CN110084822A - A kind of target acquisition real time processing system and method towards the in-orbit application of satellite - Google Patents
A kind of target acquisition real time processing system and method towards the in-orbit application of satellite Download PDFInfo
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Abstract
The invention discloses a kind of target acquisition real time processing system and method towards the in-orbit application of satellite.Disclosed system includes FPGA module, DSP image processing module and ARM module, the DSP image processing module, ARM module are connect with FPGA module, FPGA module and ARM module are connect with external spaceborne computer, and FPGA module is also connect with external camera, transmitter.Can acquisition image in-orbit to satellite handled in real time, to obtain the target position information of high value, thus realize the target real-time detection towards the in-orbit application of satellite.
Description
Technical field
The present invention relates to target acquisition real-time processing domain more particularly to a kind of target acquisitions towards the in-orbit application of satellite
Real time processing system and method.
Background technique
Satellite remote sensing images are mainly completed in earth station's processing center at present, and the time of high value acquisition of information is seriously stagnant
Afterwards, it is difficult to quickly, effectively detect time critical target.In addition, by star data bandwidth is limited, remote sensing images transmission will execute 4:1-8:
1 lossy compression, the image after the decompression of ground will be lost detailed information, and a kind of solution is to develop data on star to locate in real time
Reason technology.
Since 2000, the existing report that specific real-time processing function is much realized on remote sensing satellite of foreign countries, such as U.S. sea
The infrared spy of double spectrum of army earth drawing observer (Naval Earth Map Observer, NEMO) satellite, German Space Agency
Survey (Bispectral Infrared Detection, BIRD) moonlet, the next-generation high-resolution optics satellite that France develops
Pleiades-HR etc..Domestic Pujiang No.1 satellite is realized using the autonomous mission planning technology based on data processing on star
The collaborative work of a variety of payload, also some is studying the spaceborne in-orbit reconfiguration technique of processing equipment software.But, at present on star
Processing function is concentrated mainly on image preprocessing, data compression etc., and on star target acquisition real-time processing technique not yet at
It is ripe.
Therefore, how acquisition image in-orbit to satellite is handled in real time, to obtain the target position letter of high value
Breath, to realize the problem of target real-time detection towards the in-orbit application of satellite becomes those skilled in the art's urgent need to resolve.
Summary of the invention
The technical problems to be solved by the present invention are: how acquisition image in-orbit to satellite is handled in real time, with
The target position information of high value is obtained, to realize the target real-time detection towards the in-orbit application of satellite.
The technical solution of the invention is as follows:
A kind of target acquisition real time processing system towards the in-orbit application of satellite, including FPGA module, DSP image procossing mould
Block and ARM module, the DSP image processing module, ARM module are connect with FPGA module, FPGA module and ARM module with
External spaceborne computer connection, FPGA module are also connect with external camera, transmitter, in which:
FPGA module, for carrying out Interface Controller to external camera interface, transmitter interface and spaceborne computer interface；It connects
It receives camera video image and carries out data compression and data storage, and video image is sent to DSP image processing module；It receives
The telecommand that ARM module is sent；The target position information that DSP module is sent and the telemetry intelligence (TELINT) that ARM module is sent are received, and
It is transmitted to transmitter；
DSP image processing module, for being handled after receiving the video image that FPGA module is sent, to detect video
Target position information in image, and the target position information that processing obtains is transmitted to FPGA module；
ARM module, for carrying out information exchange by CAN bus and spaceborne computer；Spaceborne computer is sent distant
Control instruction is sent to FPGA module；The working condition of power supply inside acquisition system and system simultaneously, sends out as telemetry intelligence (TELINT)
Give FPGA module.
Preferably, the FPGA module includes interface control module, data transmit-receive module, information storage module, video figure
As compression module, video image processing module, in which:
The interface control module, for being connect to external camera interface, transmitter interface and spaceborne computer interface
Mouth control；
The data transmit-receive module, the target for receiving the video image of camera transmission, DSP image processing module is sent
The telecommand and telemetry intelligence (TELINT) that location information and ARM module are sent, are sent to video image processing module for video image
With video image compression module, target position information and telemetry intelligence (TELINT) are sent to transmitter；
The video image compression module is sent to letter for carrying out video image compression, and by the video image of compression
Cease memory module；
The information storage module, for carrying out information storage to the video image of compression；
The video image processing module, for being pre-processed to video image, and by pretreated video image
It is sent to DSP image processing module.
Preferably, the ARM module includes control management module, system mode acquisition module, in which:
The control management module carries out information exchange for controlling CAN bus and spaceborne computer；By spaceborne computer
The telecommand of transmission is sent to FPGA module；The read-write of control block information storage chip；Complete the file management of storage information；
The system mode acquisition module, for the working condition of power supply and system inside acquisition system, as distant
Measurement information is sent to FPGA module.
Preferably, the processor of the DSP image processing module uses the dsp chip TMS320C6678 of TI company.
The present invention also provides one kind using the target acquisition real time processing system described above towards the in-orbit application of satellite
Target acquisition real-time processing method towards the in-orbit application of satellite, comprising the following steps:
Step S100:FPGA module reads the raw video image of camera, after being pre-processed, is sent at DSP image
Manage module；
Step S200:DSP image processing module carries out median filtering to image, to remove noise；
Step S300:DSP image processing module enhances image, to increase the contrast of image；
Step S400:DSP image processing module carries out Threshold segmentation to image, and the pixel value of pixel is compared with threshold value
Compared with the pixel is divided into two classes according to the result of the comparison --- foreground and background；
Step S500:DSP image processing module carries out connected component labeling to the image after Threshold segmentation；
The mass center of step S600:DSP image processing module solution connected domain；
Step S700: the location information of target is calculated.
Preferably, the Threshold segmentation of the step S400 uses maximum variance between clusters.
Preferably, step S700 specifically: target angle is measured, side of the target in detection coordinate system is calculated
Parallactic angle and the elevation angle.
Preferably, step S700 specifically:
Step S701: the angle information of target in the picture, the azimuth Azi and elevation angle Ele of target in the picture are calculated
Are as follows:
Azi=atan (Y/X)
Wherein, X, Y are target centroid pixel coordinate, and IFOV is camera instantaneous field of view angle；
Step S702: the camera corner provided in conjunction with satellite platform can find out orientation of the target in the case where detecting coordinate system
Angle and the elevation angle.
The present invention can acquisition image in-orbit to satellite handled in real time, to obtain the target position information of high value,
To realize the target real-time detection towards the in-orbit application of satellite.
Detailed description of the invention
Fig. 1 is a kind of structural frames of the target acquisition real time processing system towards the in-orbit application of satellite provided by the invention
Figure；
Fig. 2 is a kind of flow chart of the target acquisition real-time processing method towards the in-orbit application of satellite provided by the invention.
Specific embodiment
With reference to the accompanying drawing to the target acquisition real time processing system provided by the invention towards the in-orbit application of satellite and side
Method is described further.
Referring to Fig. 1, Fig. 1 is the structure of the target acquisition real time processing system provided by the invention towards the in-orbit application of satellite
Block diagram.
A kind of target acquisition real time processing system towards the in-orbit application of satellite, including at FPGA module 100, DSP image
Reason module 200 and ARM module 300, the DSP image processing module 200, ARM module 300 are connect with FPGA module 100,
FPGA module 100 and ARM module 300 are connect with external spaceborne computer 003, FPGA module 100 also with external camera 001,
Transmitter 002 connects, in which:
FPGA module 100, for 001 interface of external camera, 002 interface of transmitter and 003 interface of spaceborne computer into
Line interface control；It receives the video image that camera 001 is sent and carries out data compression and data storage, and by pretreated video
Image is sent to DSP image processing module 200；Receive the telecommand that ARM module 300 is sent；Receive DSP image processing module
The telemetry intelligence (TELINT) that 200 target position informations sent and ARM module 200 are sent, and it is transmitted to transmitter 002.Transmitter 002 is mesh
Cursor position information and telemetry intelligence (TELINT) are real-time transmitted to ground.
DSP image processing module 200, the video image for receiving the transmission of FPGA module 100 are handled, detect to regard
Target position information in frequency image, and the target position information that processing obtains is transmitted to FPGA module 100；
ARM module 300, for carrying out information exchange by CAN bus and spaceborne computer 003；By spaceborne computer 003
The telecommand of transmission is sent to FPGA module 100；The working condition of power supply inside acquisition system and system simultaneously, as
Telemetry intelligence (TELINT) is sent to FPGA module 100, completes telemetry function.
Target acquisition real time processing system provided by the invention towards the in-orbit application of satellite have it is higher calculate, processing,
Control ability, can acquisition image in-orbit to satellite handled in real time, the target position information of high value is obtained, to realize
Target real-time detection towards the in-orbit application of satellite.
Explanation is further explained to modules below.
The FPGA module 100 includes interface control module 101, data transmit-receive module 102, information storage module 103, view
Frequency image compression module 104, video image processing module 105, in which: the interface control module 101, for external camera
001 interface, 002 interface of transmitter and 003 interface of spaceborne computer carry out Interface Controller；
The data transmit-receive module 102, for receiving video image, the DSP image processing module 200 of the transmission of camera 001
The telecommand and telemetry intelligence (TELINT) that the target position information and ARM module 300 of transmission are sent, are sent to video for video image
Target position information and telemetry intelligence (TELINT) are sent to transmitter 002 by image processing module 105 and video image compression module 104；
The video image compression module 104 is sent to information and deposits for carrying out video image compression, and by the video image of compression
Store up module 103；The information storage module 103, for carrying out information storage to the video image of compression；At the video image
Module 105 is managed, is sent to DSP image procossing mould for pre-processing to video image, and by pretreated video image
Block 200.
The data that the video image processing module 105 may need before handling for realizing DSP image processing module 200
Pretreatment.Video image processing module 105 obtains clear available image after pre-processing, then by DSP image processing module 200 after
Processing realizes that target detection obtains target position information.
The ARM module 300 includes control management module 301, system mode acquisition module 302, in which:
The control management module 301 carries out information exchange for controlling CAN bus and spaceborne computer 003；It will be spaceborne
The telecommand that computer 003 is sent is sent to FPGA module 100；The read-write of control block information storage chip；Complete storage letter
The file management of breath；The system mode acquisition module 302, the work shape for power supply and system inside acquisition system
State is sent to FPGA module 100 as telemetry intelligence (TELINT).
In further scheme, the processor of the DSP image processing module 200 uses the dsp chip of TI company
TMS320C6678.It is a high performance fixed-point DSP, work dominant frequency be up to 1.25GHZ, inside have 8 parallel processing lists
Member, maximum processing capability is up to the fixed point additions and multiplications number of 320GMAC per second or the floating-point operation time of 160GFLOP
Number.TMS320C6678 chip has powerful operational capability, can be realized the real-time processing of single frames and multiple image data.
Referring to fig. 2, Fig. 2 is a kind of target acquisition real-time processing method towards the in-orbit application of satellite provided by the invention
Flow chart.
It is a kind of to be answered using the above-mentioned target acquisition real time processing system towards the in-orbit application of satellite towards satellite is in-orbit
Target acquisition real-time processing method, the described method comprises the following steps:
Step S100:FPGA module reads the raw video image of camera, after being pre-processed, is sent at DSP image
Manage module.
The target acquisition real-time processing method towards the in-orbit application of satellite will read the original of camera to FPGA module
Each frame image of video image is respectively processed and detects to target therein.
Step S200:DSP image processing module carries out median filtering to image, to remove noise；Image can generally exist
Salt-pepper noise is handled using median filtering, preferably to remove salt-pepper noise.Median filtering is a kind of nonlinear filtering,
There is good filtration result to impulsive noise, while protecting the edge of image, does not obscure.
The median filtering is not need the statistical property of image based on sequencing statistical theory, more convenient.Certain
Under conditions of, image detail fuzzy problem brought by linear filter can be overcome, and to filtering out impulse disturbances and image
Swept noise is highly effective.The purpose of median filtering removes noise while being protection image border.
Step S300:DSP image processing module enhances image, to increase the contrast of image.
Step S400:DSP image processing module carries out Threshold segmentation to image, and the pixel value of pixel is compared with threshold value
Compared with the pixel is divided into two classes according to the result of the comparison --- foreground and background.
The Threshold segmentation is a specific determining threshold value, and then the pixel value of pixel is compared with threshold value, according to
The pixel is divided into two classes by comparison result --- foreground and background.
The Threshold segmentation is using maximum variance between clusters, also referred to as OTSU method, and this method is between side class
Difference is that unimodal image has preferable segmentation effect.
OTSU method is specially to find a threshold value to keep the variance of formula (1) maximum, threshold value divide the image into foreground point and
Background, the ratio of foreground point are w0, the ratio of background is w1, the average gray of foreground point is u0, the average gray of background is u1。
Then available variance are as follows:
G=w0×w1×(u0-u1)2 (1)
Step S500:DSP image processing module carries out connected component labeling to the image after Threshold segmentation；Connected component labeling side
Method can effectively extract pixel number shared by quasi- target point, calculating target, extraction mass center etc., and be easier to realize that connected component labeling is calculated
Method it is hardware-accelerated.
The mass center of step S600:DSP image processing module solution connected domain；By to the point target image after Threshold segmentation
Connected component labeling is carried out, can solve to obtain the mass center of connected domain.
Step S700: the position of target is calculated.The position for calculating target specifically: target angle is measured,
Calculate azimuth and the elevation angle of the target in detection coordinate system.
Preferably, step S701: calculating target angle information in the picture, the azimuth Azi of target in the picture and
Elevation angle Ele calculation formula are as follows:
Azi=atan (Y/X)
Wherein, X, Y are target centroid pixel coordinate, and IFOV is camera instantaneous field of view angle
The azimuth and the elevation angle of target can be calculated according to formula (2).
Step S702: the camera corner provided in conjunction with satellite platform can find out orientation of the target in the case where detecting coordinate system
Angle and the elevation angle.
Based on a kind of target acquisition real time processing system towards the in-orbit application of satellite, realize a kind of in-orbit towards satellite
The target acquisition real-time processing method of application, by the methods of median filtering, Threshold segmentation, connected component labeling and angle measurement,
Can acquisition image in-orbit to satellite handled in real time, to obtain the target position information of high value, to realize towards defending
The target real-time detection of the in-orbit application of star.
Embodiments described above does not constitute the restriction to the technical solution protection scope.It is any in above-mentioned implementation
Made modifications, equivalent substitutions and improvements etc., should be included in the protection model of the technical program within the spirit and principle of mode
Within enclosing.
Claims (8)
1. a kind of target acquisition real time processing system towards the in-orbit application of satellite, which is characterized in that including FPGA module, DSP
Image processing module and ARM module, the DSP image processing module, ARM module are connect with FPGA module, FPGA module and
ARM module is connect with external spaceborne computer, and FPGA module is also connect with external camera, transmitter, in which:
FPGA module, for carrying out Interface Controller to external camera interface, transmitter interface and spaceborne computer interface；Receive phase
Machine video image carries out data compression and data storage, and video image is sent to DSP image processing module；Receive ARM mould
The telecommand that block is sent；Receive the target position information that DSP image processing module is sent and the telemetering letter that ARM module is sent
Breath, and it is transmitted to transmitter；
DSP image processing module, for being handled after receiving the video image that FPGA module is sent, to detect video image
In target position information, and the obtained target position information of processing is transmitted to FPGA module；
ARM module, for carrying out information exchange by CAN bus and spaceborne computer；The remote control that spaceborne computer is sent is referred to
Order is sent to FPGA module；The working condition of power supply inside acquisition system and system simultaneously, is sent to as telemetry intelligence (TELINT)
FPGA module.
2. the target acquisition real time processing system according to claim 1 towards the in-orbit application of satellite, which is characterized in that institute
Stating FPGA module includes interface control module, data transmit-receive module, information storage module, video image compression module, video figure
As processing module, in which:
The interface control module, for carrying out interface control to external camera interface, transmitter interface and spaceborne computer interface
System；
The data transmit-receive module, the target position for receiving the video image of camera transmission, DSP image processing module is sent
The telecommand and telemetry intelligence (TELINT) that information and ARM module are sent, are sent to video image processing module and view for video image
Target position information and telemetry intelligence (TELINT) are sent to transmitter by frequency image compression module；
The video image compression module is sent to information and deposits for carrying out video image compression, and by the video image of compression
Store up module；
The information storage module, for carrying out information storage to the video image of compression；
The video image processing module is sent for pre-processing to video image, and by pretreated video image
Give DSP image processing module.
3. the target acquisition real time processing system according to claim 2 towards the in-orbit application of satellite, which is characterized in that institute
Stating ARM module includes control management module, system mode acquisition module, in which:
The control management module carries out information exchange for controlling CAN bus and spaceborne computer；Spaceborne computer is sent
Telecommand be sent to FPGA module；The read-write of control block information storage chip；Complete the file management of storage information；
The system mode acquisition module is believed for the working condition of power supply and system inside acquisition system as telemetering
Breath is sent to FPGA module.
4. the target acquisition real time processing system according to claim 3 towards the in-orbit application of satellite, which is characterized in that institute
The processor for stating DSP image processing module uses the dsp chip TMS320C6678 of TI company.
5. a kind of using such as the described in any item real-time processing systems of target acquisition towards the in-orbit application of satellite of Claims 1-4
The target acquisition real-time processing method towards the in-orbit application of satellite of system, which is characterized in that the described method comprises the following steps:
Step S100:FPGA module reads the raw video image of camera, after being pre-processed, is sent to DSP image procossing mould
Block；
Step S200:DSP image processing module carries out median filtering to image, to remove noise；
Step S300:DSP image processing module enhances image, to increase the contrast of image；
Step S400:DSP image processing module carries out Threshold segmentation to image, and the pixel value of pixel is compared with threshold value,
The pixel is divided into two classes according to the result of the comparison --- foreground and background；
Step S500:DSP image processing module carries out connected component labeling to the image after Threshold segmentation；
The mass center of step S600:DSP image processing module solution connected domain；
Step S700: the location information of target is calculated.
6. the target acquisition real-time processing method according to claim 5 towards the in-orbit application of satellite, which is characterized in that institute
The Threshold segmentation of step S400 is stated using maximum variance between clusters.
7. the target acquisition real-time processing method according to claim 6 towards the in-orbit application of satellite, which is characterized in that institute
State step S700 specifically: measure to target angle, calculate azimuth and the elevation angle of the target in detection coordinate system.
8. the target acquisition real-time processing method according to claim 7 towards the in-orbit application of satellite, which is characterized in that institute
State step S700 specifically:
Step S701: the angle information of target in the picture, the azimuth Azi and elevation angle Ele of target in the picture are calculated are as follows:
Azi=atan (Y/X)
Wherein, X, Y are target centroid pixel coordinate, and IFOV is camera instantaneous field of view angle；
Step S702: in conjunction with satellite platform provide camera corner, can find out azimuth of the target in the case where detect coordinate system with
The elevation angle.
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