CN109959501B - System and method for testing internal orientation elements and distortion of optical remote sensor - Google Patents
System and method for testing internal orientation elements and distortion of optical remote sensor Download PDFInfo
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- CN109959501B CN109959501B CN201910252925.8A CN201910252925A CN109959501B CN 109959501 B CN109959501 B CN 109959501B CN 201910252925 A CN201910252925 A CN 201910252925A CN 109959501 B CN109959501 B CN 109959501B
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Abstract
An optical remote sensor internal orientation element and distortion testing system and method comprises the following steps: the device comprises a collimator, a photoelectric autocollimator, a test platform and a data processing system. The data processing system determines n groups of test data according to the field angle of the optical remote sensor to be tested, and determines the internal orientation element of the optical remote sensor to be tested and the camera distortion of the optical remote sensor to be tested according to the angle offset of the optical axis of the collimator obtained by the test of the photoelectric autocollimator and the imaging position of the reticle of the collimator on the detector of the optical remote sensor to be tested. And the test platform changes the position of the collimator according to the test data, so that the included angle between the optical axis of the collimator and the optical axis of the optical remote sensor to be tested is equal to the test rotation angle, and meanwhile, the vertical distance from the center of the objective lens of the collimator to the optical axis of the optical remote sensor to be tested is equal to the test height corresponding to the test rotation angle. The invention solves the problem that the traditional inner orientation element testing device is not suitable for a long-focus and large-width optical remote sensor with the entrance pupil far away from the lens.
Description
Technical Field
The invention relates to a system and a method for testing internal orientation elements and distortion of an optical remote sensor, and belongs to the field of testing of optical remote sensors.
Background
In order to enable the information of the image to accurately describe the accurate position of the space object point, the precise calibration of the internal orientation element needs to be carried out on the optical remote sensor, and the high-precision test of the internal orientation element can provide guarantee for realizing the drawing and positioning precision of the satellite. Current internal orientation element of optical remote sensorThe calibration is carried out by adopting a precise angle measurement method, and the schematic diagram of the principle of the calibration method is shown in figure 3: n ' is the rear node of the measured camera objective, O is the image plane center, P is the position of the image plane principal point, P is the distance between the image plane principal point P and the image plane center O, the angle delta W is the angle caused by the deviation of the principal point and the image plane center, f is the principal distance of the measured camera, Si is the measuring point, Si ' is the theoretical position of the measuring point, and Di is the difference value between the actual positions of Si and Si '. Li is the distance from Si to the O point at the center of the image plane, Wi is the theoretical position S 'of the measuring point'iAnd the deflection angle of the point O corresponding to the center of the image plane. And controlling the precision turntable to change an angle, controlling the ground detection equipment to acquire a corresponding image, acquiring a plurality of measuring point angles Wi and corresponding pixel positions Li, and solving inner orientation elements such as a principal distance f and a principal point P according to a least square algorithm by taking the minimum distortion square sum of all measuring points as a constraint condition.
The existing surveying and mapping cameras all adopt linear array detectors, and at present, in order to meet the increasing requirements of high-spatial resolution and high-temporal resolution remote sensing image data in the civil field of China and the requirement of having monitoring capability on specific targets and hot spot areas, the development of a high-resolution large-width optical remote sensor system becomes an urgent need. The large-width optical remote sensor means that the focal plane of the linear array is at least 2-3 times as long as that of the original small CCD spliced focal plane, and the test precision of the internal orientation elements of the remote sensor applied to the civil mapping field is high (for example, the test is carried out at intervals of 2-3 mm according to the length direction of the linear array of the focal plane, and repeated tests are carried out for many times).
The optical remote sensor with long focal length and large width utilizes the traditional precise angle measurement method equipment to carry out high-precision internal orientation element test, and has the problems of three aspects:
(1) the scale requirement of the test equipment is too large to meet
In the prior art, a precise angle measurement method is generally adopted to test internal orientation elements, a tested camera needs to rotate by a plurality of fixed angles relative to a collimator tube during testing, targets of the collimator tube are imaged at different positions of a focal plane of the tested camera, and the internal orientation elements of the tested camera can be calculated through the rotation angle values and the displacement of the target images on the focal plane. In the testing process, when any measuring point position needs to be ensured, the aperture of the collimator can completely cover the entrance pupil of the tested camera. As described in patent CN 102494698B, this is generally ensured by placing the entrance pupil of the measured camera at the rotation axis of the two-dimensional turntable. The high-resolution remote sensor has a long focal length, and the entrance pupil position of the high-resolution remote sensor is farther behind the lens. This places a large demand on internal orientation element test equipment, which cannot be met by current test equipment.
(2) The test is in a non-autonomous linkage mode
By adopting the existing testing method, the manual adjustment time of a measurement operator on the testing equipment is longer, and for the internal orientation element test of a long-focus and large-width remote sensor, the testing time is long and the testing efficiency is lower. For example, for a large focal plane with a linear array of 600mm, the test is performed at every 2mm point in the length direction of the linear array, 300 points are required to be tested in one test, and the test time of each point is 2 minutes (the test time includes collimator system movement, collimator system stabilization time and image acquisition time), so that 600 minutes are required to be tested in a single test. Repeated tests are required for many times, which brings feasibility problem to the remote sensor test with large width;
(3) the processing time of the test data is long, and the test result is not timely
The traditional test method needs to process a large amount of image data, rotation angle values and other data after the test is finished, so that the test result can be obtained, the time consumption is about 1-2 days, the validity of the test data at each time cannot be judged in time, and the total test times cannot be determined according to index requirements.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the system and the method for testing the internal orientation elements and distortion of the optical remote sensor overcome the defects of the prior art, and solve the problems of large scale requirement, long testing time, low efficiency and untimely testing result of the conventional testing equipment.
The technical scheme of the invention is as follows:
an optical remote sensor internal orientation element and distortion testing system, comprising: the device comprises a collimator, a photoelectric autocollimator, a test platform and a data processing system;
a collimator: the parallel light source is used for generating parallel light which is emitted into the optical remote sensor to be measured;
photoelectric autocollimator: the device is used for testing the angle offset of the optical axis of the collimator;
a data processing system: determining n groups of test data according to the field angle of the optical remote sensor to be tested, wherein n is a positive integer; each set of test data comprises a test rotation angle and a test height; acquiring the imaging position of the collimator reticle corresponding to each group of test data on the optical remote sensor detector to be tested; determining an internal orientation element of the optical remote sensor to be tested and camera distortion of the optical remote sensor to be tested according to the angle offset of the optical axis of the collimator tube obtained by the test of the photoelectric autocollimator and the imaging position of the collimator tube reticle on the detector of the optical remote sensor to be tested;
the collimator and the optical remote sensor to be tested are placed on the test platform;
a test platform: and changing the position of the collimator according to n groups of test data determined by the data processing system, so that the included angle between the optical axis of the collimator and the optical axis of the optical remote sensor to be tested is equal to the test rotation angle, and meanwhile, the vertical distance from the center of the collimator objective to the optical axis of the optical remote sensor to be tested is equal to the test height corresponding to the test rotation angle.
Each test height determined by the data processing system corresponds to
And testing rotation angles, wherein n and m are positive integers, and m is less than n.
A method for testing the orientation element and distortion in the optical remote sensor by using the testing system comprises the following steps:
1) determining n groups of test data according to the field angle of the optical remote sensor to be tested;
2) adjusting the test system according to the test data determined in the step 1) to obtain the imaging position xf of the collimator reticle corresponding to each group of test data on the optical remote sensor detector to be testedi,yfiAnd the angle offset of the collimator corresponding to each test datum;
3) determining an imaging offset factor according to the imaging position and the angle offset obtained in the step 2);
4) determining an attitude error according to the imaging offset factor; judging whether the attitude error meets the attitude error criterion, if so, entering the step 5), and if not, iteratively processing the imaging offset factor until the imaging offset factor is obtained according to the iterative processing
The determined attitude error meets the attitude error criterion and enters the step 5);
5) determining a principal distance correction according to the attitude error meeting the attitude error criterion and the imaging offset factor corresponding to the attitude error;
6) judging whether the main pitch correction quantity meets a main pitch criterion, if so, entering a step 7), if not, iterating the determined main pitch correction quantity until the main pitch correction quantity meets the main pitch criterion, and entering the step 7);
7) and determining the internal orientation element and distortion of the optical remote sensor to be measured according to the main distance correction determined in the step 6).
The step 1) is a method for determining n groups of test data according to the field angle of the optical remote sensor to be tested, and is characterized in that: each set of test data comprises a test rotation angle uiAnd a test height h corresponding to the test rotation anglekThe method specifically comprises the following steps:
wherein h iskCorrespond to
Alpha is the angle of view of the optical remote sensor to be measured, and R belongs to [100 ', 500')](ii) a k is 1,2, wherein m is a positive integer, m is less than n, the value range is 3-5, R is the distance from the exit pupil of the collimator to the entrance pupil of the optical remote sensor to be measured, and u isDsIs as follows
A test rotation angle uUsIs as follows
A test rotation angle, h0The height difference between the focal point of the collimator and the focal point of the optical remote sensor to be tested in the vertical direction at the initial testing moment.
The step 2) is a method for adjusting the test system according to the test data determined in the step 1), and is characterized in that: and adjusting the position of the collimator to enable an included angle between the optical axis of the collimator and the optical axis of the optical remote sensor to be tested to be equal to a test rotation angle, and enabling the vertical distance from the center of the collimator objective lens to the optical axis of the optical remote sensor to be tested to be equal to a test height corresponding to the test rotation angle.
The step 4) iteratively processes the imaging offset factor
And determining the attitude error (bx)t,byt,bzt) The method specifically comprises the following steps:
when t is equal to 0, the first step is,
wherein, qxiIs and uiAngular offset of the corresponding collimator in the vertical plane, qyiIs and uiThe angle offset of the corresponding collimator in the horizontal plane; xfi,yfiIs and uiImaging positions of the corresponding collimator reticle on the detector of the optical remote sensor to be detected, wherein psi is the deflection angle of the optical remote sensor to be detected; f is the focal length design value of the optical remote sensor to be measured.
The method for judging whether the attitude error meets the attitude error criterion specifically comprises the following steps:
if bxt、byt、bztAll are less than or equal to 0.01', judging that the attitude error meets the attitude error criterion; otherwise, judging that the attitude error does not meet the attitude error criterion.
The iterative update main distance correction ddfepThe method specifically comprises the following steps:
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 a positive integer not zero, ddyfpWhen p is 1, the correction amount of the main point value is obtained,
dyf0＝0，ddyf0＝0。
the method for judging whether the main distance correction quantity meets the main distance criterion specifically comprises the following steps:
if the main distance correction amount is less than or equal to 0.001, judging that the main distance correction amount meets the main distance criterion; otherwise, the main distance correction quantity is judged not to meet the main distance criterion.
Determining internal orientation elements and distortion (dx 0) of the optical remote sensor under testi,dy0i) The method specifically comprises the following steps:
the inside orientation element includes: main distance fe of optical remote sensor to be measuredpAnd the principal point value dyf of the optical remote sensor 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)。
Compared with the prior art, the invention has the beneficial effects that:
1) the testing system is simple, the testing method adopts the space vector to calculate the vector of the collimator in the visual axis direction, can eliminate the angle error in the three-dimensional direction, and is suitable for testing the internal orientation element and the distortion of the area array mapping camera.
2) For a surveying and mapping camera with high imaging precision requirement, the method improves the resolving precision of internal orientation elements and distortion by determining the attitude error of the optical remote sensor 1 to be detected.
3) The invention realizes the rotation of the collimator optical axis relative to the center of the measured camera entrance pupil through vertical translation and rotation of the collimator, and realizes that the collimator aperture can completely cover the diameter of the measured camera entrance pupil at any measuring point position when an internal orientation element is tested; the problem that the aperture of the collimator is difficult to fully cover the diameter of the entrance pupil of the camera to be measured when the distance between the entrance pupil position and the lens is far is solved, and the method has a universal application prospect in different types of remote sensor internal orientation tests.
Drawings
FIG. 1 is a flow chart of a testing method of the present invention;
FIG. 2 is a schematic diagram of a test system according to the present invention;
FIG. 3 is a schematic diagram of the inner orientation element testing principle.
Detailed Description
The invention discloses an internal orientation element and distortion testing system of an optical remote sensor, which is shown in the attached figure 2 and comprises the following components: the device comprises a test platform 2, a collimator 3, a rotating mechanism, a sliding block 4, a guide rail 5, a moving support 6, a fixed pulley 7, a balancing weight 8, a plane reflector 9, a first photoelectric autocollimator 101, a second photoelectric autocollimator 102 and a data processing system 11. The optical remote sensor 1 to be measured is placed on the test platform 2, and the direction of the linear array CCD is adjusted to be vertical to the ground by an optical means. The collimator 3 simulates the infinite parallel light and projects the reticle at the focal plane of the collimator onto the focal plane of the camera to be measured. The collimator 3 is connected with a balancing weight 8 through a fixed pulley 7, so that the weight balance of the collimator system is realized, and a parallel light source which is emitted into the optical remote sensor 1 to be measured is generated.
The rotating mechanism comprises a rotating drive and a rotating angle sensor, and the rotating device is used for rotating the collimator to a specified angle. The angle sensor uses an angle decoder RON905 of HEIDENHAIN company, and the measurement error is not more than +/-0.4 ". For this purpose, an electric drive with a reduction gear and a feedback sensor is used. The rotation of the rotating device is controlled by a corresponding rotation driving controller, and the rotation driving controller is connected into the inner orientation element test console through an RS-232 interface and exchanges instructions and data with test software. The starting point of the reading of the rotation angle is determined using the reference signal already present in the rotation angle sensor. In order to prevent the driving movement from exceeding the working range, terminal switches are arranged in the rotating device, and the switches control the rotating range to prevent accidents in the operation of the rotating mechanism.
The slider 4 guide 5 is used to move the collimator 3 in the vertical direction. A belt stepper motor and a built-in motion sensor system are used as the drive for the vertical movement. The control of the motors and the reading of the movement sensor measurement information are carried out by means of corresponding vertical movement drive controllers. The vertical motion drive controller is connected to the inside orientation element test console through a USB interface and exchanges instructions and data with test software. The vertical moving device is equipped with terminal switches which control the moving range to prevent accidents in the operation of the vertical moving mechanism.
The fixed pulley 7 and the counterweight block 8 are used for balancing the whole weight formed by the collimator, the vertical moving mechanism and the rotating mechanism, and the design of the weight balance of the structure can reduce the load driven by the guide rail 5 of the sliding block 4 and reduce the deformation of the vertical moving guide rail.
The plane reflector 9 is used in cooperation with the first photoelectric autocollimator 101 and the second photoelectric autocollimator 102 for testing the angular offset of the optical axis of the collimator 3. The plane reflector 9 is fixed on the side surface of the moving support 6, is combined with the first photoelectric autocollimator 101 and the second photoelectric autocollimator 102, and outputs the angle offset of the collimator 3 in the rotating and translating processes; the first photoelectric autocollimator 101 and the second photoelectric autocollimator 102 are composed of an upper part and a lower part, and can output angle correction data when the collimator 3 is at different heights;
the data processing system 11 determines n groups of test data according to the field angle of the optical remote sensor 1 to be tested, wherein n is a positive integer; each set of test data comprises a test rotation angle and a test height; acquiring the imaging position of the collimator 3 reticle corresponding to each group of test data on the detector of the optical remote sensor 1 to be tested; and determining the internal orientation element of the optical remote sensor 1 to be tested and the camera distortion of the optical remote sensor 1 to be tested according to the angular offset of the optical axis of the collimator tube 3 obtained by the test of the photoelectric autocollimator and the imaging position of the reticle of the collimator tube 3 on the detector of the optical remote sensor 1 to be tested. The data processing system 11 and the optical remote sensor 1 to be measured perform 1553B or CAN bus communication, output control instructions, input remote measuring signals and the like.
A method for testing the orientation element and distortion in the optical remote sensor by using the testing system is disclosed, the flow of the method is shown in figure 1, and the method comprises the following steps:
1) the data processing system 11 determines n groups of test data according to the field angle of the optical remote sensor 1 to be tested, wherein n is a positive integer; each set of test data comprises a test rotation angle uiAnd a test height h corresponding to the test rotation anglekThe method specifically comprises the following steps:
wherein, the first
U is composed ofiTo the first
U is composed ofiAre all in harmony with hkCorrespond to, i.e. hkCorrespond to
U is composed ofi，
Alpha is the angle of view of the optical remote sensor 1 to be measured, and R belongs to [100 ', 500')](ii) a k is 1,2, wherein m and m have the value range of 3-5, R is the distance from the exit pupil of the collimator 3 to the entrance pupil of the optical remote sensor 1 to be measured, and u is the distance from the exit pupil of the collimator 3 to the entrance pupil of the optical remote sensor 1 to be measuredDsIs as follows
A test rotation angle uUsIs as follows
A test rotation angle, h0The height difference between the focal point of the collimator 3 and the focal point of the optical remote sensor 1 to be tested in the vertical direction at the initial testing moment; m is a positive integer and m < n.
2) Adjusting a collimator 3 of the test system according to the test data determined in the step 1), executing measurement operation of n groups of test data, and adjusting the position of the collimator 3 to enable an included angle between an optical axis of the collimator 3 and an optical axis of the optical remote sensor 1 to be tested to be equal to a test rotation angle, and simultaneously enable a vertical distance between the center of an objective lens of the collimator 3 and the optical axis of the optical remote sensor 1 to be tested to be equal to a test height corresponding to the test rotation angle. The optical remote sensor 1 to be tested enters an imaging mode, a series of light spot images from the collimator 3 reticle are formed on the image surface of the optical remote sensor 1 to be tested, and the imaging position xf of the collimator 3 reticle corresponding to each group of test data on the detector of the optical remote sensor 1 to be tested is obtainedi,yfiAnd the angle offset of the collimator 3 corresponding to each test datum;
3) determining attitude errors that satisfy an attitude error criterion
31) Determining an initial attitude error bx of the optical remote sensor 1 to be measured according to the imaging position and the angle offset obtained in the step 2)0、by0、bz0(ii) a The method comprises the following specific steps:
wherein, qxiIs and uiCorresponding angular offset of the collimator 3 in the vertical plane, qyiIs and uiThe angular offset of the corresponding collimator 3 in the horizontal plane; xfi,yfiIs and uiImaging positions of corresponding collimator tube 3 reticles on a detector of the optical remote sensor 1 to be detected, wherein psi is an angle of deflection of the optical remote sensor 1 to be detected; the position of an imaging pixel of an imaging focus of the optical remote sensor 1 to be detected on the detector is used as a principal point value, dyf is 0, and dyf is an initial principal point value of the optical remote sensor 1 to be detected; f is a focal length design value of the optical remote sensor 1 to be measured, ddfe is 0, and ddfe is an initial main distance correction amount of the optical remote sensor 1 to be measured.
32) Bx determined in the judgment step 31)0、by0、bz0Whether both are less than or equal to 0.01 ", if both are less than or equal to 0.01", proceeding to step 4), if otherwise, proceeding to step 33);
33) iteratively updating the initial attitude error until the attitude errors obtained by iterative updating are less than or equal to 0.01', and then entering step 4); the method for obtaining the attitude error of the t generation through iterative updating specifically comprises the following steps:
4) determining initial camera distortion dx0 according to the attitude error meeting the attitude error criterion and the imaging offset factor corresponding to the attitude erroriAnd dy0i；
dx0i＝xxfi-xfi-tan(bxt)·yfi，dy0i＝yyfi-(yfi-dyf)，
Wherein the content of the first and second substances,
an imaging offset factor determined from the attitude error that satisfies an attitude error criterion.
5) Determining an initial camera distortion dx0 according to step 4)iAnd dy0iDetermining an initial home distance correction ddfe0And initial principal point coordinate correction amount ddyf0The method comprises the following steps:
wherein the content of the first and second substances,
an imaging offset factor determined from the attitude error that satisfies an attitude error criterion.
6) Determining whether the step 5) determines whether the main pitch correction quantity meets the main pitch criterion, namely whether the main pitch correction quantity is less than or equal to 0.001, if the main pitch criterion is met, namely the main pitch correction quantity is less than or equal to 0.001, entering a step 7), and if the main pitch criterion is not met, iterating the determined main pitch correction quantity for p times until the main pitch correction quantity for the p-th iteration meets the main pitch criterion, entering the step 7); the iteration method comprises the following specific steps:
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 a positive integer not zero, ddyfpWhen p is 1, the correction amount of the main point value is obtained,
ddfe0＝0，dyf0＝0，ddyf0＝0，
an imaging offset factor determined from the attitude error that satisfies an attitude error criterion.
7) Determining internal orientation elements and distortion of the optical remote sensor 1 to be measured according to the main distance correction determined in the step 6), specifically: the inside orientation element includes: main distance fe of optical remote sensor 1 to be measuredpAnd the principal point value dyf of the optical remote 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 dyfpAnd the main distance correction ddfe meeting the main distance criterionpAnd (7) corresponding.
Those skilled in the art will appreciate that the details of the invention not described in detail in the specification are within the skill of those skilled in the art.
Claims (10)
1. An optical remote sensor internal orientation element and distortion testing system, comprising: the device comprises a collimator (3), a photoelectric autocollimator, a test platform (2) and a data processing system (11);
collimator (3): the parallel light source is used for generating parallel light which is emitted into the optical remote sensor (1) to be measured;
photoelectric autocollimator: the device is used for testing the angle offset of the optical axis of the collimator (3);
data processing system (11): determining n groups of test data according to the field angle of the optical remote sensor (1) to be tested, wherein n is a positive integer; each set of test data comprises a test rotation angle and a test height; acquiring the imaging position of the reticle of the collimator tube (3) corresponding to each group of test data on the detector of the optical remote sensor (1) to be tested; determining an internal orientation element of the optical remote sensor (1) to be tested and camera distortion of the optical remote sensor (1) to be tested according to the angle offset of the optical axis of the collimator tube (3) obtained by the photoelectric autocollimator test and the imaging position of the reticle of the collimator tube (3) on the detector of the optical remote sensor (1) to be tested;
the collimator (3) and the optical remote sensor (1) to be tested are placed on the test platform (2);
test platform (2): and changing the position of the collimator (3) according to n groups of test data determined by the data processing system (11), so that the included angle between the optical axis of the collimator (3) and the optical axis of the optical remote sensor (1) to be tested is equal to a test rotation angle, and meanwhile, the vertical distance from the center of the objective lens of the collimator (3) to the optical axis of the optical remote sensor (1) to be tested is equal to the test height corresponding to the test rotation angle.
2. An internal orientation element and distortion testing system for an optical remote sensor according to claim 1, wherein each test height determined by the data processing system (11) corresponds to one test height
And testing rotation angles, wherein n and m are positive integers, and m is less than n.
3. A method for testing orientation elements and distortion in an optical remote sensor using the test system of claim 2, comprising the steps of:
1) determining n groups of test data according to the field angle of the optical remote sensor (1) to be tested;
2) according to the stepsStep 1), the determined test data is adjusted to obtain the imaging position xf of the collimator (3) reticle corresponding to each group of test data on the detector of the optical remote sensor (1) to be testedi,yfiAnd the angle offset of the collimator (3) corresponding to each test datum;
3) determining an imaging offset factor according to the imaging position and the angle offset obtained in the step 2);
4) determining an attitude error according to the imaging offset factor; judging whether the attitude error meets the attitude error criterion, if so, entering the step 5), and if not, iteratively processing the imaging offset factor until the imaging offset factor is obtained according to the iterative processing
The determined attitude error meets the attitude error criterion and enters the step 5);
5) determining a principal distance correction according to the attitude error meeting the attitude error criterion and the imaging offset factor corresponding to the attitude error;
6) judging whether the main pitch correction quantity meets a main pitch criterion, if so, entering a step 7), if not, iterating the determined main pitch correction quantity until the main pitch correction quantity meets the main pitch criterion, and entering the step 7);
7) and determining the internal orientation element and distortion of the optical remote sensor (1) to be measured according to the main distance correction determined in the step 6).
4. The method for testing the internal orientation element and distortion of the optical remote sensor according to the claim 3, wherein the step 1) is a method for determining n groups of test data according to the field angle of the optical remote sensor (1) to be tested, and each group of test data comprises a test rotation angle uiAnd a test height h corresponding to the test rotation anglekThe method specifically comprises the following steps:
ui＝R×i，i＝1,2,...,n，
wherein h iskCorrespond to
Alpha is the angle of view of the optical remote sensor (1) to be measured, and R belongs to [100 ', 500')](ii) a k is 1,2, wherein m is a positive integer, m is less than n, the value range of m is 3-5, R is the distance from the exit pupil of the collimator (3) to the entrance pupil of the optical remote sensor (1) to be measured, and u is the distance from the exit pupil of the collimator (3) to the entrance pupil of the optical remote sensor (1) to be measuredDsIs as follows
A test rotation angle uUsIs as follows
A test rotation angle, h0The height difference between the focal point of the collimator tube (3) and the focal point of the optical remote sensor (1) to be tested in the vertical direction at the initial testing moment is obtained.
5. The method for testing the internal orientation element and distortion of the optical remote sensor according to claim 4, wherein the step 2) is a method for adjusting a test system according to the test data determined in the step 1), and specifically comprises the following steps: and adjusting the position of the collimator (3), so that the included angle between the optical axis of the collimator (3) and the optical axis of the optical remote sensor (1) to be tested is equal to the test rotation angle, and meanwhile, the vertical distance from the center of the objective lens of the collimator (3) to the optical axis of the optical remote sensor (1) to be tested is equal to the test height corresponding to the test rotation angle.
6. An azimuth element and distortion test method in an optical remote sensor according to any one of claims 3 or 5, characterized in that the step 4) iteratively processes the imaging offset factor
And determining the attitude error (bx)t,byt,bzt) The method specifically comprises the following steps:
when t is equal to 0, the first step is,
wherein, qxiIs and uiAngular offset of the corresponding collimator (3) in the vertical plane, qyiIs and uiThe angle offset of the corresponding collimator (3) in the horizontal plane; xfi,yfiIs and uiImaging positions of corresponding collimator tube (3) reticles on a detector of the optical remote sensor (1) to be detected, wherein psi is an angle of deflection of the optical remote sensor (1) to be detected; f is a focal length design value of the optical remote sensor (1) to be measured, and t is the number of times of imaging offset factor iteration processing.
7. The method for testing the internal orientation element and distortion of the optical remote sensor according to claim 6, wherein the method for judging whether the attitude error meets the attitude error criterion specifically comprises the following steps:
if bxt、byt、bztAll are less than or equal to 0.01', judging that the attitude error meets the attitude error criterion; otherwise, judging that the attitude error does not meet the attitude error criterion.
8. A method as claimed in claim 7, wherein step 6) iterates the determined home correction ddfepThe method specifically comprises the following steps:
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 a positive integer not zero, ddyfpWhen p is 1, the correction amount of the main point value is obtained,
dyf0＝0，ddyf0＝0，ddfe0＝0。
9. the method for testing the internal orientation element and distortion of the optical remote sensor according to claim 8, wherein the method for determining whether the principal distance correction quantity meets the principal distance criterion specifically comprises the following steps:
if the main distance correction amount is less than or equal to 0.001, judging that the main distance correction amount meets the main distance criterion; otherwise, the main distance correction quantity is judged not to meet the main distance criterion.
10. Method for testing internal orientation elements and distortion of optical remote sensors according to claim 9, characterized in that the determination of internal orientation elements and distortion (dx 0) of optical remote sensor (1) to be testedi,dy0i) The method specifically comprises the following steps:
the inside orientation element includes: main distance fe of optical remote sensor (1) to be measuredpAnd the principal point value dyf of the optical remote 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)。
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