CN109581428A - A kind of localization method of the in-orbit self-correction based on optical image - Google Patents
A kind of localization method of the in-orbit self-correction based on optical image Download PDFInfo
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- CN109581428A CN109581428A CN201811479723.9A CN201811479723A CN109581428A CN 109581428 A CN109581428 A CN 109581428A CN 201811479723 A CN201811479723 A CN 201811479723A CN 109581428 A CN109581428 A CN 109581428A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/23—Testing, monitoring, correcting or calibrating of receiver elements
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Abstract
A kind of localization method of the in-orbit self-correction based on optical image will be infused on calibrated relevant parameter onto star comprising steps of being demarcated using relevant parameter of the ground control point information to geometry location model on star；It is directly positioned in conjunction with calibrated relevant parameter using geometry location model on star, the result that positioning is obtained is as the relation control of next frame data point；Self-correction is carried out to relevant parameter using relation control point；Whether reasonable self-correction result is judged, if rationally, being updated using self-correction result to relevant parameter.It without ground control point, can also reduce system time-varying error source, improve positioning accuracy.By loop iteration, influence of the elevation variation to positioning accuracy can be eliminated, therefore without storing elevation library information when in-orbit processing.Using two CSTR parallel processing, the timeliness of positioning can be greatlyd improve.
Description
Technical field
The present invention relates to the target location detection technologies in optical satellite remote sensing image field, and in particular to one kind is based on optics
The localization method of the in-orbit self-correction of image.
Background technique
Under the cooperation of ground control point information, be already available to currently based on the in-orbit positioning of optical image higher
Positioning accuracy, but obtain ground control point information (on sea) in some cases and be not easy to, while on-board processing is at present
It can not accomplish that ground control point is infused on correcting in real time, therefore how no control point (or a small amount of control point calibrate) the case where
The lower in-orbit positioning of realization high-precision is current technical problem urgently to be solved.
When carrying out in-orbit positioning based on optical satellite image, since there are various time-varying error (shapes caused by temperature for system
Change, orbital drift, elevation variation etc.) so that system is working after a certain period of time, positional parameter deviates calibration value, so as to cause
Positioning accuracy decline.In the case, if without ground control point (such as big sea can not find effective ground control point) weight
New calibration then will lead to positioning failure.
Summary of the invention
Influence of the time-varying error to positioning accuracy how is overcome (to guarantee positioning in the case where no ground control point
Precision) it is the technical problems to be solved by the invention, the application provides a kind of positioning of in-orbit self-correction based on optical image
Method, comprising steps of
It is demarcated using relevant parameter of the ground control point information to geometry location model on star, by calibrated correlation
In parameter on note to star；
It is directly positioned in conjunction with calibrated relevant parameter using geometry location model on star, the result that positioning is obtained
Relation control point as next frame data；
Self-correction is carried out to relevant parameter using relation control point；
Whether reasonable self-correction result is judged, if rationally, being updated using self-correction result to relevant parameter.
It is described to judge the whether reasonable specific steps of self-correction result in a kind of embodiment are as follows:
It brings current relation control point on star geometry location model and carries out location Calculation, obtain positioning result；
The error amount of positioning result before calculating positioning result and relevant parameter update；
Whether error in judgement value restrains, otherwise unreasonable if convergence, judges that self-correction result is reasonable.
In a kind of embodiment, if self-correction result is unreasonable, after being superimposed upon after error amount is negated on relation control point, weight
Self-correction newly is carried out to relevant parameter.
In a kind of embodiment, the formula of geometry location model on the star are as follows:
Wherein, m is proportionality coefficient, RbaisIt is bias matrix,It is the transformation of J2000 coordinate system to wgs84 coordinate system
Matrix,It is transformation matrix of the body coordinate system to j2000 coordinate system,It is camera coordinates system to body coordinate system
Transformation matrix,WithTo be directed toward angle；The relevant parameter of geometry location model is R on starbais,WithTo be directed toward angle.
In a kind of embodiment, direct positioning operation and the operation of relevant parameter self-correction are executed respectively using two CSTR.
In a kind of embodiment, the two CSTR includes the first DSP and the 2nd DSP, wherein the first DSP directly carries out positional operand
Make, is sent to the 2nd DSP for the positioning result calculated as relation control point, the 2nd DSP carries out phase according to relation control point
Parameter self modification is closed, and whether judge self-correction structure reasonable, if rationally, self-correction result is sent to the first DSP, first
DSP is updated relevant parameter according to self-correction result.
In a kind of embodiment, the first DSP and the 2nd DSP parallel processing, and phase is carried out by the way of breakpoint insertion
Parameter is closed to update.
In a kind of embodiment, the first DSP and the 2nd DSP is equipped with Interruption, the first DSP and the 2nd DSP
Data exchange is carried out at interruption.
According to the localization method of above-described embodiment, have following advantages:
1) it is not necessarily to ground control point, can also reduce system time-varying error source, improves positioning accuracy.
2) by loop iteration, influence of the elevation variation to positioning accuracy can be eliminated, therefore without storage when in-orbit processing
Elevation library information.
3) two CSTR parallel processing is used, the timeliness of positioning can be greatlyd improve.
Detailed description of the invention
Fig. 1 is localization method flow chart；
Fig. 2 is self-correction schematic illustration；
Fig. 3 is relation control point selection principle schematic diagram；
Fig. 4 is two CSTR operation schematic diagram.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.
Basic ideas of the invention are: using two CSTR (the first DSP and the 2nd DSP) parallel processing first, the first DSP is mono-
It stays alone and manages direct positioning, positioning result is transmitted in the 2nd DSP as opposite " control point ", the 2nd DSP utilizes opposite " control
Point " information is modified geometry location model parameter on current star, is carried out rationally after amendment using corresponding dot pair correction result
Property differentiate, once correction result is judged as rationally, then correction result is transmitted in the first DSP, update positional parameter, successively
Loop iteration eliminates system time-varying error；Simultaneously using opposite reference point, error caused by can changing to elevation is played well
Compensation.
Specifically, the localization method for the in-orbit self-correction based on optical image that this example provides includes the following steps, flow
Journey figure is as shown in Figure 1.
S1: being demarcated using relevant parameter of the ground control point information to geometry location model on star, will be calibrated
On relevant parameter on note to star.
The formula of geometry location model is as follows on star:
Wherein, m is proportionality coefficient, RbaisIt is bias matrix,It is the transformation of J2000 coordinate system to wgs84 coordinate system
Matrix,It is transformation matrix of the body coordinate system to j2000 coordinate system,It is camera coordinates system to body coordinate system
Transformation matrix,WithTo be directed toward angle；The relevant parameter of geometry location model is R on starbais,WithTo be directed toward angle.
S2: directly being positioned in conjunction with calibrated relevant parameter using geometry location model on star, and positioning is obtained
As a result as the relation control point of next frame data.
When step S1 is initially positioned, marked first with relevant parameter of the ground control point to geometry location model on star
It is fixed, on note to star, location Calculation will be carried out according to calibrated relevant parameter, by the positioning of calculating on calibrated relevant parameter
As a result as the relation control point of next frame data, as shown in Fig. 2, that is to say, merely with opposite in subsequent iterative calculation
Dominating pair of vertices relevant parameter is modified, and provides a kind of new localization method for that can not obtain the application environment of ground control point.
S3: self-correction is carried out to relevant parameter using relation control point.
True high-precision control point is replaced to carry out certainly the relevant parameter of geometry location model on star using relation control point
Amendment, wherein self-correction using the Roger's Reed bias matrix for being suitble to on-board processing and is directed toward angle model, phase using correction model
Selection principle to control point is as shown in figure 3, first control point is the scaling point on ground, the as correspondence picture that provides of calibration field
The longitude and latitude exact value of point, wherein control point 2 is by the result points after 1 positioning calculation of control point, and control point 2 can be used as control
The scaling point (relation control point) of system point 3, successively iterates to calculate in this way, completes positioning amendment.
Whether reasonable S4: judging self-correction result, if rationally, being updated using self-correction result to relevant parameter.
In this example, for that can be judged using corresponding dot pair self-correction reasonability, relation control as shown in Figure 3 can be used
Point selection principle is used as relation control point and test point using the same place of same row, utilizes positioning result twice before and after calibration
Multilevel iudge self-correction reasonability.
Wherein, judge the whether reasonable specific steps of self-correction result are as follows:
It regard current relation control point 1 and relation control point 2 (the relation control point 4 and 5 of previous frame) as check point, brings into
Geometry location model carries out location Calculation on star, obtains positioning result；
The error amount of positioning result before calculating positioning result and parameter update；
Whether error in judgement value restrains, and judges that self-correction result is reasonable if convergence, otherwise unreasonable, e.g., error amount is in
Reduced trend then judges that self-correction result is reasonable, and self-correction result is effective, if error amount judges in the trend increased
Self-correction result is unreasonable, and self-correction result is invalid.
If self-correction result is unreasonable, after being superimposed upon after error amount is negated on relation control point, again to relevant parameter
Carry out self-correction.Time-varying error can be eliminated based on this, achievees the purpose that improve positioning accuracy.
It is followed on the basis of the moment before the positioning at moment after by in-orbit self-correction using the specific rule of random error
Ring iterative achievees the purpose that extend the calibration period thus successive elimination time-varying error, thus realize have ground control point position to
Pillarless caving bit transitions provide a kind of new positioning means for that can not obtain the application environment of ground control point.
It further, is the timeliness for guaranteeing positioning, this example executes direct positioning operation and relevant parameter using two CSTR respectively
Self-correction operation, then interacts the result respectively obtained, as shown in Figure 4.
Specifically, two CSTR includes the first DSP and the 2nd DSP, wherein the first DSP directly carries out positioning operation, will calculate
To positioning result be sent to the 2nd DSP as relation control point, the 2nd DSP carries out relevant parameter according to relation control point and reviews one's lessons by oneself
Just, whether and to judge self-correction result reasonable, if rationally, self-correction result is sent to the first DSP, the first DSP is according to reviewing one's lessons by oneself
Positive result is updated relevant parameter.
Further, the first DSP and the 2nd DSP parallel processing, and data exchange is carried out by the way of breakpoint insertion, specifically
, the first DSP and the 2nd DSP are equipped with Interruption, and the first DSP and the 2nd DSP carry out data exchange at interruption.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (8)
1. a kind of localization method of the in-orbit self-correction based on optical image, which is characterized in that comprising steps of
It is demarcated using relevant parameter of the ground control point information to geometry location model on star, by calibrated relevant parameter
On upper note to star；
Directly positioned in conjunction with calibrated relevant parameter using geometry location model on star, using the obtained result of positioning as
The relation control point of next frame data；
Self-correction is carried out to relevant parameter using relation control point；
Whether reasonable self-correction result is judged, if rationally, being updated using self-correction result to relevant parameter.
2. localization method as described in claim 1, which is characterized in that described to judge the whether reasonable specific step of self-correction result
Suddenly are as follows:
It brings current relation control point on star geometry location model and carries out location Calculation, obtain positioning result；
The error amount of positioning result before calculating positioning result and relevant parameter update；
Whether error in judgement value restrains, and judges that self-correction result is reasonable if convergence, otherwise unreasonable.
3. localization method as claimed in claim 2, which is characterized in that if self-correction result is unreasonable, after error amount is negated
After being superimposed upon on relation control point, self-correction is carried out to relevant parameter again.
4. localization method as described in claim 1, which is characterized in that the formula of geometry location model on the star are as follows:
Wherein, m is proportionality coefficient, RbaisIt is bias matrix,It is transformation matrix of the J2000 coordinate system to wgs84 coordinate system,It is transformation matrix of the body coordinate system to j2000 coordinate system,It is transformation square of the camera coordinates system to body coordinate system
Battle array,WithTo be directed toward angle；The relevant parameter of geometry location model is R on starbais,WithTo be directed toward angle.
5. localization method as described in claim 1, which is characterized in that execute direct positioning operation and phase respectively using two CSTR
Close parameter self modification operation.
6. localization method as claimed in claim 5, which is characterized in that the two CSTR includes the first DSP and the 2nd DSP,
In, the first DSP directly carries out positioning operation, the 2nd DSP is sent to using the positioning result calculated as relation control point, second
DSP carries out relevant parameter self-correction according to relation control point, and whether judge self-correction structure reasonable, if rationally, by self-correction
As a result it is sent to the first DSP, the first DSP is updated relevant parameter according to self-correction result.
7. localization method as claimed in claim 6, which is characterized in that the first DSP and the 2nd DSP parallel processing, and adopt
Data exchange is carried out with the mode that breakpoint is inserted into.
8. localization method as claimed in claim 7, which is characterized in that the first DSP and the 2nd DSP is equipped in timing
Disconnected, the first DSP and the 2nd DSP carries out data exchange at interruption.
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