CN110243345A - It is a kind of that analysis calculation method is moved based on the picture for rotating big breadth optical imagery - Google Patents
It is a kind of that analysis calculation method is moved based on the picture for rotating big breadth optical imagery Download PDFInfo
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- CN110243345A CN110243345A CN201910414285.6A CN201910414285A CN110243345A CN 110243345 A CN110243345 A CN 110243345A CN 201910414285 A CN201910414285 A CN 201910414285A CN 110243345 A CN110243345 A CN 110243345A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
- G01C11/025—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures by scanning the object
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
Abstract
Analysis calculation method is moved based on the picture for rotating big breadth optical imagery the present invention relates to a kind of, it invents described a kind of based on the picture shifting calculation method for rotating big breadth optical imagery, this method is based on Novel rotary scanning imagery mode, analyze generation mechanism of the rotating scan imaging in the process as moving, the picture established under rotation imaging mode moves computation model, reliable basis is provided by the image shift compensation that the model can be completed as moving analysis, for rotation imaging, effectively improves image quality.
Description
Technical field
The present invention relates to optical remote sensing camera imaging field, refer specifically to a kind of applied to rotating big breadth optical imagery
As moving analysis calculation method.
Background technique
Current optical remote sensing camera increasingly develops towards the high-resolution direction of big breadth, and the visual field of optical camera with point
Resolution mutually restricts.
The imaging method of general optical remote sensing camera increase imaging breadth has at present: more star networkings, satellite fast reserve,
Polyphaser combination, the splicing of more ccd detectors, sweeping imaging.Although wherein preceding four kinds of schemes increase into film size to a certain extent
Width, but quantity, volume, weight, the power consumption of system are also considerably increased simultaneously, hardware cost is huge, and sweeping imaging utilizes the time
Resolution ratio exchanges spatial resolution for, has the advantages that effective breadth is big, imaging resolution is high, is high-resolution optical remote sensing device pair
The effective means of ground wide cut imaging.
Method in addition to increasing above breadth, there are also a kind of novel rotation imaging mode, sight be directed toward ground at
The track of picture is solenoid shape.Broad width scanning not only may be implemented in this rotation imaging mode, and since it is not necessarily to as pendulum
The same mechanism of imaging back and forth movement back and forth is swept, so significantly reducing the difficulty of control.For example, circular track SAR is exactly to pass through rotation
Turning imaging mode realizes 360 ° of wide area fast imagings.If being able to achieve rotation is imaged on the magazine application of optical remote sensing, must
The significant increase of wide area imaging system performance can so be promoted.
However, the picture during rotation imaging moves so that image quality decline, the image of extremely low resolution ratio can not play big breadth
Advantage.Therefore, to guarantee certain resolution ratio while rotating big breadth optical imagery, it is necessary to realize and reliably mend as moving
It repays.Had a series of researchs as shifting formwork type for substar, side-sway photography both at home and abroad at present, but for rotation imaging this
The analysis that the picture of the novel imaging mode of kind moves is corresponding not yet to be studied.
Summary of the invention
It is an object of the invention to make up the above-mentioned blank of the prior art, solve the problems, such as that the picture during rotation imaging moves,
It proposes a kind of based on the picture shifting calculation method for rotating big breadth optical imagery.
Of the present invention a kind of based on the picture shifting calculation method for rotating big breadth optical imagery, this method will be moved based on picture and be produced
Raw principle is established accordingly as moving computation model, is mentioned for image shift compensation as the generation mechanism moved during analysis rotation imaging
For technical support.
Above-mentioned purpose of the invention is achieved by following technical solution:
Set camera rotary motion implementation multiplicity.The scanning visual axis tilt for rotating imaging forms one with vertical direction
A angle.As shown in Figure 1, it is circular arc that the camera optical axis scans track on the ground, rotary scanning motion adds entire optical system
At the uniform velocity translation, ground generate solenoid type scanning patter.
Step 1: the relative motion during rotation imaging between target and camera, there are mainly four types of forms of motion: satellite
Flight forward, camera rotary scanning, target solve four with earth rotation, attitude of satellite variation (pitching, yaw, roll) respectively
Item movement bring target object space movement speed.
Step 2: distinguishing Orthogonal Decomposition to tetrathlon bring target object space movement speed, obtains along rail direction and hangs down
The component in rail direction will carry out respectively four vector superposed along rail component and vertical rail component, obtain target object space movement speed
Along rail component VtWith vertical rail component Vr。
Step 3: it solves target point and is in the ground pixel resolution along rail direction and vertical rail direction, target is moved in object space
The ratio of dynamic speed and ground pixel resolution is exactly the image motion velocity of target point, with the pixel number being subjected to displacement in the unit time
Mesh meter.
In step 1, firstly, satellite orbit motion bring object space target is with respect to camera migration velocityThe opposite direction that direction is flown along satellite orbit.Wherein G is universal gravitational constant, and M is earth matter
Amount, ReFor earth radius, satellite orbit radius Rsat=Re+ H, H are satellite orbital altitude.
Secondly, camera rotary motion bring object space target is with respect to camera migration velocity V2=ω R, direction is along scanning circular arc
Tangential opposite direction.Wherein ω is camera angular velocity of rotation, and sweep radius R=Lsin α, ɑ are camera side-sway established angle, and L is
Camera projection centre is to camera optical axis at a distance from the intersection point of ground
Again, earth rotation bring object space target is with respect to camera migration velocity V3=ωeRe, direction is along earth rotation side
To.Wherein ωeFor rotational-angular velocity of the earth.
Finally, the attitude of satellite changes bring target with respect to camera motion speed Vpitch、
Vroll、VyawRespectively three kinds of attitude of satellite pitching, roll, yaw posture bring targets are with respect to camera motion speed, direction point
Not Wei direction along ng a path, perpendicular to orbital direction, along rotary scanning tangential direction.Wherein, Φ 'pitch、Φ'roll、Φ'yawRespectively
For attitude of satellite rate of pitch, roll angular speed, yaw rate.
Vpitch=Φ 'pitchL
Vroll=Φ 'rollL
Vyaw=Φ 'yaw R
In step 2, swearing respectively along rail component and vertical rail component for target object space movement speed is brought to tetrathlon
Amount superposition, can be obtained target object space movement speed along rail component VtWith vertical rail component Vr, wherein i0For the red angle of cut of rail.
Vt=V1cosωt+(Vpitchcosωt+Vrollsinωt+Vyaw)+V3·+V4cosi0cosωt+V4sini0sin
ωt
Vr=V1sinωt+(Vpitchsinωt+Vrollcosωt+0)+0+V4cosi0sinωt+V4sini0cosωt
In step 3, target point is in the ground pixel resolution GSD along rail direction and vertical rail directiont、GSDrIt is respectively as follows:
Therefore, the image motion velocity along rail direction and vertical rail direction is respectively as follows:
VNt=Vt/GSDt
VNr=Vr/GSDr
The invention has the following advantages over the prior art:
The present invention moves analysis method for big breadth optical imaging modalities are rotated, according to traditional picture, proposes based on rotation
The picture of scanning imagery mode moves analysis method, and this method can be calculated effectively as moving, and guarantees image image quality for image shift compensation
Guidance is provided, is laid the foundation to rotate big breadth optical imaging method in the application of a wide range of fast search target.
Although the significant advantage that big breadth optical imagery has super large breadth is rotated, as the influence of shifting is but also its work
There are also very long distances by Cheng Yingyong.Therefore it is carried out particularly significant as moving analytical calculation.Existing picture moves analytical calculation at present
Model does not have still at present both for the progress such as push-scanning image, sweeping imaging and for this novel rotation imaging mode
Have relevant as moving analysis and research.The method of the present invention simple possible can become the strong branch for promoting the engineer application of rotation imaging
Support.
Detailed description of the invention
In order to illustrate more clearly of technical solution of the present invention, attached drawing needed in description will be made below simple
Introduction, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ordinary skill
For personnel, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 be method of the present invention based on rotation be imaged process schematic；
Fig. 2 is satellite flight forward, camera rotary scanning, target during rotation imaging with earth rotation, the attitude of satellite
Change tetrathlon to generate as moving process schematic；
Fig. 3 is attitude of satellite variation generation as moving schematic diagram, wherein (a) is that pitching is generated as shifting schematic diagram (b) is yaw
Generating as moving schematic diagram (c) is that roll is generated as moving schematic diagram.
Specific embodiment
The present invention is described in further detail in the following with reference to the drawings and specific embodiments:
Set camera rotary motion implementation multiplicity.The scanning visual axis tilt for rotating imaging forms one with vertical direction
A angle.As shown in Figure 1, it is circular arc that the camera optical axis scans track on the ground, rotary scanning motion adds entire optical system
At the uniform velocity translation, ground generate solenoid type scanning patter.
Step 1: the relative motion during rotation imaging between target and camera, there are mainly four types of forms of motion: satellite
Flight forward, camera rotary scanning, target solve four with earth rotation, satellite pitching, yaw, roll attitudes vibration respectively
Move bring target object space movement speed.
Step 2: distinguishing Orthogonal Decomposition to tetrathlon bring target object space movement speed, obtains along rail direction and hangs down
The component in rail direction will carry out respectively four vector superposed along rail component and vertical rail component, obtain target object space movement speed
Along rail component VtWith vertical rail component Vr。
Step 3: it solves target point and is in the ground pixel resolution along rail direction and vertical rail direction, target is moved in object space
The ratio of dynamic speed and ground pixel resolution is exactly the image motion velocity of target point, with the pixel number being subjected to displacement in the unit time
Mesh meter.
In step 1, firstly, satellite orbit motion bring object space target is with respect to camera migration velocityThe opposite direction that direction is flown along satellite orbit.Wherein G is universal gravitational constant, and M is earth matter
Amount, ReFor earth radius, satellite orbit radius Rsat=Re+ H, H are satellite orbital altitude.
Secondly, camera rotary motion bring object space target is with respect to camera migration velocity V2=ω R, direction is along scanning circular arc
Tangential opposite direction.Wherein ω is camera angular velocity of rotation, and sweep radius R=Lsin α, ɑ are camera side-sway established angle, and L is
Camera projection centre is to camera optical axis at a distance from the intersection point of ground
Again, earth rotation bring object space target is with respect to camera migration velocity V3=ωeRe, direction is along earth rotation side
To.Wherein ωeFor rotational-angular velocity of the earth.
Finally, the attitude of satellite changes bring target with respect to camera motion speed Vpitch、
Vroll、VyawRespectively three kinds of attitude of satellite pitching, roll, yaw posture bring targets are with respect to camera motion speed, direction point
Not Wei direction along ng a path, perpendicular to orbital direction, along rotary scanning tangential direction.Wherein, Φ 'pitch、Φ'roll、Φ'yawRespectively
For attitude of satellite rate of pitch, roll angular speed, yaw rate.
Vpitch=Φ 'pitchL
Vroll=Φ 'rollL
Vyaw=Φ 'yaw R
In step 2, swearing respectively along rail component and vertical rail component for target object space movement speed is brought to tetrathlon
Amount superposition, can be obtained target object space movement speed along rail component VtWith vertical rail component Vr, wherein i0For the red angle of cut of rail.
Vt=V1cosωt+(Vpitchcosωt+Vrollsinωt+Vyaw)+V3·+V4cosi0cosωt+V4sini0sin
ωt
Vr=V1sinωt+(Vpitchsinωt+Vrollcosωt+0)+0+V4cosi0sinωt+V4sini0cosωt
In step 3, target point is in the ground pixel resolution GSD along rail direction and vertical rail directiont、GSDrIt is respectively as follows:
Therefore, the image motion velocity along rail direction and vertical rail direction is respectively as follows:
VNt=Vt/GSDt
VNr=Vr/GSDr
The above, optimal specific embodiment only of the invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.
The content that description in the present invention is not described in detail belongs to the well-known technique of professional and technical personnel in the field.
Claims (8)
1. a kind of move analysis method based on the picture for rotating big breadth optical imagery, which is characterized in that this method is by following steps reality
It is existing:
Step 1: the relative motion during rotation imaging between target and camera, there are mainly four types of forms of motion: satellite is forward
Flight, camera rotary scanning, target solve tetrathlon with earth rotation, satellite pitching, yaw, roll attitudes vibration respectively
Bring target object space movement speed.
Step 2: Orthogonal Decomposition is distinguished to tetrathlon bring target object space movement speed, is obtained along rail direction and vertical rail side
To component, four vector superposed will be carried out respectively along rail component and vertical rail component, target object space movement speed can be obtained
Along rail component and vertical rail component.
Step 3: it solves target point and is in the ground pixel resolution along rail direction and vertical rail direction, target is in the mobile speed of object space
The ratio of degree and ground pixel resolution is exactly the image motion velocity of target point, with the pixel number being subjected to displacement in the unit time
Meter.
2. a kind of picture based on the big breadth imaging of rotary scanning according to claim 1 moves analysis method, it is characterised in that:
In the step 1, it is assumed that ground target is static, and satellite orbit motion bring object space target is with respect to camera migration velocityThe opposite direction that direction is flown along satellite orbit.Wherein G is universal gravitational constant, and M is earth matter
Amount, ReFor earth radius, satellite orbit radius Rsat=Re+ H, H are satellite orbital altitude.
3. a kind of picture based on the big breadth imaging of rotary scanning according to claim 1 moves analysis method, it is characterised in that:
In the step 1, camera rotary motion bring object space target is with respect to camera migration velocity V2=ω R, direction is along scanning circular arc
Tangential opposite direction.Wherein ω is camera angular velocity of rotation, and sweep radius R=Lsin α, ɑ are camera side-sway established angle, and L is
Camera projection centre is to camera optical axis at a distance from the intersection point of ground
4. a kind of picture based on the big breadth imaging of rotary scanning according to claim 1 moves analysis method, it is characterised in that:
In the step 1, earth rotation bring object space target is with respect to camera migration velocity V3=ωeRe, direction is along earth rotation side
To wherein ωeFor rotational-angular velocity of the earth.
5. a kind of picture based on the big breadth imaging of rotary scanning according to claim 1 moves analysis method, it is characterised in that:
In the step 1, the attitude of satellite changes bring target with respect to camera motion speedVpitch、
Vroll、VyawRespectively three kinds of attitude of satellite pitching, roll, yaw posture bring targets are with respect to camera motion speed, direction point
Not Wei direction along ng a path, perpendicular to orbital direction, along rotary scanning tangential direction.Wherein, Φ 'pitch、Φ'roll、Φ'yawRespectively
For attitude of satellite rate of pitch, roll angular speed, yaw rate.
Vpitch=Φ 'pitchL
Vroll=Φ 'rollL
Vyaw=Φ 'yawR。
6. according to claim 1, a kind of picture shifting analysis method based on the big breadth imaging of rotary scanning, feature described in 2 exist
In: in the step 2, swearing respectively along rail component and vertical rail component for target object space movement speed is brought to tetrathlon
Amount superposition, can be obtained target object space movement speed along rail component VtWith vertical rail component Vr, wherein i0For the red angle of cut of rail.
Vt=V1cosωt+(Vpitchcosωt+Vrollsinωt+Vyaw)+V3·+V4cosi0cosωt+V4sini0sinωt
Vr=V1sinωt+(Vpitchsinωt+Vrollcosωt+0)+0+V4cosi0sinωt+V4sini0cosωt 。
7. according to claim 1, a kind of picture shifting analysis method based on the big breadth imaging of rotary scanning, feature described in 2 exist
In: in the step 3, target point is in the ground pixel resolution GSD along rail direction and vertical rail directiont、GSDrIt is respectively as follows:
。
8. according to claim 1, a kind of picture shifting analysis method based on the big breadth imaging of rotary scanning, feature described in 2 exist
In: in the step 3, target in the image motion velocity that the ratio of object space movement speed and ground pixel resolution is exactly target point,
It is calculated with the pixel number being subjected to displacement in the unit time: VN=V/GSD.Therefore at target point, along rail direction and vertical rail direction
Image motion velocity be respectively as follows:
VNt=Vt/GSDt
VNr=Vr/GSDr。
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Cited By (4)
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| CN110986886A (en) * | 2019-12-18 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Double-camera dynamic rotation scanning three-dimensional imaging simulation device |
| CN112989506A (en) * | 2021-01-26 | 2021-06-18 | 中国科学院上海技术物理研究所 | Parameter design method of area array rotary scanning space camera imaging system |
| CN113781885A (en) * | 2021-09-16 | 2021-12-10 | 中国科学院长春光学精密机械与物理研究所 | Three-degree-of-freedom dynamic two-dimensional annular scanning space imaging simulation device |
| CN113933528A (en) * | 2021-08-23 | 2022-01-14 | 航天东方红卫星有限公司 | Image movement speed calculation method applied to space-ground-based space debris monitoring platform |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110986886A (en) * | 2019-12-18 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Double-camera dynamic rotation scanning three-dimensional imaging simulation device |
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| CN113933528B (en) * | 2021-08-23 | 2023-07-14 | 航天东方红卫星有限公司 | Image shift speed calculation method applied to space debris monitoring platform of space foundation |
| CN113781885A (en) * | 2021-09-16 | 2021-12-10 | 中国科学院长春光学精密机械与物理研究所 | Three-degree-of-freedom dynamic two-dimensional annular scanning space imaging simulation device |
| CN113781885B (en) * | 2021-09-16 | 2022-04-19 | 中国科学院长春光学精密机械与物理研究所 | Three-degree-of-freedom dynamic two-dimensional annular scanning space imaging simulation device |
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