CN109959501A - A kind of optical sensor elements of interior orientation and distort test macro and method - Google Patents
A kind of optical sensor elements of interior orientation and distort test macro and method Download PDFInfo
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- CN109959501A CN109959501A CN201910252925.8A CN201910252925A CN109959501A CN 109959501 A CN109959501 A CN 109959501A CN 201910252925 A CN201910252925 A CN 201910252925A CN 109959501 A CN109959501 A CN 109959501A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M11/00—Testing of optical apparatus; Testing structures by optical methods not otherwise provided for
- G01M11/02—Testing optical properties
- G01M11/0242—Testing optical properties by measuring geometrical properties or aberrations
- G01M11/0257—Testing optical properties by measuring geometrical properties or aberrations by analyzing the image formed by the object to be tested
Abstract
A kind of optical sensor elements of interior orientation and distort test macro and method, comprising: parallel light tube, photoelectric auto-collimator, test platform, data processing system.Data processing system determines n group test data according to the field angle of optical sensor to be measured and the imaging position of the angular deviation and collimator tube reticle of parallel light tube optical axis tested according to photoelectric auto-collimator on optical sensor detector to be measured, determines the elements of interior orientation of optical sensor to be measured and the camera distortion of optical sensor to be measured.Test platform changes the position of parallel light tube according to test data, so that the angle between parallel light tube optical axis and optical sensor optical axis to be measured is equal to test rotation angle, while the center of parallel light tube object lens being made to be equal to test height corresponding with test rotation angle to the vertical range of optical sensor optical axis to be measured.The present invention solves the problems, such as that traditional elements of interior orientation test device is not suitable for the farther away long-focus of entrance pupil positional distance camera lens, big wide amplitude type optical sensor.
Description
Technical field
The present invention relates to a kind of optical sensor elements of interior orientation and distortion test macros and method, belong to optical sensor
Testing field.
Background technique
In order to make image information accurate description dimensional target point exact position, need to optical sensor carry out inner orientation
The high precision measurement of element precision calibration, elements of interior orientation can provide guarantee for the drawing of realization satellite, positioning accuracy.Current
Optical sensor elements of interior orientation is demarcated using precision angle method, and scaling method schematic illustration is as shown in Figure 3: N ' is quilt
Survey the posterior nodal point of camera object lens, O is image plane center, and P is image planes principle point location, p between image planes principal point P and image plane center O away from
From angle delta W is angle caused by principal point and image plane center deviation, and f is tested phase owner away from Si is measurement point, and Si ' is the survey
The theoretical position of point is measured, Di is Si and Si ' physical location difference.Li is distance of the Si away from image plane center O point, and Wi is measurement point reason
By position S 'iThe drift angle of corresponding image plane center O point.It controls precise rotating platform and changes an angle, control ground checkout equipment acquisition
Corresponding image obtains multiple measuring point angle Wi and corresponding pixel position Li, with the distortion minimum constraint of quadratic sum of all measuring points
Condition, so that it may be solved according to least-squares algorithm main away from elements of interior orientation such as f, principal point P.
Existing mapping camera is all made of linear array detector, currently, to meet the growing high spatial of China's civil field
The demand of resolution ratio and high time resolution remote sensing image data, while meeting and having monitoring energy to specific objective and hot spot region
The demand of power, developing the big Wide area optical remote sensor systems of high-resolution becomes a kind of urgent need.Big Wide area optical remote sensor meaning
Taste linear array focal plane it is long, 2~3 times of at least original small CCD splicing focal plane, and be applied to the remote sensing of civilian survey field
Device elements of interior orientation measuring accuracy want it is high (such as tested according to focal plane linear array length direction every 2~3mm, mono- measuring point,
And carry out multiplicating test).
High-precision inner orientation member is carried out using traditional precision angle method equipment to the optical sensor of long-focus, big wide cut
There are three aspects in element test:
(1) test equipment scale requirements are too big, are unable to satisfy
The prior art generally uses precision angle method to complete the test of elements of interior orientation, and when test needs tested camera opposite
Multiple fixed angles are rotated in parallel light tube, so that the target of parallel light tube is imaged on the different location of tested camera focal plane, passes through
The displacement of target picture can calculate the elements of interior orientation of tested camera in rotation angle value and focal plane.It is needed in test process
Guarantee in any point position, tested camera entrance pupil can be completely covered in parallel light tube bore.Such as patent of invention CN
Described in 102494698 B, generally guarantee by way of at the shaft that tested camera entrance pupil is placed on dimensional turntable.High score
The focal length of resolution remote sensor is long, and entrance pupil position is in the farther position in camera lens rear, and according to existing test method, needing will be distant
Sensor entrance pupil position is placed on the spindle central of high-precision two-dimensional turntable, then the high-precision two-dimensional turntable for needing size very big is realized
Tested camera is rotated around entrance pupil, and requires parallel light tube caliber size very big.This proposes scale to elements of interior orientation test equipment
Very big requirement, current test equipment are all unable to satisfy.
(2) test is non-autonomous linkage pattern
Using existing test method, measure operator to test equipment to manually adjust the time longer, for long-focus,
For the elements of interior orientation test of big wide cut remote sensor, the testing time is long, and testing efficiency is lower.Such as linear array 600mm's
For big focal plane, as soon as being tested according to linear array length direction every 2mm point, a wheel test needs to test 300 points, often
A testing time is that (testing time included mobile parallel light tube system, parallel light tube system stable time and image in 2 minutes
Acquisition time), then single-wheel test just needs to test 600 minutes.And it needs to carry out multiplicating test, this is big to breadth
Remote sensor calibration tape carrys out feasibility problems；
(3) the test data processing time is long, and test result is not in time
Conventional test methodologies need to carry out after test after the data processings such as great amount of images data, rotation angle value
Can just obtain test result, time-consuming at 1-2 days or so, therefore can not the validity to each test data determined in time,
Also total testing time can not be determined according to index request.
Summary of the invention
Technology of the invention solves the problems, such as: having overcome the deficiencies of the prior art and provide a kind of optical sensor inner orientation
Element and distortion test macro and method, solve huge existing test equipment scale demand, testing time long low efficiency and survey
Test result not in time the problem of.
The technical scheme is that
A kind of optical sensor elements of interior orientation and the test macro that distorts, comprising: parallel light tube, photoelectric auto-collimator, survey
Try platform, data processing system；
Parallel light tube: for generating the source of parallel light for injecting optical sensor to be measured；
Photoelectric auto-collimator: for testing the angular deviation of the parallel light tube optical axis；
Data processing system: n group test data is determined according to the field angle of optical sensor to be measured, n is positive integer；Every group
Test data includes test rotation angle and test height；The corresponding collimator tube reticle of every group of test data is obtained in light to be measured
Learn the imaging position on remote sensor detector；The angle for the parallel light tube optical axis tested according to the photoelectric auto-collimator is inclined
The imaging position of shifting amount and the collimator tube reticle on optical sensor detector to be measured, determines optical remote sensing to be measured
The camera distortion of the elements of interior orientation of device and optical sensor to be measured；
The parallel light tube and optical sensor to be measured are placed on the test platform；
Test platform: changing the position of the parallel light tube according to the n group test data that the data processing system determines,
So that the angle between the optical axis of the parallel light tube and the optical axis of optical sensor to be measured is equal to test rotation angle, while making parallel
It is high that the vertical range of the center of light pipe object lens to optical sensor optical axis to be measured is equal to test corresponding with the test rotation angle
Degree.
Each test height that the data processing system determines is correspondingA test rotation angle, n and m are positive whole
Number, and m < n.
A method of optical sensor elements of interior orientation is carried out using above-mentioned test macro and distortion is tested, including step
It is rapid as follows:
1) n group test data is determined according to the field angle of optical sensor to be measured；
2) test data determined according to step 1) adjusts test macro, obtains the corresponding directional light of every group of test data
Imaging position xf of the pipe graticle on optical sensor detector to be measuredi,yfiAnd the corresponding directional light of each test data
The angular deviation of pipe；
3) according to the imaging position of step 2) acquisition and the angular deviation, the migration imagery factor is determined；
4) according to the migration imagery factor, attitude error is determined；Determine whether attitude error meets attitude error criterion,
Entered step if meeting attitude error criterion 5), if be unsatisfactory for migration imagery described in attitude error criterion iterative processing because
Son, until according to the migration imagery factor obtained after iterative processingDetermining attitude error meets posture mistake
5) poor criterion enters step；
5) master is determined according to the attitude error for the meeting attitude error criterion migration imagery factor corresponding with the attitude error
Away from correction amount；
6) it is main away from criterion to determine whether the master meets away from correction amount, is entered step 7) if meeting master away from criterion, if not
Meet master and is entered step 7) away from correction amount until main meet master away from criterion away from correction amount away from the master determined described in criterion then iteration；
7) master determined according to step 6) determines elements of interior orientation and the distortion of optical sensor to be measured away from correction amount.
The method that the step 1) determines n group test data according to the field angle of optical sensor to be measured, it is characterised in that:
Every group of test data includes test rotation angle uiWith test height h corresponding with the test rotation anglek, specifically:
Wherein, hkIt is correspondingA ui,α is the field angle of optical sensor to be measured, R ∈
[100″,500″]；K=1,2 ..., m, m be positive integer and m < n, value range be 3-5, R be the parallel light tube emergent pupil
To the distance of optical sensor entrance pupil to be measured, uDsIt isA test rotation angle, uUsIt isA test rotation
Corner, h0For test initial time described between parallel light tube focus and the optical sensor focus to be measured in the vertical direction
Difference in height.
The test data that the step 2) is determined according to step 1), the method for adjusting test macro, it is characterised in that: adjustment
The position of parallel light tube makes the angle between the optical axis of the parallel light tube and the optical axis of optical sensor to be measured be equal to test rotation
Corner, while be equal to the center of parallel light tube object lens to the vertical range of optical sensor optical axis to be measured and being rotated with the test
The corresponding test height in angle.
The migration imagery factor described in the step 4) iterative processingAnd determine attitude error (bxt,
byt,bzt) method, specifically:
As t=0,
Wherein, qxiFor with uiAngular deviation of the corresponding parallel light tube in vertical plane, qyiFor with uiIt is corresponding parallel
The angular deviation of light pipe in the horizontal plane；xfi,yfiFor with uiCorresponding collimator tube reticle is visited in optical sensor to be measured
The imaging position on device is surveyed, psi is the inclined rink corner of optical sensor to be measured；F is the focus design value of optical sensor to be measured.
The method for determining attitude error and whether meeting attitude error criterion, specifically:
If bxt、byt、bztRespectively less than or equal to 0.01 ", then determine that attitude error meets attitude error criterion；Conversely, then
Determine that attitude error is unsatisfactory for attitude error criterion.
The iteration updates main away from correction amount ddfepMethod, specifically:
dx0i p=xxfi p-xfi-tan(bxt)·yfi, dy0i p=yyfi p-(yfi-dyfp),
fep=fep-1+ddfep-1, dyfp=dyfp-1+ddyfp-1,
Wherein, p is the positive integer being not zero, ddyfpFor main point value correction amount, as p=1,dyf0
=0, ddyf0=0.
Whether the judgement is main meets the main method away from criterion away from correction amount, specifically:
If main be less than or equal to 0.001 away from correction amount, determine main main away from criterion away from correction amount satisfaction；Conversely, then determining
It is main to be unsatisfactory for master away from criterion away from correction amount.
The elements of interior orientation and distortion (dx0 of the determination optical sensor to be measuredi,dy0i) method, specifically:
The elements of interior orientation includes: the master of optical sensor to be measured away from fepWith the principal point value of optical sensor to be measured
dyfp；
fep=fep-1+ddfep-1, dyfp=dyfp-1+ddyfp-1,
dx0i=xxfi p-xfi-tan(bxt)·yfi, dy0i=yyfi p-(yfi-dyfp)。
Compared with the prior art, the invention has the advantages that:
1) test macro of the invention is simple, and test method calculates parallel light tube boresight direction vector using space vector,
The angular error on three-dimensional, the elements of interior orientation of applicable surface battle array mapping camera and the test of distortion can be eliminated.
2) Scan Specialty camera demanding for imaging precision, the method for the present invention is by determining 1 appearance of optical sensor to be measured
State error improves the calculation accuracy of elements of interior orientation and distortion.
3) present invention realizes parallel light tube optical axis relative in tested camera entrance pupil by translation vertically, rotating parallel light pipe
Tested phase can be completely covered in any point position parallel light tube bore when realizing elements of interior orientation test in the rotation of the heart
Machine Entry pupil diameters；When solving between entrance pupil position and camera lens distance farther out, parallel light tube bore is difficult to all standing and is tested camera enter
The problem of pupil diameter, while having commonly used prospect in the test of different types of remote sensor inner orientation.
Detailed description of the invention
Fig. 1 is test method flow chart of the present invention；
Fig. 2 is test macro schematic diagram of the present invention；
Fig. 3 is elements of interior orientation test philosophy schematic diagram.
Specific embodiment
A kind of optical sensor elements of interior orientation of the present invention and distortion test macro are as shown in Fig. 2, comprising: test platform
2, parallel light tube 3, rotating mechanism, sliding block 4, guide rail 5, kinematic mount 6, fixed pulley 7, clump weight 8, plane mirror 9, the first light
Electric autocollimator 101, the second photoelectric auto-collimator 102, data processing system 11.It is flat that optical sensor 11 to be measured is placed in test
On platform 2, it is vertical with the earth that its line array CCD direction is adjusted by optical instrument.Parallel light tube 3 is the directional light for simulating infinity,
Graticle at focal surface of collimator tube is projected on tested camera focal plane.Parallel light tube 3 passes through fixed pulley 7 and 8 phase of clump weight
Even, it realizes the weight balancing of parallel light tube system, generates the source of parallel light for injecting optical sensor 1 to be measured.
Rotating mechanism includes its rotate driving, and rotation angle sensor, rotating device is for turning to rule for parallel light tube
Determine angle.Angular transducer uses the angle encoder RON905 of HEIDENHAIN company, and measurement error is not more than ± 0.4 ".For
This uses the electric driver for having retarder and feedback transducer.The rotation of rotating device is by correspondingly rotating drive control device
Control, rotate driving controller is connected into elements of interior orientation test console by RS-232 interface, and exchanges and refer to test software
Order and data.Rotation angle reading initial point is determined using disjunction mark signal existing in rotation angle sensor.To avoid driving from moving
Dynamic to exceed working range, installing terminal switch, these switch controls go to range in rotating device, prevent in rotating mechanism operation
Generation accident.
4 guide rail 5 of sliding block is for moving parallel light pipe 3 in the vertical direction.Using built in a band stepper motor and one
Driving of the movable sensor system as vertical shift.The control of motor and the reading of movable sensor metrical information are to pass through phase
What the vertical shift drive control device answered was realized.Vertical shift drive control device is connected to elements of interior orientation test by USB interface
Console, and with test software exchange instruction and data.Vertical shift device is equipped with terminal switch, these switch controls are mobile
Range prevents that accident occurs in the operation of vertical shift mechanism.
Fixed pulley 7 and the effect of clump weight 8 are to balance the overall weight being made of parallel light tube, vertical shift, rotating mechanism,
Such construction weight balanced design can reduce the load of 4 guide rail 5 of sliding block driving, reduce the deformation of vertical shift guide rail.
Plane mirror 9 is used cooperatively with the first photoelectric auto-collimator 101 and the second photoelectric auto-collimator 102, for surveying
Try the angular deviation of 3 optical axis of parallel light tube.Plane mirror 9 is fixed on the side of kinematic mount 6, certainly with the first photoelectricity
Collimator 101, the combination of the second photoelectric auto-collimator 102, angular deviation of the output parallel light tube 3 in rotation, translation motion；
First photoelectric auto-collimator 101 and the second photoelectric auto-collimator 102 are formed by upper and lower two, can be different high in parallel light tube 3
It, can output angle amendment data when spending；
Data processing system 11 determines n group test data according to the field angle of optical sensor 1 to be measured, and n is positive integer；Often
Group test data includes test rotation angle and test height；Obtain corresponding 3 graticle of parallel light tube of every group of test data to
Imaging position on 1 detector of photometry remote sensor；3 optical axis of parallel light tube tested according to the photoelectric auto-collimator
The imaging position of angular deviation and 3 graticle of the parallel light tube on 1 detector of optical sensor to be measured, determines to be measured
The camera distortion of the elements of interior orientation of optical sensor 1 and optical sensor to be measured 1.Data processing system 11 and distant to photometry
Sensor 1 carries out 1553B or CAN bus communication, exports control instruction, input telemetered signal etc..
A method of optical sensor elements of interior orientation is carried out using above-mentioned test macro and distortion is tested, method flow
As shown in Figure 1, comprising the following steps that
1) data processing system 11 determines n group test data according to the field angle of optical sensor 1 to be measured, and n is positive integer；
Every group of test data includes test rotation angle uiWith test height h corresponding with the test rotation anglek, specifically:
Wherein, describedA uiToA uiAnd hkIt is corresponding, i.e. hkIt is correspondingA ui,α is the field angle of optical sensor 1 to be measured, R ∈ [100 ", 500 "]；K=1,2 ..., m, m
Value range be 3-5, R be distance of 3 emergent pupil of parallel light tube to 1 entrance pupil of optical sensor to be measured, uDsIt isA test rotation angle, uUsIt isA test rotation angle, h0For parallel light tube 3 described in test initial time
Difference in height between focus and 1 focus of optical sensor to be measured in the vertical direction；M is positive integer and m < n.
2) test data determined according to step 1) adjusts the parallel light tube 3 of test macro, executes n group test data
Measurement operation, adjust parallel light tube 3 position, make the parallel light tube 3 optical axis and optical sensor 11 to be measured optical axis it
Between angle be equal to test rotation angle, while making the center of 3 object lens of parallel light tube to the vertical of 11 optical axis of optical sensor to be measured
Distance is equal to test height corresponding with the test rotation angle.Optical sensor 1 to be measured enters imaging pattern, to photometry
1 image planes of remote sensor form a series of laser image spots from 3 graticle of parallel light tube, obtain the corresponding directional light of every group of test data
Imaging position xf of 3 graticle of pipe on 1 detector of optical sensor to be measuredi,yfiAnd each test data is corresponding parallel
The angular deviation of light pipe 3；
3) attitude error for meeting attitude error criterion is determined
31) according to the imaging position of step 2) acquisition and the angular deviation, initially distant to photometry is determined
The attitude error bx of sensor 10、by0、bz0；It is specific as follows:
Wherein, qxiFor with uiAngular deviation of the corresponding parallel light tube 3 in vertical plane, qyiFor with uiIt is corresponding flat
The angular deviation of row light pipe 3 in the horizontal plane；xfi,yfiFor with uiCorresponding 3 graticle of parallel light tube is in optical remote sensing to be measured
Imaging position on 1 detector of device, psi are the inclined rink corner of optical sensor 1 to be measured；Optical sensor 1 to be measured at image focus
As principal point value, dyf=0, dyf are the initial principal point of optical sensor 1 to be measured for imaging picture dot position on the detector
Value；F is the focus design value of optical sensor 1 to be measured, and ddfe=0, ddfe are the initial master of optical sensor 1 to be measured away from amendment
Amount.
32) judgment step 31) determine bx0、by0、bz0Whether it is respectively less than or equal to 0.01 ", if being respectively less than or being equal to
0.01 " it then enters step 4), is entered step 33) if other situations；
33) iteration updates the initial attitude error, until the attitude error that iteration updates is respectively less than or is equal to
0.01 ", then enter step 4)；Iteration updates the method for obtaining the attitude error in t generation, specific as follows:
4) it according to the attitude error for the meeting attitude error criterion migration imagery factor corresponding with the attitude error, determines just
The camera distortion dx0 of beginningiAnd dy0i；
dx0i=xxfi-xfi-tan(bxt)·yfi, dy0i=yyfi-(yfi- dyf),
Wherein,For the migration imagery factor determined according to the attitude error for meeting attitude error criterion.
5) initial camera distortion dx0 is determined according to step 4)iAnd dy0i, determine initial master away from correction amount ddfe0With it is first
The principal point coordinate modification amount ddyf of beginning0, it is specific as follows:
Wherein,For the migration imagery factor determined according to the attitude error for meeting attitude error criterion.
6) determine the step 5) determine it is main away from correction amount whether meet it is main whether be less than away from criterion i.e. master away from correction amount or
Equal to 0.001, if meet it is main away from criterion, i.e., it is main to be less than or equal to 0.001 away from correction amount and enter step 7), if being unsatisfactory for leading
Away from master p time away from correction amount determined described in criterion then iteration, until the master of iteration pth time meets master away from criterion away from correction amount, into
Enter step 7)；Alternative manner, specific as follows:
dx0i p=xxfi p-xfi-tan(bxt)·yfi, dy0i p=yyfi p-(yfi-dyfp),
fep=fep-1+ddfep-1, dyfp=dyfp-1+ddyfp-1,
Wherein, p is the positive integer being not zero, ddyfpFor main point value correction amount, as p=1,
ddfe0=0, dyf0=0, ddyf0=0,For what is determined according to the attitude error for meeting attitude error criterion
The migration imagery factor.
7) master determined according to step 6) determines elements of interior orientation and the distortion of optical sensor 1 to be measured away from correction amount, has
Body are as follows: the elements of interior orientation includes: the master of optical sensor 1 to be measured away from fepWith the principal point value dyf of optical sensor 1 to be measuredp；
fep=fep-1+ddfep-1, dyfp=dyfp-1+ddyfp-1,
dx0i=xxfi p-xfi-tan(bxt)·yfi, dy0i=yyfi p-(yfi-dyfp),
Wherein, fepAnd dyfpWith the main master away from criterion of satisfaction away from correction amount ddfepIt is corresponding.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (10)
1. a kind of optical sensor elements of interior orientation and distortion test macro characterized by comprising parallel light tube (3), photoelectricity
Autocollimator, test platform (2), data processing system (11)；
Parallel light tube (3): for generating the source of parallel light for injecting optical sensor (1) to be measured；
Photoelectric auto-collimator: for testing the angular deviation of the parallel light tube (3) optical axis；
Data processing system (11): n group test data is determined according to the field angle of optical sensor to be measured (1), n is positive integer；
Every group of test data includes test rotation angle and test height；Obtain corresponding parallel light tube (3) graticle of every group of test data
Imaging position on optical sensor to be measured (1) detector；The parallel light tube tested according to the photoelectric auto-collimator
(3) imaging of the angular deviation of optical axis and the parallel light tube (3) graticle on optical sensor to be measured (1) detector
Position determines the elements of interior orientation of optical sensor to be measured (1) and the camera distortion of optical sensor to be measured (1)；
The parallel light tube (3) and optical sensor to be measured (1) are placed on the test platform (2)；
Test platform (2): the parallel light tube (3) is changed according to the n group test data that the data processing system (11) determine
Position, so that angle between the optical axis of the parallel light tube (3) and the optical axis of optical sensor to be measured (1) is equal to test rotation
Angle, while it is equal to the center of parallel light tube (3) object lens and the test to the vertical range of optical sensor to be measured (1) optical axis
The corresponding test height of rotation angle.
2. a kind of optical sensor elements of interior orientation according to claim 1 and distortion test macro, which is characterized in that institute
It is corresponding to state each test height that data processing system (11) determineA test rotation angle, n and m are positive integer, and m
< n.
3. a kind of side for carrying out optical sensor elements of interior orientation and distortion test using test macro as claimed in claim 2
Method, which is characterized in that comprise the following steps that
1) n group test data is determined according to the field angle of optical sensor to be measured (1)；
2) test data determined according to step 1) adjusts test macro, obtains the corresponding parallel light tube (3) of every group of test data
Imaging position xf of the graticle on optical sensor to be measured (1) detectori,yfiAnd the corresponding directional light of each test data
Manage the angular deviation of (3)；
3) according to the imaging position of step 2) acquisition and the angular deviation, the migration imagery factor is determined；
4) according to the migration imagery factor, attitude error is determined；Determine whether attitude error meets attitude error criterion, if full
5) sufficient attitude error criterion then enters step, the migration imagery factor described in iterative processing if being unsatisfactory for attitude error criterion, directly
To according to the migration imagery factor obtained after iterative processingDetermining attitude error meets attitude error criterion
It enters step 5)；
5) it is determined according to corresponding with the attitude error migration imagery factor of the attitude error for meeting attitude error criterion main away from repairing
Positive quantity；
6) it is main away from criterion to determine whether the master meets away from correction amount, is entered step 7) if meeting master away from criterion, if being unsatisfactory for
It is main to be entered step 7) away from correction amount until master is main away from criterion away from correction amount satisfaction away from the master determined described in criterion then iteration；
7) master determined according to step 6) determines elements of interior orientation and the distortion of optical sensor to be measured (1) away from correction amount.
4. a kind of optical sensor elements of interior orientation according to claim 3 and distortion test method, which is characterized in that institute
State the method that step 1) determines n group test data according to the field angle of optical sensor to be measured (1), it is characterised in that: described every
Group test data includes test rotation angle uiWith test height h corresponding with the test rotation anglek, specifically:
Wherein, hkIt is correspondingA ui,α is the field angle of optical sensor to be measured (1), R ∈
[100″,500″]；K=1,2 ..., m, m be positive integer and m < n, value range be 3-5, R be the parallel light tube (3) out
Distance of the pupil to optical sensor to be measured (1) entrance pupil, uDsIt isA test rotation angle, uUsIt isA survey
Try rotation angle, h0For test initial time described between parallel light tube (3) focus and the optical sensor to be measured (1) focus
Difference in height on vertical direction.
5. a kind of optical sensor elements of interior orientation according to claim 4 and distortion test method, which is characterized in that institute
State the test data that step 2) is determined according to step 1), the method for adjusting test macro, it is characterised in that: adjustment parallel light tube
(3) position makes the angle between the optical axis of the parallel light tube (3) and the optical axis of optical sensor to be measured (1) be equal to test
Rotation angle, at the same make the center of parallel light tube (3) object lens to optical sensor to be measured (1) optical axis vertical range be equal to it is described
Test the corresponding test height of rotation angle.
6. a kind of optical sensor elements of interior orientation and the test method that distorts, feature according to one of claim 3 or 5
It is, the migration imagery factor described in the step 4) iterative processingAnd determine attitude error (bxt,byt,
bzt) method, specifically:
As t=0,
Wherein, qxiFor with uiAngular deviation of the corresponding parallel light tube (3) in vertical plane, qyiFor with uiCorresponding directional light
Manage the angular deviation of (3) in the horizontal plane；xfi,yfiFor with uiCorresponding parallel light tube (3) graticle is in optical remote sensing to be measured
Imaging position on device (1) detector, psi are the inclined rink corner of optical sensor to be measured (1)；F is optical sensor to be measured (1)
Focus design value.
7. a kind of optical sensor elements of interior orientation according to claim 6 and distortion test method, which is characterized in that institute
The method for determining whether attitude error meets attitude error criterion is stated, specifically:
If bxt、byt、bztRespectively less than or equal to 0.01 ", then determine that attitude error meets attitude error criterion；Conversely, then determining
Attitude error is unsatisfactory for attitude error criterion.
8. a kind of optical sensor elements of interior orientation according to claim 7 and distortion test method, which is characterized in that institute
It states iteration and updates master away from correction amount ddfepMethod, specifically:
dx0i p=xxfi p-xfi-tan(bxt)·yfi, dy0i p=yyfi p-(yfi-dyfp),
fep=fep-1+ddfep-1, dyfp=dyfp-1+ddyfp-1,
Wherein, p is the positive integer being not zero, ddyfpFor main point value correction amount, as p=1,dyf0=0,
ddyf0=0.
9. a kind of optical sensor elements of interior orientation according to claim 8 and distortion test method, which is characterized in that institute
State whether judgement is main meets the main method away from criterion away from correction amount, specifically:
If main be less than or equal to 0.001 away from correction amount, determine main main away from criterion away from correction amount satisfaction；Conversely, then determine it is main away from
Correction amount is unsatisfactory for main away from criterion.
10. a kind of optical sensor elements of interior orientation according to claim 9 and distortion test method, which is characterized in that
The elements of interior orientation and distortion (dx0 of the determination optical sensor to be measured (1)i,dy0i) method, specifically:
The elements of interior orientation includes: the master of optical sensor to be measured (1) away from fepWith the principal point value of optical sensor to be measured (1)
dyfp；
fep=fep-1+ddfep-1, dyfp=dyfp-1+ddyfp-1,
dx0i=xxfi p-xfi-tan(bxt)·yfi, dy0i=yyfi p-(yfi-dyfp)。
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