CN110514286A - A Method for Measuring Microvibration of Optical Axis of Remote Sensing Satellite Camera - Google Patents
A Method for Measuring Microvibration of Optical Axis of Remote Sensing Satellite Camera Download PDFInfo
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Abstract
Description
技术领域technical field
本发明公开了一种遥感卫星相机的光轴微振动测量方法，属于航天器测控领域。The invention discloses a method for measuring optical axis micro-vibration of a remote sensing satellite camera, belonging to the field of spacecraft measurement and control.
背景技术Background technique
遥感卫星相机为达到最佳成像效果，需确保入轨后相机的光轴与地面设计一致，对此需通过大量的实验验证和飞行状态模拟来实现。但是，入轨工作期间因卫星平台振动干扰造成的光轴扰动，却难以进行测量和补偿。因此，在轨实时对遥感卫星相机的光轴微振动进行测量，对遥感相机的图像质量恢复就显得尤为重要。In order to achieve the best imaging effect of the remote sensing satellite camera, it is necessary to ensure that the optical axis of the camera is consistent with the design on the ground after entering orbit, which needs to be realized through a large number of experimental verification and flight state simulation. However, it is difficult to measure and compensate for the optical axis disturbance caused by the vibration interference of the satellite platform during the orbiting operation. Therefore, it is particularly important to measure the optical axis micro-vibration of the remote sensing satellite camera in real time on-orbit to restore the image quality of the remote sensing camera.
国内目前已有的遥感卫星相机微振动在轨测量方法，一部分是针对发射主动段的振动监测，持续时间比较短，不能满足遥感卫星相机在轨寿命过程中的高精度测量需求；另一部分，如专利CN201210285482.0提出的卫星在轨微振动测量方法，虽可满足长时间测量需求，但其原理均为通过惯性传感器对卫星平台的振动情况进行监测来实现对遥感相机的振动情况的间接推断。以上这些方法，都不能对影响遥感相机成像质量的关键因素：相机光轴信息进行直接的准确测量。此外，测量系统所需的机械敏感元件在轨长时间运行的可靠性，以及随即带来的系统复杂度也降低了遥感卫星相机系统的可靠性和易用性。The current on-orbit measurement methods of micro-vibration of remote sensing satellite cameras in China are partly aimed at the vibration monitoring of the active segment of the launch, and the duration is relatively short, which cannot meet the high-precision measurement requirements during the on-orbit life of remote sensing satellite cameras; the other part, such as The satellite on-orbit micro-vibration measurement method proposed in the patent CN201210285482.0 can meet the long-term measurement requirements, but its principle is to monitor the vibration of the satellite platform through the inertial sensor to realize the indirect inference of the vibration of the remote sensing camera. None of the above methods can directly and accurately measure the key factor affecting the imaging quality of remote sensing cameras: the optical axis information of the camera. In addition, the reliability of the long-term operation of the mechanically sensitive components required by the measurement system on orbit, and the resulting system complexity also reduce the reliability and ease of use of the remote sensing satellite camera system.
随着高分辨率遥感的任务需求及目标精度要求的提高，遥感卫星相机在任务过程中对其光轴位置的监测能力与成像质量的关系越发紧密，已经直接影响到遥感卫星系统的设计水平。With the improvement of high-resolution remote sensing mission requirements and target accuracy requirements, the relationship between the monitoring ability of remote sensing satellite cameras and the imaging quality of their optical axis positions during missions has become more and more closely related, which has directly affected the design level of remote sensing satellite systems.
发明内容Contents of the invention
本发明的技术解决问题是：克服现有技术的不足，提供了一种遥感卫星相机光轴微振动测量方法解决了现有遥感卫星系统的微振动测量持续时间短、可靠性受限以及无法对遥感卫星相机光轴微振动进行直接监测的问题。The technical problem of the present invention is: to overcome the deficiencies of the prior art, to provide a remote sensing satellite camera optical axis micro-vibration measurement method to solve the existing remote sensing satellite system micro-vibration measurement duration is short, the reliability is limited and cannot The problem of direct monitoring of optical axis micro-vibration of remote sensing satellite camera.
本发明的技术解决方案是：一种遥感卫星相机光轴微振动测量方法，该方法包括下列步骤：The technical solution of the present invention is: a method for measuring the micro-vibration of the optical axis of a remote sensing satellite camera, the method comprising the following steps:
(1)、获取遥感卫星相机所拍摄到的包含同一场景的前后连续两帧图像；(1), obtain two consecutive frames of images including the same scene captured by the remote sensing satellite camera;
(2)、识别前后连续两帧图像中同一场景中的N个同名点，并获取每个同名点在图像坐标系下的坐标，N≥3；(2), identify N homonymous points in the same scene in two consecutive frames of images before and after, and obtain the coordinates of each homonymous point in the image coordinate system, N≥3;
(3)、基于连续两帧图像成像过程中，光轴绕相机坐标系三轴旋转角度和前后连续两帧图像每个同名点在图像坐标系下的坐标，构建光轴扰动方程组；(3), based on the three-axis rotation angle of the optical axis around the camera coordinate system and the coordinates of each point of the same name in the image coordinate system of the two consecutive frames of images during the imaging process of two consecutive frames, the optical axis perturbation equations are constructed;
(4)、解算光轴扰动方程组，得到光轴绕相机坐标系三轴旋转角度，并对光轴绕相机坐标系三轴旋转角度进行补偿。(4) Solve the optical axis perturbation equations to obtain the three-axis rotation angle of the optical axis around the camera coordinate system, and compensate for the three-axis rotation angle of the optical axis around the camera coordinate system.
上述遥感卫星相机光轴微振动测量方法还包括如下步骤：The method for measuring the micro-vibration of the optical axis of the remote sensing satellite camera also includes the following steps:
(5)、重复上述步骤(1)～步骤(4)，得到光轴绕相机坐标系三轴旋转的角度的时间序列；(5), repeat above-mentioned steps (1)～step (4), obtain the time sequence of the angle that optical axis rotates around the three axes of camera coordinate system;
(6)、根据遥感卫星相机获取图像的频帧，将光轴绕相机坐标系三轴旋转角度的时间序列，进行傅里叶变换，得到光轴绕相机坐标系三轴旋转角度的频谱。(6) According to the frequency frame of the image acquired by the remote sensing satellite camera, the time series of the three-axis rotation angle of the optical axis around the camera coordinate system is subjected to Fourier transform to obtain the frequency spectrum of the three-axis rotation angle of the optical axis around the camera coordinate system.
所述光轴扰动方程组为：The optical axis perturbation equations are:
其中，所述(xi-1，j，yi-1，j)为前一帧图像，第j个同名点在图像坐标系下的坐标；(xi，j，yi，j)为后一帧图像，第j个同名点在图像坐标系下的坐标，j＝1～N，Mx为相机坐标系X轴转换矩阵，My为相机坐标系Y轴转换矩阵，Mz为相机坐标系Z轴转换矩阵。Among them, the ( xi-1, j , y i-1, j ) is the coordinates of the jth point with the same name in the image coordinate system in the previous frame image; ( xi, j , y i, j ) is In the next frame of image, the coordinates of the jth point with the same name in the image coordinate system, j=1～N, M x is the X-axis transformation matrix of the camera coordinate system, M y is the Y-axis transformation matrix of the camera coordinate system, and M z is the camera Coordinate system Z-axis transformation matrix.
所述相机坐标系X轴转换矩阵Mx为：The X -axis transformation matrix Mx of the camera coordinate system is:
其中，f为相机焦距，α为光轴绕相机坐标系X轴旋转角度。Among them, f is the focal length of the camera, and α is the rotation angle of the optical axis around the X-axis of the camera coordinate system.
所述相机坐标系Y轴转换矩阵My为：The camera coordinate system Y-axis conversion matrix M y is:
其中，f为相机焦距，β为光轴绕相机坐标系Y轴旋转角度。Among them, f is the focal length of the camera, and β is the rotation angle of the optical axis around the Y axis of the camera coordinate system.
所述相机坐标系Z轴转换矩阵Mz为：The camera coordinate system Z-axis conversion matrix M z is:
其中，f为相机焦距，γ为光轴绕相机坐标系Z轴旋转角度。Among them, f is the focal length of the camera, and γ is the rotation angle of the optical axis around the Z axis of the camera coordinate system.
当两幅图像为推扫成像模式图像时，对光轴绕相机坐标系Y轴旋转的角度进行补偿的公式表示：When the two images are push-broom imaging mode images, the formula for compensating the angle of rotation of the optical axis around the Y-axis of the camera coordinate system is expressed as:
其中，v为在轨卫星飞行速度，T为帧频周期，H为轨道高度，R为地球半径，βafter为补偿后的光轴绕相机坐标系Y轴旋转的角度；βbefore为补偿前的光轴绕相机坐标系Y轴旋转的角度。Among them, v is the flight speed of the satellite in orbit, T is the frame frequency period, H is the orbit height, R is the radius of the earth, β after is the rotation angle of the optical axis around the Y axis of the camera coordinate system after compensation; β before is the angle before compensation The angle by which the optical axis rotates around the Y axis of the camera coordinate system.
当两幅图像为凝视成像模式图像时，对光轴绕相机坐标系Y轴旋转的角度进行补偿的公式表示：When the two images are staring imaging mode images, the formula for compensating the angle of rotation of the optical axis around the Y axis of the camera coordinate system is expressed as:
其中，v为在轨卫星飞行速度，T为帧频周期，H为轨道高度，βafter为补偿后的光轴绕相机坐标系Y轴旋转的角度；βbefore为补偿前的光轴绕相机坐标系Y轴旋转的角度。Among them, v is the flight speed of the satellite in orbit, T is the frame frequency period, H is the orbit height, β after is the angle of rotation of the optical axis around the Y axis of the camera coordinate system after compensation; β before is the coordinate of the optical axis around the camera coordinate system before compensation The rotation angle of the Y axis.
当两幅图像为推扫成像模式图像时，对具有偏流角校正功能的成像过程，对光轴绕相机坐标系Z轴旋转的角度进行偏流角校正，公式表示为：When the two images are images in the push-broom imaging mode, for the imaging process with the function of bias angle correction, the angle of rotation of the optical axis around the Z-axis of the camera coordinate system is corrected for the bias angle. The formula is expressed as:
γafter＝γbefore-θγ after = γ before -θ
其中，θ为当前偏流角校正角速度，γafter为补偿后的光轴绕相机坐标系Z轴旋转的角度；γbefore为补偿前的光轴绕相机坐标系Z轴旋转的角度。Among them, θ is the angular velocity corrected by the current bias angle, γ after is the angle at which the optical axis rotates around the Z-axis of the camera coordinate system after compensation; γ before is the angle at which the optical axis rotates around the Z-axis of the camera coordinate system before compensation.
所述遥感卫星相机的帧频不能低于需测量的最大光轴敏感振动频率的5倍。The frame frequency of the remote sensing satellite camera cannot be lower than 5 times of the maximum optical axis sensitive vibration frequency to be measured.
所述图像信噪比至少大于20dB。The image signal-to-noise ratio is at least greater than 20dB.
所述图像对比度不低于5。The image contrast ratio is not lower than 5.
采用最小二乘拟解算光轴扰动方程组。The least square method is used to solve the optical axis disturbance equations.
本发明与现有技术相比的有益效果是：The beneficial effect of the present invention compared with prior art is:
(1)、本发明提供的一种遥感卫星相机的光轴微振动测量方法，相比现有空间遥感相机光轴微振动测量方法，从设计理念上，实现了对光轴位置变化信息的直接获取，使后期进行图像直接修正成为可能，从系统角度提升了高分辨率成像系统的设计精度，对提升空间遥感相机的系统性能具有积极效果。(1), the optical axis micro-vibration measurement method of a remote sensing satellite camera provided by the present invention, compared with the existing space remote sensing camera optical axis micro-vibration measurement method, from the design concept, it has realized the direct measurement of the optical axis position change information Acquisition makes it possible to directly correct images in the later stage, improves the design accuracy of high-resolution imaging systems from a system perspective, and has a positive effect on improving the system performance of space remote sensing cameras.
(2)、本发明采用面阵相机进行成像，利用面阵高频成像模式，实现对微振动信息的获取，该方法利用卫星主载荷直接进行微振动监测，不单独引入部组件，简化了系统设计，提高了系统可靠性。(2), the present invention uses an area array camera for imaging, and utilizes the area array high-frequency imaging mode to realize the acquisition of micro-vibration information. This method uses the satellite main load to directly monitor micro-vibration, and does not introduce external components separately, which simplifies the system design, improving system reliability.
(3)、本发明帧频不能低于需测量的的最大光轴敏感振动频率的5倍，实现了对频率信息的可靠获取。(3) The frame frequency of the present invention cannot be lower than 5 times of the maximum optical axis sensitive vibration frequency to be measured, thus realizing reliable acquisition of frequency information.
(4)、本发明对相机坐标系相对于惯性坐标系的旋转进行了补偿，分别对推扫、凝视模式下卫星的飞行状态设计了不同的补偿模式，有效的提升了测量精度。(4), the present invention compensates the rotation of the camera coordinate system relative to the inertial coordinate system, and designs different compensation modes for the flight status of the satellite in the push-broom and staring modes, effectively improving the measurement accuracy.
附图说明Description of drawings
图1为本发明实施例光轴微振动测量过程示意图。Fig. 1 is a schematic diagram of the optical axis micro-vibration measurement process according to an embodiment of the present invention.
具体实施方式Detailed ways
以下结合附图和具体实施例对本发明进行详细说明。The present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.
如图1所示，一种遥感卫星相机光轴微振动测量方法，涉及一种遥感卫星相机的光轴信息敏感方法，解决因卫星平台干扰、安装误差、环境条件等因素为遥感卫星相机引入的光轴偏移量的测量问题，以及随之带来的像质衰减的问题。该方法包括下列步骤：As shown in Figure 1, a method for measuring optical axis micro-vibration of remote sensing satellite cameras involves a sensitive method for optical axis information of remote sensing satellite cameras, which solves the problems introduced by remote sensing satellite cameras due to factors such as satellite platform interference, installation errors, and environmental conditions. The problem of measuring the optical axis offset, and the resulting problem of image quality attenuation. The method includes the following steps:
(1)、获取遥感卫星相机所拍摄到的包含同一场景的前后连续两帧图像；(1), obtain two consecutive frames of images including the same scene captured by the remote sensing satellite camera;
所述遥感卫星相机为面阵相机。面阵相机开机，可以进行面阵高频成像模式选择，设置对应的探测器成像帧频。还可以进行高频成像模式选择，根据卫星当前运行轨道和姿态状态，选择凝视成像模式或推扫成像模式。The remote sensing satellite camera is an area array camera. When the area array camera is turned on, you can select the area array high-frequency imaging mode and set the corresponding detector imaging frame rate. It is also possible to select the high-frequency imaging mode, and select staring imaging mode or push-broom imaging mode according to the current orbit and attitude status of the satellite.
可根据系统的数据传输能力，选择面阵探测器中的全画幅数据或窗口数据进行传输记录。According to the data transmission capability of the system, the full-frame data or window data in the area array detector can be selected for transmission and recording.
(2)、识别前后连续两帧图像中同一场景中的N个同名点，并获取每个同名点在图像坐标系下的坐标，至少包含同一场景三个以上的同名点，即N≥3；(2), identify N homonymous points in the same scene in two consecutive frames of images before and after, and obtain the coordinates of each homonymous point in the image coordinate system, including at least three homonymous points in the same scene, that is, N≥3;
识别两幅图像中同一场景中的同名点的方法为：The method to identify points with the same name in the same scene in two images is:
(2.1)、分别对两幅图像用高斯差分尺度(Different of Gussian，DOG)算子近似高斯拉普拉斯函数，进行边缘提取，构造金字塔形多分辨率尺度空间；(2.1), respectively using Gaussian difference scale (Different of Gussian, DOG) operator to approximate Gaussian Laplacian function to two images, carry out edge extraction, construct pyramidal multi-resolution scale space;
(2.2)、特征点粗定位(2.2), rough positioning of feature points
将两幅图像中边缘的每个采样点与其在金字塔形多分辨率尺度空间中的所有相邻点比较，得到两幅图像中的粗定位特征点在金字塔形多分辨率尺度空间的位置，即：和它同尺度的8个相邻点以及上下相邻尺度对应的9×2个点共26个点比较，寻找尺度空间和图像空间上的极值点作为图像粗定位特征点。Comparing each sampling point of the edge in the two images with all its adjacent points in the pyramidal multi-resolution scale space, the position of the coarse positioning feature point in the two images in the pyramidal multi-resolution scale space is obtained, namely : Compared with its 8 adjacent points of the same scale and 9×2 points corresponding to the upper and lower adjacent scales, a total of 26 points, find the extreme points in the scale space and image space as the coarse positioning feature points of the image.
(2.3)特征点精定位(2.3) Fine positioning of feature points
为了得到精准且稳健的特征点，同时将定位精度提升到亚像素级，须对粗定位特征点邻域空间进行二元二次拟合，利用离散空间点插值得到连续空间极值点信息，同时去除由于DOG算子的边缘响应而产生的边缘点，得到图像精定位特征点在金字塔形多分辨率尺度空间的位置；In order to obtain accurate and robust feature points and improve the positioning accuracy to the sub-pixel level, it is necessary to perform binary quadratic fitting on the neighborhood space of coarse positioning feature points, use discrete space point interpolation to obtain continuous space extreme point information, and at the same time Remove the edge points generated due to the edge response of the DOG operator, and obtain the position of the image's precise positioning feature points in the pyramid-shaped multi-resolution scale space;
(2.4)图像精定位特征点的主方向确定(2.4) Determination of the main direction of the image fine positioning feature points
计算图像精定位特征点的图像梯度，并用直方图统计邻域内像素的梯度和方向，梯度直方图将0°～360°的方向范围均分为36柱。直方图的峰值方向作为图像精定位特征点的主方向；Calculate the image gradient of the image's precise positioning feature points, and use the histogram to count the gradient and direction of the pixels in the neighborhood. The gradient histogram divides the direction range from 0° to 360° into 36 columns. The peak direction of the histogram is used as the main direction of the image to precisely locate the feature points;
(2.5)特征点描述及同名点确定(2.5) Description of feature points and determination of points with the same name
根据每一精定位特征点在金字塔形多分辨率尺度空间的位置和主方向，采用一个具有独特性的特征向量(描述子)表征两幅图像中所有的精定位特征点，将描述子在欧式空间最接近的一对点视为同名点。描述子可以使用在图像精定位特征点邻域空间内4×4的窗口中计算的8个方向的梯度信息，共4×4×8＝128维向量表征。According to the position and main direction of each finely positioned feature point in the pyramid-shaped multi-resolution scale space, a unique feature vector (descriptor) is used to characterize all the finely positioned feature points in the two images, and the descriptor is divided into Euclidean A pair of points that are spatially closest are regarded as having the same name. The descriptor can use the gradient information in 8 directions calculated in the 4×4 window in the neighborhood space of the fine-positioned feature point of the image, and a total of 4×4×8=128-dimensional vector representation.
上述识别同名点的方法，采用高斯差分尺度算子近似高斯拉普拉斯函数，进行边缘提取，并通过特征点粗定位、特征点精定位、图像精定位特征点的主方向确定等步骤实现同名点确定，实现了同名点的可靠获取，并且精度高，对图像分辨率不敏感，但是上述方法要求图像信噪比不能太低，作为优选方案，图像信噪比最好是大于20dB。另外，场景丰富，不能太平滑，图像中明暗区域灰度反差即对比度最好不低于5。The above-mentioned method for identifying the same-named points uses the Gaussian difference scale operator to approximate the Gaussian Laplacian function for edge extraction, and realizes the same-named points through the steps of rough positioning of feature points, fine positioning of feature points, and determination of the main direction of feature points for fine positioning of the image. The point is determined, and the reliable acquisition of the same name point is realized, and the precision is high, and it is not sensitive to the image resolution, but the above method requires that the image signal-to-noise ratio should not be too low. As a preferred solution, the image signal-to-noise ratio is preferably greater than 20dB. In addition, the scene is rich and cannot be too smooth, and the gray contrast between the light and dark areas in the image, that is, the contrast ratio should not be lower than 5.
(3)、基于连续两帧图像成像过程中光轴绕相机坐标系X轴旋转的角度、光轴绕相机坐标系Y轴旋转的角度、光轴绕相机坐标系Z轴旋转的角度，分别构建相机坐标系X轴转换矩阵Mx、相机坐标系Y轴转换矩阵My和相机坐标系Z轴转换矩阵Mz；(3), based on the angle of rotation of the optical axis around the X-axis of the camera coordinate system, the angle of rotation of the optical axis around the Y-axis of the camera coordinate system, and the angle of rotation of the optical axis around the Z-axis of the camera coordinate system during the imaging process of two consecutive frames, respectively construct Camera coordinate system X-axis transformation matrix M x , camera coordinate system Y-axis transformation matrix M y and camera coordinate system Z-axis transformation matrix M z ;
所述相机坐标系X轴转换矩阵Mx为：The X -axis transformation matrix Mx of the camera coordinate system is:
其中，f为相机焦距，α为光轴绕相机坐标系X轴旋转的角度。Among them, f is the focal length of the camera, and α is the rotation angle of the optical axis around the X axis of the camera coordinate system.
所述相机坐标系Y轴转换矩阵My为：The camera coordinate system Y-axis conversion matrix M y is:
其中，β为光轴绕相机坐标系Y轴旋转的角度。Among them, β is the angle by which the optical axis rotates around the Y axis of the camera coordinate system.
所述相机坐标系Z轴转换矩阵My为：The camera coordinate system Z-axis transformation matrix M y is:
其中，γ为光轴绕相机坐标系Z轴旋转的角度。Among them, γ is the angle by which the optical axis rotates around the Z axis of the camera coordinate system.
(4)、根据前后连续两帧图像每个同名点在图像坐标系下的坐标，构建光轴扰动方程组：(4), according to the coordinates of each point of the same name in the image coordinate system of two consecutive frames of images before and after, construct the optical axis perturbation equation group:
其中，所述(xi-1，j，yi-1，j)为前一帧图像，第j个同名点在图像坐标系下的坐标；(xi，j，yi，j)为后一帧图像，第j个同名点在图像坐标系下的坐标，j＝1～N；Among them, the ( xi-1, j , y i-1, j ) is the coordinates of the jth point with the same name in the image coordinate system in the previous frame image; ( xi, j , y i, j ) is In the next frame of image, the coordinates of the jth point with the same name in the image coordinate system, j=1～N;
(5)、解算光轴扰动方程组，得到光轴绕相机坐标系X轴旋转的角度、光轴绕相机坐标系Y轴旋转的角度、光轴绕相机坐标系Z轴旋转的角度，并对光轴绕相机坐标系Y轴旋转的角度进行补偿，，更新光轴绕相机坐标系Y轴旋转的角度，消除相机坐标系相对于惯性坐标系的旋转对测量结果的影响，有效提升测量精度。(5), solve the optical axis perturbation equation group, obtain the angle that the optical axis rotates around the X axis of the camera coordinate system, the angle that the optical axis rotates around the Y axis of the camera coordinate system, the angle that the optical axis rotates around the Z axis of the camera coordinate system, and Compensate the angle of rotation of the optical axis around the Y axis of the camera coordinate system, update the angle of rotation of the optical axis around the Y axis of the camera coordinate system, eliminate the influence of the rotation of the camera coordinate system relative to the inertial coordinate system on the measurement results, and effectively improve the measurement accuracy .
当同名点数大于3时，可以采用最小二乘拟解算光轴扰动方程组。When the number of points with the same name is greater than 3, the least squares can be used to solve the optical axis disturbance equations.
当两幅图像为推扫成像模式图像时，对光轴绕相机坐标系Y轴旋转的角度进行补偿的公式表示：When the two images are push-broom imaging mode images, the formula for compensating the angle of rotation of the optical axis around the Y-axis of the camera coordinate system is expressed as:
其中，v为在轨卫星飞行速度，T为帧频周期，H为轨道高度，尺为地球半径，βafter为补偿后的光轴绕相机坐标系Y轴旋转的角度；βbefore为补偿前的光轴绕相机坐标系Y轴旋转的角度。Among them, v is the flight speed of the satellite in orbit, T is the frame frequency period, H is the orbit height, the ruler is the radius of the earth, β after is the angle of the optical axis after compensation around the Y axis of the camera coordinate system; β before is the angle before compensation The angle by which the optical axis rotates around the Y axis of the camera coordinate system.
当两幅图像为凝视成像模式图像时，对光轴绕相机坐标系Y轴旋转的角度进行补偿的公式表示：When the two images are staring imaging mode images, the formula for compensating the angle of rotation of the optical axis around the Y axis of the camera coordinate system is expressed as:
其中，v为在轨卫星飞行速度，T为帧频周期，H为轨道高度，βafter为补偿后的光轴绕相机坐标系Y轴旋转的角度；βbefore为补偿前的光轴绕相机坐标系Y轴旋转的角度。Among them, v is the flight speed of the satellite in orbit, T is the frame frequency period, H is the orbit height, β after is the angle of rotation of the optical axis around the Y axis of the camera coordinate system after compensation; β before is the coordinate of the optical axis around the camera coordinate system before compensation The rotation angle of the Y axis.
当两幅图像为推扫成像模式图像时，对具有偏流角校正功能的成像过程，对光轴绕相机坐标系Z轴旋转的角度进行偏流角校正，公式表示为：When the two images are images in the push-broom imaging mode, for the imaging process with the function of bias angle correction, the angle of rotation of the optical axis around the Z-axis of the camera coordinate system is corrected for the bias angle. The formula is expressed as:
γafter＝γbefore-θγ after = γ before -θ
其中，θ为当前偏流角校正角速度，γafter为补偿后的光轴绕相机坐标系Z轴旋转的角度；γbefore为补偿前的光轴绕相机坐标系Z轴旋转的角度。Among them, θ is the angular velocity corrected by the current bias angle, γ after is the angle at which the optical axis rotates around the Z-axis of the camera coordinate system after compensation; γ before is the angle at which the optical axis rotates around the Z-axis of the camera coordinate system before compensation.
(6)、重复上述步骤(1)～步骤(5)，得到光轴绕相机坐标系X轴旋转的角度、光轴绕相机坐标系Y轴旋转的角度、光轴绕相机坐标系Z轴旋转的角度的时间序列；(6) Repeat steps (1) to (5) above to obtain the angle of rotation of the optical axis around the X-axis of the camera coordinate system, the angle of rotation of the optical axis around the Y-axis of the camera coordinate system, and the rotation of the optical axis around the Z-axis of the camera coordinate system The time series of angles;
(7)、根据遥感卫星相机获取图像的频帧，将光轴绕相机坐标系X轴旋转的角度、光轴绕相机坐标系Y轴旋转的角度、光轴绕相机坐标系Z轴旋转的角度γ的时间序列，进行傅里叶变换，得到光轴绕相机坐标系X轴旋转的角度、光轴绕相机坐标系Y轴旋转的角度、光轴绕相机坐标系Z轴旋转的角度的频谱。(7), according to the frequency frame of the image obtained by the remote sensing satellite camera, the angle of rotating the optical axis around the X-axis of the camera coordinate system, the angle of rotating the optical axis around the Y-axis of the camera coordinate system, and the angle of rotating the optical axis around the Z-axis of the camera coordinate system The time series of γ is Fourier transformed to obtain the spectrum of the angle of rotation of the optical axis around the X-axis of the camera coordinate system, the angle of rotation of the optical axis around the Y-axis of the camera coordinate system, and the angle of rotation of the optical axis around the Z-axis of the camera coordinate system.
遥感卫星相机的帧频越大，傅里叶变换的分辨率越高。所述探测器成像帧频设置，以面阵成像探测器的设计能力为上限，根据所需敏感的卫星振动频率范围来设定。为了保证光轴敏感振动频率的测量精度，最好选取所述遥感卫星相机的帧频不能低于需测量的最大光轴敏感振动频率的5倍。The larger the frame rate of the remote sensing satellite camera, the higher the resolution of the Fourier transform. The imaging frame frequency of the detector is set with the design capability of the area array imaging detector as the upper limit, and is set according to the required sensitive satellite vibration frequency range. In order to ensure the measurement accuracy of the optical axis sensitive vibration frequency, it is preferable to select the frame frequency of the remote sensing satellite camera not to be lower than 5 times of the maximum optical axis sensitive vibration frequency to be measured.
本说明书中未进行详细描述部分属于本领域技术人员公知常识。Parts not described in detail in this specification belong to the common knowledge of those skilled in the art.
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