CN111024231B - Novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system - Google Patents
Novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system Download PDFInfo
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Abstract
The invention relates to a novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system, which belongs to the technical field of hyperspectral optical remote sensing detection and comprises a telecentric telescopic imaging system, a control and processing module and a data recording and transmission module, wherein the telecentric telescopic imaging system, a knife edge reflector, an incident slit, a spectral imaging system and a spectrometer detector form a linear array push-broom imaging channel, the telecentric telescopic imaging system and an area array camera form a panchromatic area array channel, the linear array push-broom imaging channel and the panchromatic area array channel share one telecentric telescopic imaging system, and incident light of a scene is divided into two paths through the knife edge reflector. The same-light path and synchronous acquisition of the hyperspectral image and the high-frequency area array image is realized through the compact same-light path integrated load design, the correction of the hyperspectral image space information is realized, and the practicability is high.
Description
Technical Field
The invention relates to a novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system, and belongs to the technical field of hyperspectral optical remote sensing detection.
Background
In recent years, the technology development of unmanned aerial vehicles is rapid, and various small-sized unmanned aerial vehicle remote sensing systems are in the future. The high maneuverability and flexibility of the unmanned aerial vehicle platform enable the unmanned aerial vehicle platform to have a great development prospect in the field of remote sensing, effectively make up for the application requirements of space-time multi-scale remote sensing, and expand the application range of more small-scale feature remote sensing. Provides unprecedented development opportunity for research, development, application and popularization of new technology in the field of remote sensing. The hyperspectral remote sensing technology also carries an unmanned aerial vehicle as a express train, and at present, the hyperspectral remote sensing technology also forms a dispersive and light-splitting unmanned aerial vehicle imaging spectrum imaging system, a tunable light-filtering unmanned aerial vehicle imaging spectrum system and an area array continuous snapshot type spectrum imaging system. Due to the characteristic of map-in-one imaging of the hyperspectral remote sensing, great challenges are brought to the unmanned aerial vehicle hyperspectral remote sensing system for simultaneously ensuring the spectral quality and the geometric accuracy. The unmanned aerial vehicle hyperspectral remote sensing system comprehensively analyzing various imaging modes is a dispersion light splitting type imaging spectrum system which is the highest in technical maturity, the best in spectral quality and the highest in imaging efficiency at present and is also the unmanned aerial vehicle hyperspectral remote sensing system which is the most widely applied at present. In the existing unmanned aerial vehicle hyperspectral remote sensing system, the American headwall is an industrial standard pole. The Headwall has the advantages of excellent spectral performance, spectral resolution of less than or equal to 10nm, 1004 effective pixels in the width direction, small field angle of less than 30 degrees, and serious geometric distortion of a hyperspectral image without a high-precision spatial information correction device. The typical unmanned aerial vehicle hyperspectral remote sensing system also comprises a frame-type imager of Finland Rikola company, hyperspectral images of a plurality of wave bands are obtained by continuously and quickly shooting the same target, the number of effective pixels in the width direction is 1010, the field angle is 36.5 degrees multiplied by 36.5 degrees, the spectral resolution is less than or equal to 10nm, but the target cannot move due to staring type time sequence imaging, so that the operation efficiency is low, and the wave band registration difficulty is high when the target moves. The domestic Shuangli combined spectrum adopts a suspended swinging imaging mode, the spectral resolution is less than or equal to 10nm, a scanning system and a stability augmentation system are arranged in the domestic Shuangli combined spectrum under the condition of a stable platform, and the geometric distortion of the linear array push-scanning hyperspectral meter image is reduced. However, the number of effective pixels in the width direction is 696, the angle of view is less than 30 degrees, and the operation efficiency is relatively low due to the need of suspended swinging. And the volume, weight and cost are high.
In summary, the problems of the prior art are as follows: the existing widely-used small unmanned aerial vehicle platform has the advantages of limited carrying capacity, small field of view of the spectrometer, higher miniaturization and lightweight requirements for a load system, poor information acquisition capacity, low time resolution and incapability of meeting the application requirements of the urgent large-field-of-view spectrometer. In addition, due to high requirements on spectral resolution and spatial resolution, the elbow of the load system is correspondingly low in data acquisition efficiency and system energy utilization efficiency, and therefore comprehensive performance improvement under the technical constraints of a compact structure, a large visual field and high system transmittance needs to be solved urgently for the load system. Because unmanned aerial vehicle platform poor stability is limited to factors such as cost, size and weight, is difficult to carry on the actual condition of expensive high accuracy POS system (navigation positioning orientation system), and the line pushes away sweeps hyperspectral sensor and pushes away and sweeps the imaging in-process, and the image deformation that the vibration of flight platform leads to is inevitable. The image is seriously deformed to influence the interpretation precision, the interpretation difficulty is improved, and the application range of the image is greatly limited. The method is also the first problem which hinders the large-scale development of the unmanned aerial vehicle-mounted hyperspectrum at present.
Therefore, the research of the high-spectrum remote sensing system of the large-view-field unmanned aerial vehicle with low cost, high precision and strong practicability is a key for solving the high-spectrum remote sensing system of the unmanned aerial vehicle, is a key for promoting the high-spectrum remote sensing application, and is a development trend for improving the imaging efficiency and the practicability of the high-spectrum remote sensing system of the existing unmanned aerial vehicle. Has urgent practical significance.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides a novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system.
The technical scheme of the invention is as follows:
a novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system realizes the integrated design of area array and linear array common light path, and comprises a telecentric telescopic imaging system, a control and processing module and a data recording and transmission module;
an area array camera is arranged on one side of the telecentric telescopic imaging system, a knife edge reflector is obliquely arranged between the telecentric telescopic imaging system and the area array camera, and an incident slit, a spectral imaging system and a spectrometer detector are arranged on one side of the knife edge reflector; the telecentric telescope imaging system, the knife edge reflector, the entrance slit, the spectral imaging system and the spectrometer detector form a linear array push-broom imaging channel; the telecentric telescope imaging system images the ground object target radiation on a focal plane of the area-array camera and an incident slit of the spectral imaging system in a subarea manner; the spectral imaging system images formed by the telecentric telescope imaging system on the entrance slit and the sub-wavelength on a spectrometer detector, and the hyperspectral images of the ground object target are collected by pushing and scanning by an unmanned aerial vehicle;
the telecentric telescopic imaging system and the area-array camera form a full-color area-array channel; directly acquiring a full-color image of a ground object target through a full-color area array channel, recovering the position and the posture of an area array camera by using an area array sequence signal obtained by the full-color area array channel, and correcting a hyperspectral image obtained by a linear array push-broom imaging channel;
the area-array camera and the spectrometer detector are respectively connected to the control and processing module, and the control and processing module realizes synchronous imaging, sequential driving of the detector, communication and instruction analysis between the linear array push-broom imaging channel and the area-array camera; the control and processing module is connected to the data recording and transmission module, and the data recording and transmission module realizes safe and rapid data storage and transmission.
The linear array push-broom imaging channel and the panchromatic area array channel share a telescopic imaging system, and incident light of a scene is divided into two paths through the knife-edge reflector. The knife edge reflector divides incident light of a scene into two paths, field division is carried out at the image surface of the telecentric telescopic imaging system, the total field of view of the telecentric telescopic imaging system is divided into a vertical plane field of view and a vertical line field of view, the plane field of view is received by the plane array camera, and the line field of view is used as an incident slit of the spectral imaging system.
The telecentric telescopic imaging system, the spectral imaging system and the area-array camera are all conventional devices.
Preferably, the novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system further comprises a GPS receiving antenna and an IMU, wherein the GPS receiving antenna is positioned above the unmanned aerial vehicle platform and is used for tracking and positioning the unmanned aerial vehicle; the IMU is located unmanned aerial vehicle platform below, with novel self-correction integration unmanned aerial vehicle on-board high spectrum remote sensing system rigid connection.
Preferably, novel self-correcting integrated unmanned aerial vehicle carries high spectrum remote sensing system still includes the unmanned aerial vehicle platform, and unmanned aerial vehicle platform below is all located to telecentric telescope imaging system, control and processing module, data record and transmission module far away. Wholly be located the unmanned aerial vehicle below, carry out high spectral imaging and area array formation of image to the ground thing.
Preferably, the telecentric telescope imaging system comprises a telecentric telescope, the telecentric telescope is an image space telecentric structure, the imaging quality and the system transmittance are improved by adopting aspheric lenses, the telecentric telescope is a transmission system, the number of the aspheric lenses is N, and N is not less than 6 and not more than 10.
The structural design of the novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system enables the linear array push-broom imaging channel to have the characteristics of large field of view and short focal length. The field of view FOV satisfies: FOV is more than or equal to 40 degrees and less than or equal to 60 degrees, and the focal length f satisfies: f is more than or equal to 8mm and less than or equal to 16 mm. The system is obtained by calculation according to the actual detection condition (spatial resolution and breadth), and the optical design of the system is developed through the index.
Preferably, spectral imaging system includes collimating mirror, imaging mirror, convex grating, spectral imaging system is two telecentric structure, and spectral imaging system adopts the offner convex grating structure, and wherein collimating mirror and imaging mirror are the aspheric surface speculum, and the convex grating is a triangle cell type holographic diffraction grating. The triangular groove type holographic diffraction grating spectral imaging system is of a double telecentric structure and has the characteristics of high diffraction efficiency and small spectral line bending and distortion.
Further preferably, the diffraction efficiency η of the spectral imaging system satisfies: eta is more than or equal to 60 percent; the length d of the entrance slit satisfies: d is more than or equal to 9mm and less than or equal to 11 mm.
Preferably, the area-array camera is a high-frequency area-array camera, and the field angle, the width, the frame rate and the spatial resolution of the area-array camera are the same as those of the linear array push-broom imaging channel.
Preferably, the control and processing module realizes the consistency of the frame frequency, the integration time and the integration starting time of two loads of the area-array camera and the linear array push-broom imaging channel through external simultaneous triggering; the control and processing module is externally connected with 4 DDR2, integrates data, and adopts a rigid-flex combined mode to realize a folding structure.
Preferably, the data recording and transmitting module adopts a Cameralink standard data protocol, the SSD is designed in a plug-and-play manner, and the working clock of the chip is 85MHz at the fastest.
The invention has the beneficial effects that:
the invention discloses a novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system, which is characterized in that on the basis of a traditional imaging spectrometer, a compact load design integrated with an optical path is adopted to realize the same optical path and synchronous acquisition of a hyperspectral image and a high-frequency area array image, the hyperspectral image spatial information correction is realized, the practicability is high, and the novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system is convenient for a small unmanned aerial vehicle to carry.
The design of the triangular groove type convex surface grating is adopted in the system, so that the spectral imaging system has very high diffraction efficiency and imaging quality, the diffraction efficiency is effectively improved, and the diffraction efficiency is improved to 60% from 30%. The aspheric surface is adopted, so that the number of lenses is reduced, and the imaging quality and the system transmittance are improved.
The defects that the number of effective pixels of a traditional unmanned aerial vehicle-mounted high-spectrum is small, the data acquisition efficiency is low, the number of effective pixels in the width direction is increased from 1000 to 1600, the large-view-field imaging is realized, and the imaging efficiency is improved by more than 50%. And (3) inverting the position and posture parameters of the camera by using the high-frequency area array image, and further carrying out high-precision spatial information correction on the line push-broom spectral image under the same condition. The system has the characteristics of light weight, low cost and high resource utilization rate, the whole weight is less than or equal to 2kg, the system has higher miniaturization and lightweight requirements, the information acquisition capacity is more excellent than that of products of the same type, the system has great advantages in the application of the unmanned aerial vehicle platform, the hyperspectral observation cost is reduced, and the development trend of the existing unmanned aerial vehicle hyperspectral remote sensing system on the imaging efficiency and the practicability degree is met. The large-scale development of the application of the unmanned aerial vehicle-mounted hyperspectral remote sensing is realized, and the development of the field of unmanned aerial vehicle-mounted hyperspectral detection is facilitated.
Drawings
FIG. 1 is a schematic structural diagram of the novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system;
FIG. 2 is a schematic diagram of a dual optical path structure of a linear array push-scan imaging tunnel and a panchromatic area array tunnel in accordance with the present invention;
fig. 3 is a schematic structural diagram of the linear array push-broom imaging channel of the present invention.
FIG. 4 is a graph of the diffraction efficiency of a convex grating of the present invention as a function of angle of incidence.
Fig. 5 is a plot of the transfer function of the spectral imaging system of the present invention.
Fig. 6 is a schematic structural diagram of a panchromatic area array channel of the present invention.
Fig. 7 is a schematic diagram of the area array image aided spatial information correction of the present invention.
Wherein: 1. the system comprises a linear array push-broom imaging channel, a knife edge reflector 1a, an incident slit 1b, a spectral imaging system 1c, a spectrometer detector 1d and a light source, wherein the linear array push-broom imaging channel is arranged on a light source;
1c-1, a collimating mirror, 1c-2, a convex grating, 1c-3 and an imaging mirror;
2. the system comprises a full-color area array channel, a 2a area array camera, a 3, an IMU, a 4, a control and processing module, a 5, a data recording and transmission module and a 6, a telecentric telescopic imaging system.
Detailed Description
The present invention will be further described by way of examples, but not limited thereto, with reference to the accompanying drawings.
Example 1:
a novel self-correcting integrated unmanned aerial vehicle carries high spectrum remote sensing system includes: a telecentric telescopic imaging system 6, a control and processing module 4 and a data recording and transmission module 5.
An area-array camera 2a is arranged on one side of the telecentric telescopic imaging system 6, a knife edge reflector 1a is obliquely arranged between the telecentric telescopic imaging system and the area-array camera, and as shown in fig. 2, an incident slit 1b, a spectrum imaging system 1c and a spectrometer detector 1d are arranged on one side of the knife edge reflector 1 a; the telecentric telescope imaging system, the knife edge reflector, the entrance slit, the spectral imaging system and the spectrometer detector form a linear array push-broom imaging channel 1 as shown in fig. 2 and 3; the telecentric telescope imaging system images the ground object target radiation on a focal plane of the area-array camera and an incident slit of the spectral imaging system in a subarea manner; the spectrum imaging system images formed by the telecentric telescope imaging system on the entrance slit and the sub-wavelength on the spectrometer detector, and the hyperspectral image of the ground object target is acquired by pushing and sweeping the images by the unmanned aerial vehicle.
The telecentric telescopic imaging system 6 and the area-array camera 2a form a full-color area-array channel 2, as shown in fig. 6; and directly acquiring a full-color image of the ground object target through a full-color area array channel, recovering the position and the posture of an area array camera by using an area array sequence signal obtained by the full-color area array channel, and correcting a hyperspectral image obtained by the linear array push-broom imaging channel.
The area-array camera 2a and the spectrometer detector 1d are respectively connected to the control and processing module 4, and the control and processing module realizes synchronous imaging, sequential driving of the detector, communication and instruction analysis between the linear array push-broom imaging channel and the area-array camera; the control and processing module 4 is connected to the data recording and transmission module 5, and the data recording and transmission module realizes safe and rapid data storage and transmission.
Incident light of a scene is divided into two paths through the knife edge reflector 1a, the two paths comprise a linear array push-broom imaging channel 1 and a panchromatic planar array channel 2, and the two paths share a telecentric telescope imaging system 6 which is an image space telecentric structure. The linear array push-broom imaging channel 1 and the panchromatic area array channel 2 share the front telescope, so that the volume and the weight of the system are reduced, the structural rigidity of the system is increased, and the stability of optical axes of the spectrograph and the area array camera is improved.
The linear array push-broom imaging channel 1 and the panchromatic area array channel 2 are designed with the integrated load of the optical path to achieve the acquisition of the hyperspectral image and the area array image in the same frequency and the same visual field, ensure the strict registration of the hyperspectral image and the area array image in time and space, and obtain higher spatial information correction precision. The geometric calibration of the linear array push-broom imaging channel and the panchromatic area array channel can be completed simultaneously, and the reference transmission link of geometric calibration is simplified to a great extent.
The knife-edge reflector 1a divides incident light of a scene into two paths, field division is carried out on the image surface of the telecentric telescopic imaging system 6, the total field of view of the telecentric telescopic imaging system 6 is divided into a vertical plane field of view and a vertical line field of view, the plane field of view is received by the plane array camera 2a, and the line field of view is used as an incident slit 1b of the spectral imaging system 1 c.
Novel self-correcting integration unmanned aerial vehicle carries high spectral remote sensing system still includes the unmanned aerial vehicle platform, GPS receiving antenna, IMU, unmanned aerial vehicle platform below is all located to telecentric telescope imaging system, control and processing module, data record and transmission module, realizes that the linear array pushes away to sweep imaging channel 1 and the common light path integrated design of area array camera 2a, and IMU3 rigid connection, wholly is located unmanned aerial vehicle platform below, carries out high spectral imaging and area array formation of image to the ground feature. The GPS receiving antenna is positioned above the unmanned aerial vehicle platform and used for tracking and positioning the unmanned aerial vehicle.
Telecentric telescope imaging system includes telecentric telescope, telecentric telescope adopts aspheric lens to improve imaging quality and system transmissivity for image side telecentric configuration, and telecentric telescope is transmission system, and aspheric lens's quantity is N, and N is 8.
The linear array push-broom imaging channel 1 has the characteristics of large field of view and short focal length. The field of view FOV satisfies: the FOV is more than or equal to 40 degrees and less than or equal to 60 degrees, and the maximum common telescope system field of view of the like products is achieved. The focal length f satisfies: f is more than or equal to 8mm and less than or equal to 16mm, and the spatial resolution is 0.1m when the aircraft is at 200m altitude.
The working wavelength range of the spectral imaging system 1 is 400-1000nm, the spectral resolution is less than or equal to 10nm, the color distortion and the spectral line bending of the spectral imaging system are both less than 0.2pixel, the line dispersion is 0.2849 nm/mum, and no spectrum aliasing exists. The incident angle is 15.332-23.135 degrees, and the diffraction order is-1 order. As can be seen from FIG. 4, the MTF at 700nm is better than 0.78@77lp/mm, and the imaging quality of the system is excellent, so that the use requirement is met. The slit material is selectively etched with silicon wafer to reduce weight. Transmittance of spectral imaging system: 72 percent.
For preventing the edge of a knife speculum from sheltering from too many visual fields on the area array camera focal plane, far away telecentricity telescope imaging system and spectral imaging system all have the characteristics of big visual field, spectral imaging system includes collimating mirror, imaging mirror, convex grating, spectral imaging system is two telecentric configuration, and spectral imaging system adopts offner convex grating structure, and wherein collimating mirror 1c-1 and imaging mirror 1c-3 are the aspheric surface speculum, can reduce the quantity of lens, improvement imaging quality and system transmissivity. The number of effective pixels in the width direction is increased from 1000 to 1600, large-field imaging is realized, and the imaging efficiency is improved by more than 50%. The microcrystalline glass is insensitive to temperature change and has small deformation. The convex grating 1c-2 is a triangular groove type holographic diffraction grating, the used grating substrate is a convex spherical substrate with a small caliber, the caliber is 20mm, the triangular groove type design is adopted, and the grating blaze angle is 1.06 degrees. The triangular groove type holographic diffraction grating has the characteristics of high diffraction efficiency and small spectral line bending and distortion. The diffraction efficiency η satisfies: eta is more than or equal to 60 percent; the length d of the entrance slit 1b satisfies: d is more than or equal to 9mm and less than or equal to 11 mm. As can be seen from fig. 5, the grating adopting the triangular groove type design has high diffraction efficiency, and the diffraction efficiency is as high as 80%.
The area-array camera is a high-frequency area-array camera, and the field angle, the breadth, the frame rate and the spatial resolution of the area-array camera are the same as those of the linear array push-broom imaging channel. The area-array camera and the spectral imaging system adopt the same large-area-array high-sensitivity CMOS detector, the image surface size of the detector is 13.312mm multiplied by 7.488mm, the 2048 multiplied by 115 format, the pixel size is 6.5 mu m, the effective pixel number of the area-array camera reaches 1600 yuan multiplied by 700 yuan, the effective pixel number of the spectral imaging system reaches 1600 yuan multiplied by 324 yuan, and the quantum efficiency is more than 62% @550 nm.
The control and processing module 4 realizes the consistency of the two load frame frequencies of the area-array camera 2a and the linear array push-broom imaging channel 1, the consistency of the integration time and the consistency of the integration starting time through external simultaneous triggering. The control and processing module 4 is externally connected with 4 DDR2 and integrates data. A rigid-flex combination mode is adopted to realize a folding structure, and the Virtex-5 series XC5VLX155-2FFG1153 is selected as the control and processing module in the embodiment.
As shown in fig. 7, the control and processing module performs geometric preprocessing on the original linear array image to eliminate image deformation caused by unstable attitude, the area-array camera 2a directly acquires a full-color image of a ground object target, the position and attitude of the camera are restored by using an area-array sequence signal obtained by the full-color area-array channel 2, and the geometric correction is performed on the hyperspectral image obtained by the linear array push-scan imaging channel 1 by using high-precision position and attitude data restored after calculation. A digital ground model is constructed by using an area array camera, the line array push-broom image is subjected to front-view correction, and the image is resampled into a front-view image through inclination correction and projection difference correction, so that the region splicing of different strip images is realized. The corrected precision reaches: the row dislocation is less than 1 pixel.
The data recording and transmission module 5 adopts a Cameralink standard data protocol, and the SSD is designed in a plug-and-play mode. The fastest chip working clock is 85MHz, the data recording and transmission module of this embodiment selects a commonly used Cameralink chip DS90CR287, and converts the 28 channels of LVCMOS/LVTTL level signals into four channels of LVDS data signals plus one channel of LVDS clock signals.
The first-order frequency of the novel self-correction integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system is 304.67Hz, and the overall weight is less than or equal to 2 kg.
The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system and the existing unmanned aerial vehicle-mounted system technology pair ratio of the embodiment 1 are shown in table 1.
Table 1 comparison of technical parameters of the present invention and the existing unmanned aerial vehicle-mounted hyperspectral remote sensing system
| Headwall of the United states | Double-benefit spectrum GaiaSky-mini | The invention | |
| Spectral resolution | ≤10nm | ≤10nm | ≤10nm |
| Angle of |
27° | 27° | 46° |
| Number of effective pixels | 1004 | 696 | 1600 |
| Image forming system | Linear array pushing broom | Suspension swinging broom | Linear array pushing broom |
| Correction accuracy | Is free of | Ellipse2-N | Line dislocation is less than 1 pixel |
| Total weight of | <3kg | <4kg | <2kg |
The invention realizes the same-light path and synchronous acquisition of the hyperspectral image and the high-frequency area array image through the compact same-light path integrated load design, the system has small volume, and the whole weight is less than or equal to 2 kg. The number of effective pixels in the width direction is increased from 1000 to 1600, large-field imaging is realized, and the imaging efficiency is improved by more than 50%. And (3) inverting the position and posture parameters of the camera by using the high-frequency area array image, and further carrying out high-precision spatial information correction on the line push-broom spectral image under the same condition.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system is characterized by comprising a telecentric telescopic imaging system, a control and processing module and a data recording and transmission module;
an area array camera is arranged on one side of the telecentric telescopic imaging system, a knife edge reflector is obliquely arranged between the telecentric telescopic imaging system and the area array camera, and an incident slit, a spectral imaging system and a spectrometer detector are arranged on one side of the knife edge reflector; the telecentric telescope imaging system, the knife edge reflector, the entrance slit, the spectral imaging system and the spectrometer detector form a linear array push-broom imaging channel; the telecentric telescope imaging system images the ground object target radiation on a focal plane of the area-array camera and an incident slit of the spectral imaging system in a subarea manner; the spectral imaging system images formed by the telecentric telescope imaging system on the entrance slit and the sub-wavelength on a spectrometer detector, and the hyperspectral images of the ground object target are collected by pushing and scanning by an unmanned aerial vehicle;
the telecentric telescopic imaging system and the area-array camera form a full-color area-array channel; directly acquiring a full-color image of a ground object target through a full-color area array channel, recovering the position and the posture of an area array camera by using an area array sequence signal obtained by the full-color area array channel, and correcting a hyperspectral image obtained by a linear array push-broom imaging channel;
the area-array camera and the spectrometer detector are respectively connected to the control and processing module, and the control and processing module realizes synchronous imaging, sequential driving of the detector, communication and instruction analysis between the linear array push-broom imaging channel and the area-array camera; the control and processing module is connected to the data recording and transmission module, and the data recording and transmission module realizes data storage and transmission.
2. The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system according to claim 1, characterized in that the novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system further comprises a GPS receiving antenna and an IMU, wherein the GPS receiving antenna is positioned above an unmanned aerial vehicle platform and is used for tracking and positioning of the unmanned aerial vehicle; the IMU is located unmanned aerial vehicle platform below, with novel self-correction integration unmanned aerial vehicle on-board high spectrum remote sensing system rigid connection.
3. The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system according to claim 1, further comprising an unmanned aerial vehicle platform, wherein the telecentric telescopic imaging system, the control and processing module and the data recording and transmission module are all arranged below the unmanned aerial vehicle platform.
4. The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system according to claim 1, wherein the telecentric telescope imaging system comprises a telecentric telescope, the telecentric telescope is an image space telecentric structure and adopts aspheric lenses, the telecentric telescope is a transmission system, the number of the aspheric lenses is N, and N is greater than or equal to 6 and less than or equal to 10.
5. The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system according to claim 1, wherein the spectral imaging system comprises a collimating mirror, an imaging mirror and a convex grating, the collimating mirror and the imaging mirror are both aspheric reflectors, and the convex grating is a triangular groove type holographic diffraction grating.
6. The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system according to claim 5, wherein the diffraction efficiency η of the spectral imaging system satisfies: eta is more than or equal to 60 percent; the length d of the entrance slit satisfies: d is more than or equal to 9mm and less than or equal to 11 mm.
7. The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system according to claim 1, wherein the area-array camera is a high-frequency area-array camera, and the field angle, the width, the frame rate and the spatial resolution of the area-array camera are the same as those of a linear array push-broom imaging channel.
8. The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system according to claim 1, characterized in that the control and processing module simultaneously triggers from the outside to realize that the frame frequency of two loads of an area-array camera and a linear array push-broom imaging channel are consistent, the integration time is consistent and the integration starting time is consistent; the control and processing module is externally connected with 4 DDR2 and integrates data.
9. The novel self-correcting integrated unmanned aerial vehicle-mounted hyperspectral remote sensing system as claimed in claim 1, wherein the data recording and transmission module adopts Cameralink standard data protocol, SSD is designed in plug-and-play mode, and the chip working clock is 85MHz at the fastest.
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| CN112357107A (en) * | 2020-10-28 | 2021-02-12 | 中国科学院上海技术物理研究所杭州大江东空间信息技术研究院 | Hyperspectral push-broom imaging system carried on six-rotor unmanned aerial vehicle |
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