CN110149488B - Aerial different-speed image motion compensation circuit, CCD drive circuit and drive method - Google Patents
Aerial different-speed image motion compensation circuit, CCD drive circuit and drive method Download PDFInfo
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Abstract
The invention is suitable for the technical field of displays, and provides an aerial different-speed image motion compensation circuit, which comprises: a main timing generator for generating a driving timing required for the CCD; the different-speed image motion time sequence controller is used for forwarding the driving time sequence generated by the main time sequence generator and generating an image motion compensation driving time sequence in the different-speed image motion compensation period; and the driving circuit is used for amplifying and translating the driving time sequence output by the different-speed image motion time sequence controller so as to drive the CCD. By adding the main time sequence generator in the aviation different-speed image motion compensation circuit, the main time sequence generator calculates various compensation parameters in the different-speed image motion compensation in a unified manner, so that the time sequence consistency in the different-speed image motion compensation is effectively ensured, and the different-speed image motion compensation effect is better improved.
Description
Technical Field
The invention belongs to the technical field of aerial image processing, and particularly relates to an aerial different-speed image motion compensation circuit, a CCD driving circuit and a driving method.
Background
In the reconnaissance process, a reconnaissance aircraft is required to fly at a high speed and a low altitude (high speed-high ratio) for avoiding the monitoring of a radar, and the aerial imaging inevitably generates image motion blur. The formation of the image motion blur is closely related to the flight attitude of the carrier, and different image motion forms can be generated by different parameters of the carrier, such as the flight speed, the height, the rolling angle, the yaw angle, the pitching angle and the like. When the side body of the carrier flies or the lens tilts sideways to form images, the aerial camera on the carrier is in an oblique working state. At this time, image motion with different speeds is generated at different positions on the imaging target surface, and a complex motion blurred image is generated.
It is difficult to image a moving object at a short distance using the conventional film imaging method. The relative motion or absolute motion of an object during exposure can blur an image, and a more classical method for solving the problem is an exposure time control technology. If the lighting conditions allow for a very short exposure time, the image can be frozen at a certain moment by increasing the speed of the shutter. However, the scout camera cannot control the illumination condition, and therefore, a scout imaging system with relaxed requirements on imaging conditions is urgently needed. This requires a technique that takes exposure control and image motion compensation into account separately.
Solutions to the forward motion compensation using mechanical methods mainly try to eliminate or reduce to an acceptable level the blur points in the image due to the forward motion. There are three ways to implement this scheme: the three methods of changing film, changing lens and rotating mirror are widely applied to various scout cameras including film cameras and photoelectric line scanning cameras. For example, successful application of transform lens technology has been in KS-116, KA-95 short and medium focal length panoramic scanning cameras for over a decade. Although these forward motion compensation schemes work well to solve such technical problems in film camera imaging and are still widely adopted to date, they all have a common disadvantage when applied in optoelectronic systems: i.e. they all require the use of mechanical means. This necessarily increases the complexity, weight and cost of the imaging system.
Disclosure of Invention
The invention aims to provide an aviation different-speed image motion compensation circuit, a CCD driving circuit and a driving method, and aims to solve the technical problem of simply realizing aviation different-speed image motion compensation at low cost in the prior art.
In a first aspect, the present invention provides an aerial different-speed image motion compensation circuit, including:
a main timing generator for generating a driving timing required for the CCD;
the different-speed image motion time sequence controller is used for forwarding the driving time sequence generated by the main time sequence generator and generating an image motion compensation driving time sequence in the different-speed image motion compensation period;
and the driving circuit is used for amplifying and translating the driving time sequence output by the different-speed image motion time sequence controller so as to drive the CCD.
Preferably, the driving circuit includes a horizontal driving circuit and a vertical driving circuit; the horizontal driving circuit is used for amplifying and translating a horizontal transfer time sequence output by the different-speed image motion time sequence controller, an output amplifier reset pulse and a horizontal pixel merging grid driving clock so as to drive the CCD; the vertical driving circuit is used for amplifying the vertical time sequence output by the different-speed image motion time sequence controller so as to drive the CCD.
Preferably, the horizontal driving circuit amplifies the horizontal transfer timing to a driving level satisfying a CCD operation requirement.
Preferably, the vertical driving circuit amplifies the vertical transfer timing to a driving level signal having sufficient voltage and current driving capability, and generates a main dc bias voltage required for the CCD.
In a second aspect, the invention provides a CCD driving circuit, which includes the aerial different-speed image motion compensation circuit according to the first aspect, and further includes a CCD, an aerial control bus, a system controller, and a signal processing circuit; the aviation control bus, the system controller, the aviation different-speed image motion compensation circuit and the signal processing circuit are sequentially in communication connection.
Preferably, the aviation control bus is used for sending control signals and providing flying height and speed information.
Preferably, the signal processing circuit performs correlated double sampling, controllable gain amplification, dark level clamp compensation and analog-to-digital conversion on the analog signal output by the CCD.
In a third aspect, the present invention provides a CCD driving method, including:
calculating the forward image moving speed according to the given lens focal length fl, the depression angle, the field angle theta and the speed-height ratio V/H of the airplane;
dividing the column pixels of the CCD into a plurality of blocks according to the forward image movement speed, wherein each block corresponds to a corresponding charge movement rate;
a main time sequence generator in the aviation different-speed image motion compensation circuit generates a horizontal transfer time sequence according to the charge moving rate, generates a vertical transfer time sequence when image motion does not occur, generates a vertical transfer time sequence required by different-speed image motion, and controls a driving circuit to drive the CCD through a different-speed image motion time sequence controller;
the CCD receives a signal of the image motion compensation circuit, and changes the charge transfer speed according to the signal of the image motion compensation circuit;
the signal processing circuit carries out correlated double sampling, controllable gain amplification, dark level clamping compensation and analog-to-digital conversion on the analog signal output by the CCD to generate and output a digital image signal.
In the aviation different-speed image motion compensation circuit, the main time sequence generator is added in the aviation different-speed image motion compensation circuit, and the main time sequence generator calculates various compensation parameters in different-speed image motion compensation in a unified manner, so that the time sequence consistency in different-speed image motion compensation is effectively ensured, and the different-speed image motion compensation effect is better improved.
Drawings
Fig. 1 is a schematic structural diagram of an aerial different-speed image motion compensation circuit according to a first embodiment of the present invention;
fig. 2 is a CCD driving circuit shown in the second embodiment of the present invention;
FIG. 3 is a schematic diagram illustrating a principle of differential motion image generation according to an exemplary embodiment;
FIG. 4 is a focal plane image shift formation schematic shown in accordance with an exemplary embodiment;
fig. 5 is a block diagram illustrating a different speed image motion compensation timing driving circuit according to an exemplary embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The following detailed description of specific implementations of the present invention is provided in conjunction with specific embodiments:
the first embodiment is as follows:
as shown in fig. 1, the aviation different-speed image motion compensation circuit provided in this embodiment includes: the image motion control device comprises a main time sequence generator, a different-speed image motion time sequence controller and a driving circuit.
The main timing generator is used for generating a driving timing required by the CCD; the different-speed image motion time sequence controller is used for forwarding the driving time sequence generated by the main time sequence generator and generating an image motion compensation driving time sequence during the different-speed image motion compensation period; the drive circuit is used for amplifying and translating the drive time sequence output by the different-speed image motion time sequence controller so as to drive the CCD.
By adding the main time sequence generator in the aviation different-speed image motion compensation circuit, the main time sequence generator calculates various compensation parameters in the different-speed image motion compensation in a unified manner, so that the time sequence consistency in the different-speed image motion compensation is effectively ensured, and the different-speed image motion compensation effect is better improved.
Specifically, the driving circuit includes a horizontal driving circuit and a vertical driving circuit.
The horizontal driving circuit is used for amplifying and translating a horizontal transfer time sequence output by the different-speed image motion time sequence controller, an output amplifier reset pulse and a horizontal pixel merging grid driving clock so as to drive the CCD; the vertical driving circuit is used for amplifying the vertical time sequence output by the different-speed image motion time sequence controller so as to drive the CCD.
The horizontal driving circuit amplifies the horizontal transfer timing sequence to a driving level which meets the working requirement of the CCD.
The vertical driving circuit amplifies a vertical transfer timing into a driving level signal having sufficient voltage and current driving capability, and generates a main DC bias voltage required for the CCD.
Example two:
as shown in fig. 2, the CCD driving circuit provided in this embodiment includes: the aerial control bus, the system controller, the aerial different-speed image motion compensation circuit and the signal processing circuit are arranged on the aerial control bus.
The aviation control bus, the system controller, the aviation different-speed image motion compensation circuit and the signal processing circuit are sequentially in communication connection.
The aerial different-speed image motion compensation circuit comprises a main time sequence generator, a different-speed image motion time sequence controller and a driving circuit.
The reason for generating the different-speed image motion, the principle of compensating the different-speed image motion, and the CCD driving circuit provided in this embodiment will be explained.
1. Differential velocity image motion generation analysis
When the area array CCD camera is used for shooting in an inclined mode, due to the fact that an airplane inclines, the forward image moving speed of a near point target on an image surface is the same in direction and different in size compared with the forward image moving speed of a far point in a single ground area. This defines forward image motion speeds with equal direction and unequal magnitude as the different-speed image motion. The camera angle of depression and the camera angle of view are the main causes of the different velocity image shift, and in addition, the aircraft attitude angle, such as the aircraft roll angle, also produces the different velocity image shift. The reason for the generation of the different-speed image motion, the magnitude and direction of the different-speed image motion will be studied in depth.
As shown in fig. 3, the image shift rate of the focal plane in the flight direction of the aircraft is not constant throughout the array. It is determined by the range of tilt and the slant range R (i.e. the distance of the lens from the corresponding point of the ground scene). The larger the range, the smaller the image shift rate at the focal plane. Specifically, in the vertical flight direction, the image shift rate of a certain point is advanced by the image shift VP2Comprises the following steps:
wherein, is half of the angle of view, is the depression angle of the camera, and f is the focal length of the lens; v is the aircraft flight speed; r is the slant range, i.e. the distance of the lens to a point on the ground corresponding to the focal plane. From fig. 1, the focal plane array FPA can be further described geometrically as follows:
here, y is the distance from the center line at a point on the ground area taken perpendicular to the direction of flight, for any given θ. As follows:
wherein, the angle of depression is the included angle between the center of the visual field and the horizontal line; h is the altitude of the aircraft. Thus:
the effect of image movement in the direction normal to the focal plane on image quality can be derived from calculating the focal plane array image movement modulation transfer function MTF. From equation (4), for a given lens focal length f, angle of depression, angle of field and velocity height ratio V/H of the aircraft, the velocity V at a certain point y of the image in the direction perpendicular to the focal planeyCan be expressed as:
the asynchronous image speed is only related to the transverse visual angle and the inclination angle of the camera and is not related to the longitudinal visual angle of the airplane through calculation and analysis.
When the speed-height ratio of the airplane is reduced, the image moving speed is also reduced correspondingly, and no matter how large the focal length of the lens is used to maintain the resolution of the ground image, no matter how large the focal length of the lens is, no matter what the resolution of the ground image is. The distance L of the image shift of a point in the focal plane parallel to the direction of flight is related to the aircraft flight speed v and the total time t. The total time t is the sum of the focal plane array exposure times (i.e., the time the shutter is open). The degree of blurring M of the image is a function of L according to the modulation transfer function MTF:
the effect of image motion perpendicular to the focal plane direction on image quality can be derived from calculating the focal plane array image motion modulation transfer function MTF. From equation (4), for a given lens focal length fl, angle of depression, angle of field θ and speed-height ratio V/H of the aircraft, the speed V at a certain point y in the image in the direction perpendicular to the focal planeyCan be expressed as:
the stepped image motion compensation method is an image motion compensation method for carrying out partition compensation aiming at the inconsistent forward image motion speed on the photosensitive surface of an area array CCD, and the principle is that a plurality of rows of pixels of the area array CCD are divided into two or more combined rows according to the requirement of image motion compensation precision, the combined rows are synchronized in charge transfer speed and image motion speed by independent discrete pulses which change according to the change rule of the image motion speed, and each row in each combined row uses a uniform charge transfer rate.
2. Differential velocity image motion compensation
The compensation for image motion variations is implemented using a hierarchical forward motion compensation technique. Some adjacent columns of the focal plane array of fig. 4 constitute a "block", and thus the focal plane array is made up of many "blocks". Upon exposure, charge moves from one pixel to another pixel along the image shift direction. In the lateral direction (e.g., across the "block"), the charge movement velocity varies. Therefore, by synchronizing the charge movement rate and controlling the magnitude of the charge image movement rate across the array, forward image movement compensation can be achieved in stages without the need to resort to any components. Ideally, each column of pixels should have its own longitudinal charge transfer rate. However, from a practical standpoint, the focal plane array is divided into a series of "blocks" where the charge transfer rate of each block is the average of the rates of the columns in that block.
For a focal plane array of larger pixels, the application of the above method is shown in fig. 4. The pixel information in the array is subdivided into a number of "blocks", each having its own charge movement rate, based on the speed of the image movement at the center of each block. In the figure, these charge transfer rates are represented by arrows, with longer arrow lengths indicating greater rates. The charge transfer rate of the "blocks" closer to the array edge natur is larger, and the charge transfer rate of the "blocks" closer to the horizontal line is smaller, and the charge transfer rate is monotonously changed in the array lateral direction. In exposure, when the shutter is open, charge containing scene information is collected onto the pixels in the array, and then charge is moved from one pixel to another adjacent pixel according to the charge movement rate of each "block". When the shutter is closed, i.e. after exposure is over, these accumulated charges containing image information are read out sequentially from the array to the register, one row at a time. The information is then sent from the register to the signal processing device for evaluation by the user. When the signal readout is complete, the array can be exposed next.
Expanding equation 5, and in conjunction with fig. 3, the image shift speed in the focal plane array with respect to any point y on its edge is:
wherein, by using the formula 2, theta is changed along with the difference of y positions; Φ is a step function defined as: phi (y is more than or equal to 0) is 1, and phi (y is less than or equal to 0) is 0.
The distance L by which any one image point moves to any point y of any image shift compensation region k is given by:
where Y is the width of the focal plane, k is the FMC region number, and the value of the integer i determines which region's center point is used in the function to subtract the value of Y. If the value of L (y, k) is known, the modulation transfer function MTF of the corresponding array can be calculated by equation 6. Since the image motion compensation is performed stage by stage, the focal plane array is also divided into regions, and this method improves the modulation transfer function MTF, as shown in fig. 5. It can be seen that dividing the array into two parts can significantly improve the modulation transfer function MTF at the array edge NADIR from 0 to 95%. When the array is divided into 8 sections, the MTF can be improved to over 99.5%.
CCD drive circuit
As shown in fig. 2, altitude and speed information of the flight is provided to the system controller via the aviation control bus. The system controller first stores the received information and then determines task parameters based on the information, including: lens focal length, operating mode, array size, number of longitudinal groups in the array, pixel size, etc. The aerial different-speed image motion compensation circuit is used for generating horizontal driving time sequence and vertical driving time sequence required by the CCD and other time sequences required by the CCD.
The horizontal driving circuit is used for amplifying and translating a horizontal transfer time sequence output by the different-speed image shift time sequence controller, an output amplifier reset pulse and a horizontal pixel merging grid driving clock so as to drive the CCD; and the vertical driving circuit is used for amplifying the vertical time sequence signal output by the different-speed image motion time sequence generator so as to drive the CCD.
The signal generated by the CCD is processed by the signal processing circuit and then transmitted to the storage and data transmission device.
Specifically, the main timing generation circuit is used to generate a horizontal driving timing, a vertical driving timing, and other timings required for the CCD. The different-speed image motion time sequence controller is responsible for forwarding the CCD driving time sequence generated by the main time sequence and the image motion compensation driving time sequence during the different-speed image motion compensation period. The vertical driving circuit amplifies the vertical transfer timing to a driving level signal having sufficient voltage and current driving capability, and generates a main DC bias voltage required by the CCD. The signal processor at the front end of the signal processing circuit carries out correlated double sampling, controllable gain amplification, dark level clamping compensation and analog-to-digital conversion on the analog signal output by the CCD. The storage data and transmission device outputs the digital image signal generated by the digital converter from the camera and provides an interface for communicating with an upper computer.
The image motion compensation time sequence driving circuit can be divided into the following modules: as shown in fig. 5, the bus interface module receives the image motion compensation interval information from the system controller; image motion compensation timing and control module: generating a timing pulse according to the time interval information during the exposure period, and generating a trigger signal and a time sequence switching signal of a main time-grant generator according to the working state; a vertical transfer timing generation module: generating a different-speed image motion compensation driving time sequence according to the timing pulse; the vertical transfer time sequence selection and distribution module gates a signal generated by a vertical transfer time sequence during an exposure period, gates a signal generated by a main time sequence during a charge output period and an idle period, and controls the phase relation of each path in a distribution process; horizontal transfer timing allocation module: the signal buffering and forwarding module: and forwarding other timing signals generated by the main timing generation module.
Example three:
the third embodiment shows a CCD driving method, comprising:
calculating the forward image moving speed according to the given lens focal length fl, the depression angle, the field angle theta and the speed-height ratio V/H of the airplane;
dividing the column pixels of the CCD into a plurality of blocks according to the forward image movement speed, wherein each block corresponds to a corresponding charge movement rate;
a main time sequence generator in the aviation different-speed image motion compensation circuit generates a horizontal transfer time sequence according to the charge moving rate, generates a vertical transfer time sequence when image motion does not occur, generates a vertical transfer time sequence required by different-speed image motion, and controls a driving circuit to drive the CCD through a different-speed image motion time sequence controller;
the CCD receives a signal of the image motion compensation circuit, and changes the charge transfer speed according to the signal of the image motion compensation circuit;
the signal processing circuit carries out correlated double sampling, controllable gain amplification, dark level clamping compensation and analog-to-digital conversion on the analog signal output by the CCD to generate and output a digital image signal.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (7)
1. An aerial different-speed image motion compensation circuit, comprising:
a main timing generator for generating a driving timing required for the CCD;
the different-speed image motion time sequence controller is used for forwarding the driving time sequence generated by the main time sequence generator and generating an image motion compensation driving time sequence in the different-speed image motion compensation period;
the drive circuit is used for amplifying and translating the drive time sequence output by the different-speed image motion time sequence controller so as to drive the CCD;
the driving circuit comprises a horizontal driving circuit and a vertical driving circuit;
the horizontal driving circuit is used for amplifying and translating a horizontal transfer time sequence output by the different-speed image motion time sequence controller, an output amplifier reset pulse and a horizontal pixel merging grid driving clock so as to drive the CCD;
the vertical driving circuit is used for amplifying the vertical time sequence output by the different-speed image motion time sequence controller so as to drive the CCD.
2. The aerial different-speed image motion compensation circuit according to claim 1, wherein the horizontal driving circuit amplifies a horizontal transfer timing sequence to a driving level that meets a CCD operation requirement.
3. The aerial differential velocity image motion compensation circuit of claim 1, wherein the vertical drive circuit amplifies a vertical transfer timing to a drive level signal with sufficient voltage and current drive capability and generates a primary dc bias voltage required by the CCD.
4. A CCD drive circuit, which is characterized by comprising the aerial different-speed image motion compensation circuit as claimed in any one of claims 1 to 3, and further comprising a CCD, an aerial control bus, a system controller and a signal processing circuit;
the aviation control bus, the system controller, the aviation different-speed image motion compensation circuit and the signal processing circuit are sequentially in communication connection.
5. A CCD drive circuit as claimed in claim 4, wherein the aviation control bus is used to send control signals providing altitude and speed information of flight.
6. The CCD driver circuit as claimed in claim 4, wherein said signal processing circuit performs correlated double sampling, controllable gain amplification, dark level clamp compensation and analog-to-digital conversion of the analog signal output from said CCD.
7. A CCD driving method applied to the aerial different-speed image motion compensation circuit according to any one of claims 1 to 3, comprising:
calculating the forward image moving speed according to the given lens focal length fl, the depression angle, the field angle theta and the speed-height ratio V/H of the airplane;
dividing the column pixels of the CCD into a plurality of blocks according to the forward image movement speed, wherein each block corresponds to a corresponding charge movement rate;
a main time sequence generator in the aviation different-speed image motion compensation circuit generates a horizontal transfer time sequence according to the charge moving rate, generates a vertical transfer time sequence when image motion does not occur, generates a vertical transfer time sequence required by different-speed image motion, and controls a driving circuit to drive the CCD through a different-speed image motion time sequence controller;
the CCD receives a signal of the image motion compensation circuit, and changes the charge transfer speed according to the signal of the image motion compensation circuit; the signal processing circuit carries out correlated double sampling, controllable gain amplification, dark level clamping compensation and analog-to-digital conversion on the analog signal output by the CCD to generate and output a digital image signal.
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| GB2298542A (en) * | 1995-02-28 | 1996-09-04 | Pearpoint Ltd | Image motion compensation |
| CN101078622A (en) * | 2007-06-21 | 2007-11-28 | 北京凌云光视数字图像技术有限公司 | Aviation total-frame transfer type matrix CCD camera image shift compensation method |
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