CN110611775B - Skew defocusing compensation method and system of aerial remote sensor and terminal equipment - Google Patents
Skew defocusing compensation method and system of aerial remote sensor and terminal equipment Download PDFInfo
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- CN110611775B CN110611775B CN201910924578.9A CN201910924578A CN110611775B CN 110611775 B CN110611775 B CN 110611775B CN 201910924578 A CN201910924578 A CN 201910924578A CN 110611775 B CN110611775 B CN 110611775B
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- H04N23/60—Control of cameras or camera modules
- H04N23/67—Focus control based on electronic image sensor signals
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Abstract
The invention belongs to the technical field of aerial imaging, and provides a method, a system and a terminal device for skew defocusing compensation of an aerial remote sensor; in the embodiment provided by the invention, the imaging system can carry out multiple exposures on the area array detector in the process of one-time scanning imaging, and the method realizes the compensation of the slant-distance defocusing amount in the adjacent two-time exposure interval in the process, so that the use efficiency of the motor is improved, and the defocusing compensation error generated under sudden disturbance can be reduced.
Description
Technical Field
The invention relates to the technical field of aerial imaging, in particular to a method and a system for slope defocus compensation of an aerial remote sensor and terminal equipment.
Background
Because the tele strabismus remote sensor needs to perform large-angle strabismus sweep imaging, the defocusing amount of the tele strabismus remote sensor is also changed due to the continuous change of the photographic distance in the imaging process. If the variation of the focal plane is larger than the half focal depth of the system, the image is blurred, the resolution is reduced, and in order to ensure a high-quality imaging effect, the slant-distance defocus compensation is required. The compensation scheme of the slant-range defocusing is generally two modes of mechanical mechanism compensation and focal plane assembly motion compensation. The mechanical compensation is usually to add a cam mechanism, and the required volume size is large and the weight is also heavy, and because the volume size of the aerial remote sensor is usually limited, the installation of the compensation mechanism cannot be realized in many cases. The motion compensation of the focal plane assembly is realized by pre-fitting the defocusing amount into a linear function of the operation speed of the focal plane assembly, and when the aerial remote sensor images the ground at a constant speed, the motor is used for controlling the focal plane assembly to move at a constant speed. However, in the imaging process, the stepping motor is always in an electrified running state, if the aerial remote sensor works for a long time at a high speed and high ratio, the accumulated heat of the motor is large, and the normal running is seriously influenced.
In addition, if the aerial remote sensor is suddenly disturbed in the scanning imaging process, the ground scanning speed also changes dramatically, and if the focal plane assembly is continuously driven to move according to the preset fitting speed, a large defocus compensation error is generated.
Therefore, a new technical solution is needed to solve the above technical problems.
Disclosure of Invention
The embodiment of the invention provides a skew defocusing compensation method and system of an aerial remote sensor.
The first aspect of the embodiment of the invention provides an offset defocus compensation method for an aerial remote sensor, which comprises the following steps:
when an area array detector carries out continuous exposure on an object to be shot, receiving an exposure synchronizing signal sent by the area array detector when the area array detector carries out current exposure;
acquiring the flying height of the carrier and the scanning angle of the aerial remote sensor during the current exposure so as to calculate the theoretical position of the focal plane assembly;
acquiring the current actual position of the focal plane assembly, and judging whether the difference value between the theoretical position and the actual position is not less than a starting threshold value;
if so, driving the focal plane assembly to move to the theoretical position after the current exposure of the area array detector and before the next exposure through the motor assembly.
Optionally, in another embodiment provided by the present application, the slant-defocus compensation method further includes:
and if the difference value between the theoretical position and the actual position is smaller than the starting threshold value, the current position of the focal plane assembly is not changed.
Optionally, in another embodiment provided by the present application, the driving the focal plane assembly by the motor assembly to move to the theoretical position after the current exposure of the area array detector and before the next exposure is performed includes:
calculating the rotating speed v of the motor:
wherein, PStepFor each step of the motor corresponding to the stroke of the focal plane assembly, TPeriodTime interval between exposures, T, for an area array detector1For exposure duration, ΔNIs the difference between the theoretical position and the actual position;
and controlling the focal plane assembly to move to the theoretical position after the current exposure of the area array detector and before the next exposure by controlling the motor at the speed V.
Optionally, in another embodiment provided in the present application, before the area array detector continuously exposes the object to be photographed, the method includes:
and acquiring the focal length of the aerial remote sensor, the scanning initial angle during imaging and the corresponding flying height of the aerial remote sensor on the aerial carrier so as to calculate the initial position of the focusing assembly of the aerial remote sensor.
Optionally, in another embodiment provided by the present application, the slant-defocus compensation method further includes:
when the exposure times of the area array detector for carrying out one-time continuous exposure reach a preset value, finishing the imaging;
and controlling the aerial remote sensor to move to the initial position to prepare for the next imaging scanning.
Optionally, in another embodiment provided herein, the start-up threshold is less than 2F, a semi-focal depth Δ of the aerial remote sensor imaging system2And lambda, wherein F is the F number of the lens, and lambda is the wavelength of visible light.
A second aspect of an embodiment of the present invention provides an oblique defocus compensation system for a space aerial remote sensor, where the oblique defocus compensation system includes:
the signal receiving module is used for receiving an exposure synchronizing signal sent by the area array detector when the area array detector carries out continuous exposure on an object to be shot;
the acquisition module is used for acquiring the flying height of the carrier and the scanning angle of the aerial remote sensor during the current exposure so as to calculate the theoretical position of the focal plane assembly; the focal plane module is also used for acquiring the current actual position of the focal plane module and judging whether the difference value between the theoretical position and the actual position is not less than a starting threshold value;
and the motion control module is used for driving the focal plane assembly to move to the theoretical position after the area array detector performs the current exposure and before the next exposure through the motor assembly when the difference value between the theoretical position and the actual position is larger than a starting threshold value.
Optionally, in another embodiment provided by the present application, the motion control module is further configured to:
and when the difference value between the theoretical position and the actual position is smaller than the starting threshold value, keeping the position of the focal plane assembly unchanged.
A third aspect of embodiments of the present invention provides a terminal device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the method according to any one of the first aspect is implemented.
A fourth aspect of embodiments of the present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the method of any one of the first aspect mentioned above.
Compared with the prior art, the embodiment of the invention has the following beneficial effects: in the slant-range defocus compensation method provided by the invention, the imaging system can carry out multiple exposures on the area array detector in the process of one-time scanning imaging, the method realizes the compensation of the slant-range defocus amount in the adjacent two-time exposure interval in the process, and the method not only improves the use efficiency of the motor, but also can reduce the defocus compensation error generated under sudden disturbance.
Drawings
In order to more clearly illustrate the technical method of the embodiments of the present invention, the drawings required in the embodiments or the prior art description are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without inventive labor.
Fig. 1 is a schematic flow chart illustrating an implementation process of an offset defocus compensation method for an aerial remote sensor according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of a skew defocus compensation method according to an embodiment of the present invention;
fig. 3 is a timing chart of a skew defocus compensation method according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an offset defocus compensation system of an aerial remote sensor according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical solution of the present invention, the following description will be given by way of specific examples.
The first embodiment is as follows:
fig. 1 is a schematic flow chart of an offset defocus compensation method for an aerial remote sensor according to an embodiment of the present invention, where an apparatus corresponding to the method includes an area array detector, a focus control unit, a motor assembly, and a focal plane assembly, as shown in fig. 2. The method may comprise the steps of:
step S101: when the area array detector carries out continuous exposure on an object to be shot, receiving an exposure synchronizing signal sent by the area array detector when carrying out current exposure.
Before the area array detector carries out continuous exposure on an object to be shot, the method comprises the following steps:
and acquiring the focal length of the aerial remote sensor, the scanning initial angle during imaging and the corresponding flying height of the aerial remote sensor on the aerial carrier so as to calculate the initial position of the focusing assembly of the aerial remote sensor.
Specifically, the imaging process of the area array squint aerial remote sensor comprises two stages, namely an imaging return stage and an imaging scanning stage. The imaging return stage is a non-imaging stage, and the focusing control unit is used for controlling the focusing control unit to perform focusing according to the scanning initial angle theta0Calculating the initial position P of the focusing assembly according to the focal length f of the aerial remote sensor and the flying height H of the carrier on which the aerial remote sensor is positionedS。
Step S102: and acquiring the flying height of the carrier and the scanning angle of the aerial remote sensor during the current exposure so as to calculate the theoretical position of the focal plane assembly.
In the step, when the aerial remote sensor enters an imaging scanning stage, scanning is started from a starting angle, imaging of a new strip is started, and the area array detector is exposed for multiple times at the same time interval. The method comprises the steps that an area array detector sends an exposure synchronizing signal to a focusing control unit at the initial time of each exposure, when the exposure synchronizing signal is received, the focusing control unit records the photographing height and the scanning angle at the current time and takes the exposure time of the area array detector as a timing, and the theoretical position of a focal plane assembly is calculated by using the recorded photographing height and the scanning angle in the period, wherein the focusing control unit receives the exposure time of the area array detector and the set time T of the timing1The exposure time is equal to that of the area array detector.
Step S103: and acquiring the current actual position of the focal plane assembly, and judging whether the difference value between the theoretical position and the actual position is not less than a starting threshold value.
Step S104: if so, driving the focal plane assembly to move to the theoretical position after the current exposure of the area array detector and before the next exposure through the motor assembly.
If the current exposure is assumed to be the Nth exposure, the theoretical position P of the Nth focal plane component is calculatedTNAnd the actual position PANDifference value Δ ofNAnd compares it with a start threshold TsComparing, and judging whether the focal plane assembly needs to move, wherein a threshold value T is startedsLess than the semi-focal depth of the system. If the difference is deltaNGreater than or equal to a starting threshold TsIf the time reaches the preset time, the focusing control unit controls the stepping motor assembly to drive the focal plane assembly to reach the theoretical position before the next exposure of the area array detector; if the difference is deltaNLess than a starting threshold TsThe focal plane assembly does not move.
The slant-range defocus amount Δ P in the imaging process is as follows:
wherein: f is the focal length of the aerial remote sensor, H is the flying height of the carrier, and theta is the scanning inclination angle;
theoretical position P of focal plane assemblyTComprises the following steps: pT＝P0+ΔP。
Wherein: p0The zero position of the focusing assembly is the position of the focal plane assembly when the imaging distance is infinite;
in the skew defocus compensation method for the area array squint aerial remote sensor, the theoretical position P of the focal plane assembly during the Nth exposure isTNAnd the actual position PANBy a difference of
ΔN＝ΔPTN-ΔPAN
The rotating speed of the motor is as follows:
wherein, PStepFor each step of the motor corresponding to the stroke of the focal plane assembly, TPeriodTime interval between exposures, T, for an area array detector1For exposure duration, ΔNIs the difference between the theoretical position and the actual position.
Optionally, the skew defocus compensation method further includes:
and when the exposure times of the area array detector for carrying out one-time continuous exposure reach a preset value, finishing the imaging, and controlling the aerial remote sensor to move to the initial position for preparing for next imaging scanning.
In the step, when the exposure times of the aerial remote sensor reach a specified value, the strip imaging is finished, the aerial remote sensor enters an imaging return stage to prepare for the next strip imaging, and the focusing control unit drives the stepping motor to control the focal plane assembly to move to the initial position of the focal plane assembly to wait for the next strip imaging.
In the slant-range defocus compensation method provided by the invention, the imaging system can carry out multiple exposures on the area array detector in the process of one-time scanning imaging, the method realizes the compensation of the slant-range defocus amount in the adjacent two-time exposure interval in the process, and the method not only improves the use efficiency of the motor, but also can reduce the defocus compensation error generated under sudden disturbance.
The above process is described below with reference to specific examples:
as shown in fig. 2, includes: the device corresponding to the compensation method comprises a focusing control unit, a motor assembly and a focal plane assembly. And the focusing control unit records the flying height of the carrier, the scanning inclination angle and the exposure time of the area array detector in real time. And the focusing control unit sends a control signal to the stepping motor assembly, and the stepping motor assembly drives the movement speed and direction of the focal plane assembly.
According to the geometrical relationship of optical imaging, the following expression is satisfied for an aerial remote sensor for strabismus scanning imaging:
wherein: f is the focal length of the aerial remote sensor, H is the flying height of the carrier, theta is the scanning inclination angle, and delta P is the slant-distance defocusing amount.
Due to H>>f, then
Taking an area array strabismus aerial remote sensor as an example, the focal length f is 1850mm, the half-focal depth is 50um, the flying height H of the carrier is 5000m, the area array detector is exposed for 20 times in the imaging scanning stage, and the exposure time T of the detector110ms, exposure interval T of two adjacent exposures2Is 80 ms. In the present embodiment, the scanning start angle θ0Is 4 degrees, and is implemented as follows:
in the imaging return stage, according to the scanning initial angle theta0Focal length f and carrier flying height H determine the starting position P of the focusing assemblySObtaining the initial position P of the focal plane assemblyS0.02984 mm.
When the aerial remote sensor enters an imaging scanning stage, the area array detector sends an exposure synchronizing signal to the focusing control unit at the initial moment of each exposure, and when the exposure synchronizing signal is received, the focusing control unit records the photographing height and the scanning angle at the current moment to obtain the exposure time T1A timing is made, the timing time is the same as the exposure time, i.e. 10 ms.
During the timing, the focus control unit calculates a theoretical position P of the focal plane assembly using the photographing height and the scanning angleTN. The theoretical position P of the Nth secondary focal plane componentTNAnd the actual position PANDifference value Δ ofNAnd a starting threshold TsAnd (6) carrying out comparison and judgment. Selecting TsThe photographing height, the scanning angle and the theoretical position and the actual position of the focal plane assembly recorded at the 20 exposure moments of the area array detector in one imaging process are shown in table 1.
TABLE 1
If the difference is deltaNGreater than or equal to a starting threshold TsThe focusing control unit calculates the rotating speed v of the driving stepping motor, and when the timing 1 is up, the focusing control unit controls the stepping motor assembly to drive the focal plane assembly to reach the theoretical position P before the next exposure of the area array detectorTN(ii) a If the difference is deltaNLess than a starting threshold TsThe focal plane assembly does not move.
When the exposure times of the aerial remote sensor reach 20 times, the strip imaging is finished, the aerial remote sensor enters an imaging return stage to prepare for the next strip imaging, and the focusing control unit controls the stepping motor assembly to drive the focal plane assembly to move to the initial position to wait for the next strip imaging.
Example two:
fig. 4 shows a schematic structural diagram of a skew defocus compensation system of an aerial remote sensor provided in an embodiment of the present invention, and for convenience of description, only parts related to the embodiment of the present invention are shown:
the skew defocus compensation system of the space aviation remote sensor comprises:
the signal receiving module 41 is configured to receive an exposure synchronization signal sent by the area array detector when the area array detector performs continuous exposure on an object to be photographed;
an obtaining module 42, configured to obtain a flying height of the aircraft and a scanning angle of the aerial remote sensor during the current exposure, so as to calculate a theoretical position of a focal plane assembly; the focal plane module is also used for acquiring the current actual position of the focal plane module and judging whether the difference value between the theoretical position and the actual position is not less than a starting threshold value;
and the motion control module 43 is configured to, when the difference between the theoretical position and the actual position is greater than a start threshold, drive the focal plane assembly to move to the theoretical position after the area array detector performs the current exposure and before performing the next exposure through the motor assembly.
Optionally, in another embodiment provided by the present application, the motion control module is further configured to:
and when the difference value between the theoretical position and the actual position is smaller than the starting threshold value, keeping the position of the focal plane assembly unchanged.
For a specific working process, refer to the first embodiment, which is not described herein again.
Example three:
fig. 5 is a schematic structural diagram of a terminal device according to an embodiment of the present invention, where the terminal device 5 includes a processor 50, a memory 51, and a computer program 52 stored in the memory 51 and operable in the processor 50, and when the processor 50 executes the computer program 52, the steps in the first embodiment of the method are implemented, as in steps S101 to S104.
The above examples are intended to be illustrative of the invention, and not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (9)
1. A skew defocus compensation method of an aerial remote sensor is characterized by comprising the following steps:
when an area array detector carries out continuous exposure on an object to be shot, receiving an exposure synchronizing signal sent by the area array detector when the area array detector carries out current exposure;
acquiring the flying height of the carrier and the scanning angle of the aerial remote sensor during the current exposure so as to calculate the theoretical position of the focal plane assembly;
acquiring the current actual position of the focal plane assembly, and judging whether the difference value between the theoretical position and the actual position is not less than a starting threshold value;
if so, driving the focal plane assembly to move to the theoretical position after the current exposure of the area array detector and before the next exposure through the motor assembly;
the driving of the focal plane component by the motor component to move to the theoretical position after the current exposure of the area array detector and before the next exposure includes:
calculating the rotating speed v of the motor:
wherein, PStepFor each step of the motor corresponding to the stroke of the focal plane assembly, TPeriodTime interval between exposures, T, for an area array detector1For exposure duration, ΔNIs the difference between the theoretical position and the actual position;
and controlling the focal plane assembly to move to the theoretical position after the current exposure of the area array detector and before the next exposure by controlling the motor at the speed V.
2. The slant defocus compensation method according to claim 1, wherein the slant defocus compensation method further comprises:
and if the difference value between the theoretical position and the actual position is smaller than the starting threshold value, the current position of the focal plane assembly is not changed.
3. The slant defocus compensation method according to claim 1, before the area array detector continuously exposes the object to be photographed, comprising:
and acquiring the focal length of the aerial remote sensor, the scanning initial angle during imaging and the corresponding flying height of the aerial remote sensor on the aerial carrier so as to calculate the initial position of the focusing assembly of the aerial remote sensor.
4. The slant defocus compensation method according to claim 3, further comprising:
when the exposure times of the area array detector for carrying out one-time continuous exposure reach a preset value, finishing the imaging;
and controlling the aerial remote sensor to move to the initial position to prepare for the next imaging scanning.
5. The skew defocus compensation method of any one of claims 1-4, wherein the start-up threshold is less than a semi-focal depth Δ of the aerial remote sensor imaging system.
6. The utility model provides a skew defocus compensation system of space aviation remote sensor which characterized in that, space skew defocus compensation system includes:
the signal receiving module is used for receiving an exposure synchronizing signal sent by the area array detector when the area array detector carries out continuous exposure on an object to be shot;
the acquisition module is used for acquiring the flying height of the carrier and the scanning angle of the aerial remote sensor during the current exposure so as to calculate the theoretical position of the focal plane assembly; the focal plane module is also used for acquiring the current actual position of the focal plane module and judging whether the difference value between the theoretical position and the actual position is not less than a starting threshold value;
and the motion control module is used for driving the focal plane assembly to move to the theoretical position after the area array detector performs the current exposure and before the next exposure through the motor assembly when the difference value between the theoretical position and the actual position is larger than a starting threshold value.
7. The slant defocus compensation system of claim 6, wherein the motion control module is further configured to:
and when the difference value between the theoretical position and the actual position is smaller than the starting threshold value, keeping the position of the focal plane assembly unchanged.
8. A terminal device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the method according to any of claims 1-5 when executing the computer program.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
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