta), the north-south direction pixel number m of the imager image coordinate can be expressed as:
and 3, for any imager corner coordinate (epsilon, eta), the east-west direction pixel number n of the imager image coordinate can be expressed as:
2. the method for mapping the sightline and the remote sensing image of the geostationary weather satellite imager as claimed in claim 1, wherein said two-dimensional scanning mechanism is provided with two-sided mirrors and two mutually perpendicular rotating shafts, and the light emitted from the earth is firstly incident on the north and south mirrors, reflected and then incident on the east and west mirrors, and then reflected again and enters the internal imaging system.
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