CN110514286A - A kind of remote sensing satellite camera optical axis microvibration measuring method - Google Patents
A kind of remote sensing satellite camera optical axis microvibration measuring method Download PDFInfo
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- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
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Abstract
The present invention provides a kind of remote sensing satellite camera optical axis microvibration measuring methods: (1), taken by acquisition remote sensing satellite camera including the front and back two continuous frames image of Same Scene；(2), N number of same place in the two continuous frames image of identification front and back in Same Scene, and obtain coordinate of each same place under image coordinate system, N >=3；(3), based in two continuous frames image imaging process, coordinate of the optical axis around three axis of camera coordinates system rotation angle and the front and back each same place of two continuous frames image under image coordinate system constructs optical axis perturbation equation group；(4), optical axis perturbation equation group is resolved, optical axis is obtained around three axis of camera coordinates system and rotates angle, and optical axis is compensated around three axis of camera coordinates system rotation angle.The present invention, which realizes, directly acquires optical axis position change information, improves measurement accuracy.
Description
Technical field
The invention discloses a kind of optical axis microvibration measuring methods of remote sensing satellite camera, belong to spacecraft measurement and control area.
Background technique
Remote sensing satellite camera is to reach optimal imaging effect, and the optical axis of camera is consistent with ground design after need to ensuring to enter the orbit,
This need to be verified through a large number of experiments and state of flight simulation is to realize.But because of satellite platform vibration during work of entering the orbit
The disturbance of optical axis caused by interference, is but difficult to measure and compensate.Therefore, in-orbit in real time to the micro- vibration of the optical axis of remote sensing satellite camera
It is dynamic to measure, the picture quality recovery of remote sensing camera is just particularly important.
Domestic existing remote sensing satellite camera micro-vibration inflight measurement method at present, a part are for transmitting powered phase
Vibration monitoring, the duration is shorter, the high-acruracy survey demand not being able to satisfy during remote sensing satellite camera in-orbit life-span；Separately
A part is measured such as the in-orbit microvibration measuring method of satellite that patent CN201210285482.0 is proposed though can meet for a long time
Demand, but its principle is to be monitored by Vibration Condition of the inertial sensor to satellite platform to realize to remote sensing camera
The indirect deduction of Vibration Condition.The above method, all cannot be to the key factor for influencing remote sensing camera image quality: camera light
Axis information carries out direct accurate measurement.In addition, the in-orbit long-play of mechanical sensitive components needed for measuring system is reliable
Property, and bring system complexity also reduces the reliability and ease for use of remote sensing satellite camera system immediately.
With the raising that the mission requirements and aimed at precision of high-definition remote sensing require, remote sensing satellite camera is in task process
In it is more close to the monitoring capability of its optical axis position and the relationship of image quality, directly influenced remote sensing satellite system
Design level.
Summary of the invention
Technology of the invention solves the problems, such as: having overcome the deficiencies of the prior art and provide a kind of remote sensing satellite camera optical axis
The microvibration measuring duration that microvibration measuring method solves existing remote sensing satellite system is short, limited reliability and can not
The problem of remote sensing satellite camera optical axis micro-vibration is directly monitored.
The technical solution of the invention is as follows: a kind of remote sensing satellite camera optical axis microvibration measuring method, this method include
The following steps:
(1), the front and back two continuous frames image taken by remote sensing satellite camera comprising Same Scene is obtained；
(2), N number of same place in the two continuous frames image of identification front and back in Same Scene, and obtain each same place and scheming
As the coordinate under coordinate system, N >=3；
(3), based in two continuous frames image imaging process, optical axis rotates angle around three axis of camera coordinates system and front and back is continuous
Coordinate of each same place of two field pictures under image coordinate system constructs optical axis perturbation equation group；
(4), optical axis perturbation equation group is resolved, optical axis is obtained around three axis of camera coordinates system and rotates angle, and to optical axis around phase
Three axis of machine coordinate system rotation angle compensates.
Above-mentioned remote sensing satellite camera optical axis microvibration measuring method further includes following steps:
(5), (the 1)~step that repeats the above steps (4) obtains the time for the angle that optical axis is rotated around three axis of camera coordinates system
Sequence；
(6), according to remote sensing satellite camera obtain image frequency frame, by optical axis around three axis of camera coordinates system rotation angle when
Between sequence, carry out Fourier transformation, obtain optical axis around three axis of camera coordinates system rotation angle frequency spectrum.
The optical axis perturbation equation group are as follows:
Wherein, the described (xI-1, j, yI-1, j) it is previous frame image, coordinate of j-th of same place under image coordinate system；
(xI, j, yI, j) it is a later frame image, coordinate of j-th of same place under image coordinate system, j=1~N, MxFor camera coordinates system X
Axis transition matrix, MyFor camera coordinates system Y-axis transition matrix, MzFor camera coordinates system Z axis transition matrix.
The camera coordinates system X-axis transition matrix MxAre as follows:
Wherein, f is camera focus, and α is optical axis around camera coordinates system X-axis rotation angle.
The camera coordinates system Y-axis transition matrix MyAre as follows:
Wherein, f is camera focus, and β is optical axis around camera coordinates system Y-axis rotation angle.
The camera coordinates system Z axis transition matrix MzAre as follows:
Wherein, f is camera focus, and γ is optical axis around camera coordinates system Z axis rotation angle.
When two images are push-scanning image mode image, optical axis is mended around the angle that camera coordinates system Y-axis rotates
The formula repaid indicates:
Wherein, v is satellite in orbit flying speed, and T is the frame frequency period, and H is orbit altitude, and R is earth radius, βafterTo mend
The angle that optical axis after repaying is rotated around camera coordinates system Y-axis；βbeforeIt is rotated for the optical axis before compensation around camera coordinates system Y-axis
Angle.
When two images are staring imaging mode image, optical axis is mended around the angle that camera coordinates system Y-axis rotates
The formula repaid indicates:
Wherein, v is satellite in orbit flying speed, and T is the frame frequency period, and H is orbit altitude, βafterFor compensated optical axis around
The angle of camera coordinates system Y-axis rotation；βbeforeThe angle rotated for the optical axis before compensation around camera coordinates system Y-axis.
When two images are push-scanning image mode image, to the imaging process with drift angle calibration function, to optical axis
Drift angle correction is carried out around the angle of camera coordinates system Z axis rotation, formula indicates are as follows:
γafter=γbefore-θ
Wherein, θ is that current drift angle corrects angular speed, γafterIt is rotated for compensated optical axis around camera coordinates system Z axis
Angle；γbeforeThe angle rotated for the optical axis before compensation around camera coordinates system Z axis.
The frame frequency of the remote sensing satellite camera cannot be below 5 times of the maximum optical axis sensitivity vibration frequency that need to be measured.
Described image signal-to-noise ratio is at least more than 20dB.
Described image contrast is not less than 5.
Optical axis perturbation equation group is calculated using least square quasi-solution.
Compared with the prior art, the invention has the advantages that:
(1), the optical axis microvibration measuring method of a kind of remote sensing satellite camera provided by the invention compares existing space remote sensing
Camera optical axis microvibration measuring method realizes and directly acquires to optical axis position change information, make the later period from design concept
Progress image, which is directly corrected, to be possibly realized, and improves the design accuracy of high-resolution imaging system from system perspective, empty to being promoted
Between remote sensing camera system performance have good effect.
(2), the present invention is imaged using area array cameras, using face battle array high frequency imaging pattern, is realized to micro-vibration information
Acquisition, this method directly carries out micro-vibration monitoring using the main load of satellite, is not introduced separately into parts, and the system of simplifying is set
Meter, improves system reliability.
(3), frame frequency of the present invention cannot be below 5 times of the maximum optical axis sensitivity vibration frequency that need to be measured, realize to frequency
The reliable acquisition of rate information.
(4), rotation of the present invention to camera coordinates system relative to inertial coodinate system is compensated, and is swept, is coagulated to pushing away respectively
State of flight depending on satellite under mode devises different compensation models, effectively improves measurement accuracy.
Detailed description of the invention
Fig. 1 is optical axis of embodiment of the present invention microvibration measuring process schematic.
Specific embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
As shown in Figure 1, a kind of remote sensing satellite camera optical axis microvibration measuring method, is related to a kind of light of remote sensing satellite camera
Axis information sensitive method solves because of factors such as satellite platform interference, installation error, environmental conditions to be what remote sensing satellite camera introduced
The measurement problem of light shaft offset amount, and therewith bring image quality decay the problem of.This method includes the following steps:
(1), the front and back two continuous frames image taken by remote sensing satellite camera comprising Same Scene is obtained；
The remote sensing satellite camera is area array cameras.Area array cameras booting can carry out face battle array high frequency imaging pattern selection,
Corresponding detector image-forming frame frequency is set.High frequency imaging pattern selection can also be carried out, according to the current running track of satellite and appearance
State state selects staring imaging mode or push-scanning image mode.
Silent frame data or window data in planar array detector can be selected to be passed according to the data transmission capabilities of system
Defeated record.
(2), N number of same place in the two continuous frames image of identification front and back in Same Scene, and obtain each same place and scheming
As the coordinate under coordinate system, including at least Same Scene three or more same places, i.e. N >=3；
The method for identifying the same place in two images in Same Scene are as follows:
(2.1), respectively to two images Gaussian difference scale (Different of Gussian, DOG) operator approximation
Laplacian function carries out edge extracting, constructs pyramid multiresolution scale space；
(2.2), characteristic point coarse positioning
By each sampled point at edge in two images and its all phase in pyramid multiresolution scale space
Adjoint point compares, and obtains the coarse positioning characteristic point in two images in the position of pyramid multiresolution scale space, it may be assumed that and it
With 8 consecutive points of scale and neighbouring scale, totally 26 points compare corresponding 9 × 2 points, find scale space and figure
Extreme point on image space is as image coarse positioning characteristic point.
(2.3) characteristic point fine positioning
Accurate in order to obtain and steady characteristic point, while positioning accuracy being promoted to sub-pixel, it must be to coarse positioning spy
It levies vertex neighborhood space and carries out dihydric phenol fitting, obtain continuous space extreme point information using discrete space point interpolation, go simultaneously
The marginal point generated except the skirt response due to DOG operator, obtains image fine positioning characteristic point in pyramid multiresolution
The position of scale space；
(2.4) principal direction of image fine positioning characteristic point determines
The image gradient of image fine positioning characteristic point is calculated, and with the gradient of pixel in statistics with histogram neighborhood and direction,
0 °~360 ° of direction scope is divided into 36 columns by histogram of gradients.The peak value direction of histogram is as image fine positioning characteristic point
Principal direction；
(2.5) feature point description and same place determine
Position and principal direction according to each fine positioning characteristic point in pyramid multiresolution scale space, using one
All fine positioning characteristic points in unique feature vector (description) characterization two images, by description in European sky
Between immediate a pair of of point be considered as same place.In image fine positioning characteristic point neighborhood space 4 × 4 window can be used in description
The gradient information in 8 directions calculated in mouthful, totally 4 × 4 × 8=128 dimensional vector characterizes.
The method of above-mentioned identification same place carries out side using Gaussian difference scale operator approximate Gaussian Laplace function
Edge extract, and by the principal direction of characteristic point coarse positioning, characteristic point fine positioning, image fine positioning characteristic point determine and etc. realization
Same place determines, realizes the reliable acquisition of same place, and precision is high, insensitive to image resolution ratio, but the above method
It is required that signal noise ratio (snr) of image cannot be too low, preferably, signal noise ratio (snr) of image is preferably greater than 20dB.In addition, scene is abundant, no
Can be peaceful sliding, light and shade area grayscale contrast, that is, contrast is preferably not below 5 in image.
(3), the angle that is rotated around camera coordinates system X-axis based on optical axis in two continuous frames image imaging process, optical axis are around phase
The angle that the angle of machine coordinate system Y-axis rotation, optical axis are rotated around camera coordinates system Z axis constructs the conversion of camera coordinates system X-axis respectively
Matrix Mx, camera coordinates system Y-axis transition matrix MyWith camera coordinates system Z axis transition matrix Mz；
The camera coordinates system X-axis transition matrix MxAre as follows:
Wherein, f is camera focus, and α is the angle that optical axis is rotated around camera coordinates system X-axis.
The camera coordinates system Y-axis transition matrix MyAre as follows:
Wherein, β is the angle that optical axis is rotated around camera coordinates system Y-axis.
The camera coordinates system Z axis transition matrix MyAre as follows:
Wherein, γ is the angle that optical axis is rotated around camera coordinates system Z axis.
(4), the coordinate according to the front and back each same place of two continuous frames image under image coordinate system constructs optical axis disturbance side
Journey group:
Wherein, the described (xI-1, j, yI-1, j) it is previous frame image, coordinate of j-th of same place under image coordinate system；
(xI, j, yI, j) it is a later frame image, coordinate of j-th of same place under image coordinate system, j=1~N；
(5), optical axis perturbation equation group is resolved, obtains angle, optical axis that optical axis rotate around camera coordinates system X-axis around camera seat
The angle that the angle of mark system Y-axis rotation, optical axis are rotated around camera coordinates system Z axis, and optical axis is rotated around camera coordinates system Y-axis
Angle compensates, the angle that optical axis is rotated around camera coordinates system Y-axis is updated, eliminates camera coordinates system relative to inertial coordinate
Influence of the rotation of system to measurement result, effective improving measurement accuracy.
When points of the same name are greater than 3, optical axis perturbation equation group can be calculated using least square quasi-solution.
When two images are push-scanning image mode image, optical axis is mended around the angle that camera coordinates system Y-axis rotates
The formula repaid indicates:
Wherein, v is satellite in orbit flying speed, and T is the frame frequency period, and H is orbit altitude, and ruler is earth radius, βafterFor
The angle that compensated optical axis is rotated around camera coordinates system Y-axis；βbeforeIt is rotated for the optical axis before compensation around camera coordinates system Y-axis
Angle.
When two images are staring imaging mode image, optical axis is mended around the angle that camera coordinates system Y-axis rotates
The formula repaid indicates:
Wherein, v is satellite in orbit flying speed, and T is the frame frequency period, and H is orbit altitude, βafterFor compensated optical axis around
The angle of camera coordinates system Y-axis rotation；βbeforeThe angle rotated for the optical axis before compensation around camera coordinates system Y-axis.
When two images are push-scanning image mode image, to the imaging process with drift angle calibration function, to optical axis
Drift angle correction is carried out around the angle of camera coordinates system Z axis rotation, formula indicates are as follows:
γafter=γbefore-θ
Wherein, θ is that current drift angle corrects angular speed, γafterIt is rotated for compensated optical axis around camera coordinates system Z axis
Angle；γbeforeThe angle rotated for the optical axis before compensation around camera coordinates system Z axis.
(6), (the 1)~step that repeats the above steps (5), obtain angle, optical axis that optical axis rotates around camera coordinates system X-axis around
The time series for the angle that the angle of camera coordinates system Y-axis rotation, optical axis are rotated around camera coordinates system Z axis；
(7), the frequency frame of image, the angle that optical axis is rotated around camera coordinates system X-axis, light are obtained according to remote sensing satellite camera
The time series for the angle γ that angle that axis is rotated around camera coordinates system Y-axis, optical axis are rotated around camera coordinates system Z axis carries out Fu
In leaf transformation, obtain angle, the optical axis that the angle, optical axis that optical axis rotates around camera coordinates system X-axis are rotated around camera coordinates system Y-axis
Around the frequency spectrum of the angle of camera coordinates system Z axis rotation.
The frame frequency of remote sensing satellite camera is bigger, and the resolution ratio of Fourier transformation is higher.The detector image-forming frame frequency setting,
Using the designed capacity of face battle array imaging detector as the upper limit, set according to the Satellite Vibration frequency range of required sensitivity.In order to protect
The measurement accuracy of optical axis sensitivity vibration frequency is demonstrate,proved, the frame frequency for preferably choosing the remote sensing satellite camera cannot be below to measure most
5 times of big optical axis sensitivity vibration frequency.
It is not described in detail in this specification and partly belongs to common sense well known to those skilled in the art.
Claims (13)
1. a kind of remote sensing satellite camera optical axis microvibration measuring method, it is characterised in that include the following steps:
(1), the front and back two continuous frames image taken by remote sensing satellite camera comprising Same Scene is obtained；
(2), N number of same place in the two continuous frames image of identification front and back in Same Scene, and obtain each same place and sat in image
Coordinate under mark system, N >=3；
(3), based in two continuous frames image imaging process, optical axis rotates angle and front and back two continuous frames around three axis of camera coordinates system
Coordinate of each same place of image under image coordinate system constructs optical axis perturbation equation group；
(4), optical axis perturbation equation group is resolved, optical axis is obtained around three axis of camera coordinates system and rotates angle, and optical axis is sat around camera
Three axis of mark system rotation angle compensates.
2. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that further include
Following steps:
(5), (the 1)~step that repeats the above steps (4) obtains the time sequence for the angle that optical axis is rotated around three axis of camera coordinates system
Column；
(6), the frequency frame that image is obtained according to remote sensing satellite camera, by optical axis around the time sequence of three axis of camera coordinates system rotation angle
Column carry out Fourier transformation, obtain optical axis around the frequency spectrum of three axis of camera coordinates system rotation angle.
3. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that the light
Axis perturbation equation group are as follows:
Wherein, the described (xi-1,j,yi-1,j) it is previous frame image, coordinate of j-th of same place under image coordinate system；(xi,j,
yi,j) it is a later frame image, coordinate of j-th of same place under image coordinate system, j=1~N, MxTurn for camera coordinates system X-axis
Change matrix, MyFor camera coordinates system Y-axis transition matrix, MzFor camera coordinates system Z axis transition matrix.
4. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 3, it is characterised in that the phase
Machine coordinate system X-axis transition matrix MxAre as follows:
Wherein, f is camera focus, and α is optical axis around camera coordinates system X-axis rotation angle.
5. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 3, it is characterised in that the phase
Machine coordinate system Y-axis transition matrix MyAre as follows:
Wherein, f is camera focus, and β is optical axis around camera coordinates system Y-axis rotation angle.
6. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 3, it is characterised in that the phase
Machine coordinate system Z axis transition matrix MzAre as follows:
Wherein, f is camera focus, and γ is optical axis around camera coordinates system Z axis rotation angle.
7. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that when two width
When image is push-scanning image mode image, optical axis is indicated around the formula that the angle that camera coordinates system Y-axis rotates compensates:
Wherein, v is satellite in orbit flying speed, and T is the frame frequency period, and H is orbit altitude, and R is earth radius, βafterAfter compensation
The angle that is rotated around camera coordinates system Y-axis of optical axis；βbeforeThe angle rotated for the optical axis before compensation around camera coordinates system Y-axis.
8. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that when two width
When image is staring imaging mode image, optical axis is indicated around the formula that the angle that camera coordinates system Y-axis rotates compensates:
Wherein, v is satellite in orbit flying speed, and T is the frame frequency period, and H is orbit altitude, βafterIt is compensated optical axis around camera
The angle of coordinate system Y-axis rotation；βbeforeThe angle rotated for the optical axis before compensation around camera coordinates system Y-axis.
9. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that when two width
When image is push-scanning image mode image, to the imaging process with drift angle calibration function, to optical axis around camera coordinates system Z axis
The angle of rotation carries out drift angle correction, and formula indicates are as follows:
γafter=γbefore-θ
Wherein, θ is that current drift angle corrects angular speed, γafterIt is compensated optical axis around the angle that camera coordinates system Z axis rotates
Degree；γbeforeThe angle rotated for the optical axis before compensation around camera coordinates system Z axis.
10. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that described distant
The frame frequency of sense Satellite Camera cannot be below 5 times of the maximum optical axis sensitivity vibration frequency that need to be measured.
11. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that the figure
As signal-to-noise ratio is at least more than 20dB.
12. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that the figure
Image contrast is not less than 5.
13. a kind of remote sensing satellite camera optical axis microvibration measuring method according to claim 1, it is characterised in that using most
Small two, which multiply quasi-solution, calculates optical axis perturbation equation group.
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| CN111323191A (en) * | 2020-04-16 | 2020-06-23 | 北京空间飞行器总体设计部 | Device for testing influence of micro-vibration of spacecraft on imaging quality of optical camera |
| CN116593121A (en) * | 2023-07-12 | 2023-08-15 | 中国航空工业集团公司沈阳空气动力研究所 | Aircraft model vibration measurement method based on monitoring camera |
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