CN111505608B - Laser pointing on-orbit calibration method based on satellite-borne laser single-chip footprint image - Google Patents

Laser pointing on-orbit calibration method based on satellite-borne laser single-chip footprint image Download PDF

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CN111505608B
CN111505608B CN202010370264.1A CN202010370264A CN111505608B CN 111505608 B CN111505608 B CN 111505608B CN 202010370264 A CN202010370264 A CN 202010370264A CN 111505608 B CN111505608 B CN 111505608B
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谢俊峰
唐新明
莫凡
刘仁
刘力荣
褚存
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Ministry Of Natural Resources Land Satellite Remote Sensing Application Center
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
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Abstract

The invention discloses a laser pointing on-orbit calibration method based on satellite-borne laser single-chip footprint images, which comprises the following steps of: primarily positioning the ground position of the satellite-borne laser footprint; based on topographic data, quickly determining the optimal position coordinates of the ground of the satellite-borne laser footprint by adopting an elevation layering iteration method; and solving the laser pointing angle by using the ground optimal position coordinates of the satellite-borne laser footprint. The invention discloses a specific implementation flow and a resolving process for initially positioning a satellite-borne laser footprint based on a satellite-borne footprint image, iteratively determining an optimal position of the satellite-borne laser footprint by depending on small-range high-precision topographic data, and performing laser pointing angle calibration on the optimal position of the laser footprint determined based on the footprint image. By using the method, large-area high-precision topographic data is not needed, a detector is not required to be arranged on the ground, the topographic data can be greatly reduced, and the cost of capital and human resources brought by field operation calibration can be greatly reduced, so that the field operation cost is greatly reduced.

Description

Laser pointing on-orbit calibration method based on satellite-borne laser single-chip footprint image
Technical Field
The invention relates to the technical field of on-orbit geometric calibration of satellite-borne laser radars, in particular to a laser pointing on-orbit calibration method based on a satellite-borne laser monolithic footprint image.
Background
The geometric positioning accuracy is the most important index for measuring the performance of the domestic surveying and mapping satellite, wherein the elevation accuracy is more important because of difficult improvement. Because of its characteristics of good directivity, high coherence, good monochromaticity, And high distance measurement accuracy, The Laser radar (Light Detection And Ranging, abbreviated as LiDAR) has The characteristics of glas (geographic Laser Altimeter System) And ATLAS (The Advanced geographic Laser Altimeter System, ATLAS) for earth observation, And has embodied great application potential in The fields of deep space exploration And earth science, And it becomes an important technical means to apply The satellite-borne Laser height measurement technology to high-resolution optical three-dimensional surveying And mapping satellites And to assist The aerospace photogrammetry to improve The precision of satellite image geometry, especially in The elevation direction.
The emitted resource three 02 stars and the high-grade seven 01 stars, the carbon monitoring satellite of the land ecosystem to be emitted, the resource three 03 and 04 stars and the high-grade seven 02 stars are all loaded with laser radars, the satellites utilize the loaded laser radars to obtain a large number of global high-precision laser elevation control points, the global mapping precision, particularly the elevation precision of the existing mapping remote sensing satellite can be greatly improved, and meanwhile, important data support is provided for applications such as polar ice cover mapping, geographical national condition monitoring, national and even global forest general survey and the like. However, the satellite-borne laser radar may generate a plurality of system errors such as a pointing angle, a centroid shift, a system clock synchronization, and the like in the measurement process, and particularly, the pointing angle error may reduce the accuracy of the laser foot point as the elevation control in the surveying and mapping industry. For example: for a satellite-borne laser system with a track height of 500km, a 30 "laser pointing error causes a foot point positioning level error of 75m and a height error of 1.3m at a ground surface incidence angle of 1 °.
The on-orbit calibration method adopted by the existing earth observation satellite-borne laser radar mainly comprises a ground detector calibration method, an airborne infrared camera imaging calibration method and a terrain matching calibration method. Each method has the advantages and the disadvantages, and the ground detector calibration method has high success rate and high precision, but needs larger manpower and material resources. The airborne infrared camera imaging calibration method is high in precision, but the imaging difficulty is caused by too low attenuation when laser energy reaches the ground surface, and meanwhile, the satellite and airplane synchronous transit time control difficulty is high, and the success rate is low. The terrain matching method does not need field operation, but needs hundreds of kilometers of long-strip high-precision terrain data, and the large-range high-precision terrain data is very expensive and has high cost when being used for developing a checking test.
Therefore, an error source of the satellite-borne laser radar geometric positioning and the influence of the error source on the positioning precision are analyzed, on the basis, a laser pointing on-orbit calibration method based on a satellite-borne laser single-chip footprint image is researched and provided aiming at the design characteristics of the domestic high-resolution seven-grade satellite-borne laser radar, the laser pointing angle error in the measurement process is eliminated, the method can be used for on-orbit calibration of the satellite-borne laser radar carrying a footprint camera in China, the geometric positioning precision of the satellite-borne laser radar is improved, and the method has important significance for improving the application potential of surveying and mapping remote sensing satellites in China in the global mapping.
Disclosure of Invention
In order to solve the technical problems, the invention aims to provide a laser pointing on-orbit calibration method based on a satellite-borne laser single-chip footprint image, which is characterized in that by means of an auxiliary load-a footprint camera carried by a satellite-borne laser altimetry system, the ground position of a footprint is determined for the first time by constructing a geometric positioning model of the footprint camera, intersection points are obtained by utilizing high-precision terrain data in a small range and geometric positioning virtual rays of the footprint camera for multiple times, the optimal ground position of the satellite-borne laser footprint is determined by iteration, and the actual pointing angle of a satellite-borne laser radar after the satellite-borne laser radar is in orbit is calculated based on the constructed laser pointing calibration model, so that the method has the characteristic of high precision; the large-area high-precision topographic data is not needed, the ground is not depended on the arrangement of the detectors, and the consumption of capital and human resources caused by purchasing topographic data and field calibration can be greatly reduced.
The purpose of the invention is realized by the following technical scheme:
a laser pointing on-orbit calibration method based on satellite-borne laser single-chip footprint images comprises the following steps:
step 1, initially positioning the ground position of a satellite-borne laser footprint;
step 2, based on topographic data, rapidly determining the ground optimal position coordinates of the satellite-borne laser footprint by adopting an elevation layering iteration method;
and 3, solving the laser pointing angle by using the ground optimal position coordinates of the satellite-borne laser footprint.
One or more embodiments of the present invention may have the following advantages over the prior art:
the invention provides a laser pointing in-orbit calibration method based on a satellite-borne laser single-chip footprint image, which provides a specific implementation flow and a resolving process for performing laser pointing angle calibration based on the initial positioning of a laser footprint based on the satellite-borne footprint image, iterative determination of the optimal position of the satellite-borne laser footprint depending on small-range high-precision topographic data, and the optimal position of the laser footprint determined based on the footprint image. The method can realize the on-orbit laser calibration with low cost investment and high success rate, and can be widely applied to the calibration of the satellite-borne laser radar carrying the laser footprint camera.
Drawings
FIG. 1 is a flow chart of a laser pointing calibration method based on satellite-borne laser monolithic footprint images;
FIG. 2 is a schematic diagram of computing satellite-borne laser footprint positions iteratively in elevation layers based on small-scale terrain data;
fig. 3a, 3b and 3c are specific example diagrams of high-resolution seven satellite laser data, footprint images and ground remote sensing images.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the following embodiments and accompanying drawings. According to the basic characteristics of a satellite-borne laser radar system carrying a footprint camera, in the in-orbit running process of a satellite, the footprint camera is synchronously started to capture a laser footprint while laser is observed on the ground, and the centroid position of the laser ground footprint is quickly determined by utilizing the acquired laser footprint image and small-range topographic data and is used as ground reference control of the invention.
As shown in fig. 1, the laser pointing on-orbit calibration method based on satellite-borne laser monolithic footprint image provided by the present invention specifically includes the following steps:
step 1, satellite-borne laser footprint ground primary positioning based on laser single-chip footprint images;
the step 1 specifically comprises the following substeps:
step 1.1, constructing a footprint image laser spot centroid image plane coordinate transformation model;
before the satellite comes to the day, the position of a drop point of a laser spot on a footprint image and the real position of the laser spot are measured in a laboratory, and a laser spot mass center image plane coordinate conversion model of the footprint image is constructed according to the installation and fixed connection relation of a footprint camera and a laser in a satellite platform, as shown in the following formula.
P(x,y)＝P(x0,y0)+Δd cosα (7)
In the above formula, P (x, y) is the position coordinate of the laser spot centroid on the real image plane of the footprint image, and P (x)0,y0) The coordinate of the original position of the laser spot centroid image plane illuminated in the footprint image is shown, delta d is the offset between the original spot centroid measured by a laboratory and the actual spot centroid, and alpha is the azimuth angle from the actual spot centroid measured by the laboratory to the original spot centroid.
Step 1.2, constructing a geometric positioning model of the satellite-borne laser footprint camera;
according to the imaging principle of an area-array camera, aiming at the fundamental purpose that a footprint camera is mainly used for capturing satellite-borne laser footprints, a strict geometric imaging model of the satellite-borne laser footprint camera is constructed by combining the installation relation of the footprint camera relative to a satellite platform and a GPS (global positioning system) phase center and the relative position offset and rotation geometric relation of an earth ellipsoid, as shown in the following formula;
Figure BDA0002477985560000041
in the above formula, (s, l) is the coordinate of the footprint camera probe in the image plane coordinate system; psi x and psi y are the pointing angles of the probe elements under the CMOS camera respectively;
Figure BDA0002477985560000042
is a rotation matrix from the footprint camera to the satellite body coordinate system; (pitch, roll, yaw) is the attitude angle of the footprint camera;
Figure BDA0002477985560000043
is a rotation matrix of the satellite body system to the ICRF coordinate system;
Figure BDA0002477985560000044
is a rotation matrix of the celestial sphere frame of reference (ICRF) coordinate system to the international earth frame of reference (ITRF); λ is a scale factor, which is a constant; [ X ]s Ys Zs]TIs the coordinates of the projection center under the ITRF coordinate system; [ X ]g Yg Zg]TIs the object coordinates of the image point in the ITRF coordinate system.
Extracting the image plane coordinates of the original position of the laser footprint centroid according to the footprint image downloaded by the satellite, substituting the image plane coordinates of the laser spot centroid of the footprint image constructed in the step 1.1 into a plane coordinate conversion model of the laser spot centroid of the footprint image, and calculating the image plane coordinates of the real position of the laser in the footprint image; then substituting the real position image surface coordinate into the satellite-borne laser footprint camera geometric positioning model constructed in the step 1.2, and directly solving the satellite-borne laser footprint centroid ground coordinate P0。
Specific examples are given below, and fig. 3a, 3b and 3c are specific example diagrams of laser data, footprint image and ground remote sensing image of a high-resolution seven-numbered satellite, where in a certain flat area of the high-resolution seven-numbered satellite, the laser beam 1 time code is: 188518622.33, shown in fig. 3b), the laser has an original coordinate P (x) at the footprint centroid0,y0) And (430.557,264.489), the real coordinates P (x, y) of the centroid of the laser footprint obtained by the conversion of the method in the step 1.1 are (267.649,254.344).
Substituting the coordinates P (x, y) obtained by the calculation into formula (2), and combining satellite postures (posture quaternions: [0.685083625455852, -0.201407718823248,0.468915497099260, 0.519820751327643) according to basic parameters of the high-grade seven-grade satellite laser footprint camera]) Orbit data [2986626.6310, -5214381.7380, -3371501.1010, -3188.7791,2400.1707, -6560.3704]Calculating the ground coordinate P corresponding to the laser footprint centroid P (x, y)0Is (-29.488170 degrees, -59.920442 degrees, 60 m).
Step 2, based on small-range topographic data, rapidly determining the ground optimal position coordinates of the satellite-borne laser footprint by adopting an elevation layering iteration method (the principle of the step is shown in figure 2);
the step 2 specifically comprises the following substeps:
step 2.1, determination of initial intersecting elevation surfaceObtaining the laser footprint centroid coordinate P calculated in the step 102 x 2km Square DSM data as center, and P0Interpolating the point elevation h by substituting DSM data0Subsequently constructing a P0Is a center, h0The three-dimensional horizontal elevation surface equation for height is as follows: z ═ h0As the first-level terrain elevation surface.
Step 2.2, taking the geometric positioning model of the footprint camera constructed in the step 1.2 as a Ray equation Ray-F, a Ray-F and a Ray P0Crossing to obtain an intersection point P1And interpolating P using DSM1Point elevation h1And then constructing a second layer of terrain elevation surface with the elevation surface equation of Z-h1. Meanwhile, calculating the plane difference value delta P between the second laser footprint point and the first laser footprint point0＝P1-P0Elevation difference delta h of laser footprint point0＝h1-h0。
Step 2.3, repeating the process of step 2.2, and calculating the intersection point P2And its elevation h2、ΔP0And Δ h0And constructing a third terrain elevation surface. And calculating and repeating the steps again until the Nth time and the N-1 st time stop when the position change of the laser foot print foot point is negligible, namely delta PN-1And Δ hN-1Stopping iterative computation when the initial setting threshold value is less than the initial setting threshold value, and obtaining the laser point (P) at the momentN，hN) And the ground three-dimensional coordinates of the optimal position of the laser footprint.
Specific example explanations are given below. This step is further carried out on the basis of step 1, which is shown as P in this example0Taking the data of No. three 02 star (ZY3-02)5m grid DSM of 2km multiplied by 2km resources as the center as topographic data, sequentially implementing the steps 2, wherein 5 layers of high-level planes are constructed, 5 times of iterative computation is carried out, and the iterative computation stop condition is set to be delta P0Not more than 0.00005 DEG and delta h0Less than or equal to 0.1m, and the optimal position of the laser footprint centroid is P5(-29.488883°,-59.920461°,54.15m)。
Step 3, directly calculating a laser pointing angle by utilizing the laser footprint ground optimal position coordinate iteratively obtained in the step 2 based on the satellite-borne laser geometric calibration model;
the step 3 specifically comprises the following substeps:
step 3.1, constructing a laser pointing on-orbit calibration model based on a satellite-borne laser single-chip footprint image, and constructing a strict satellite-borne laser pointing calibration model according to the relative position deviation and rotation geometric relation of a satellite platform mass center, a laser emission point position, a GPS antenna and an earth ellipsoid and in combination with laser emission pulse ranging time, wherein a matrix expression of the model is as follows:
Figure BDA0002477985560000061
in the above formula, (Δ ρ)x Δρy Δρz)TRespectively laser ranging value in space coordinate system (x y z)TA directional component; (Δ X)ref ΔYref ΔZref)TThe fixed offset between the laser emission reference point and the satellite centroid; rho0The laser distance measurement value is calculated by using the laser pulse time difference; α, β constitute the laser pointing angle, where: alpha is an included angle between the projection of the laser light emitting axis on the XOY surface of the body coordinate system and the positive direction of the X axis, and beta is an included angle between the laser light emitting axis and the projection line of the laser light emitting axis on the XOY surface;
Figure BDA0002477985560000062
wherein:
Figure BDA0002477985560000063
a transformation matrix from a satellite body coordinate system to a ground-fixed coordinate system ITRF; (X)spot Yspot Zspot)TCoordinates of the laser footprint light centroid points;
Figure BDA0002477985560000064
the coordinate of the centroid of the satellite in the earth-fixed coordinate system is shown.
Step 3.2, the on-orbit calibration of the satellite-borne laser pointing angle specifically comprises the following steps: and (3) determining the ground optimal position of the laser foot point according to the elevation layering iteration in the step (2), bringing the position coordinate into the geometric calibration model in the step (3.1), correcting atmospheric and tidal errors by combining satellite orbit and attitude data at the laser light emitting time, and directly calculating the pointing angle of the satellite-borne laser radar, namely completing the on-orbit calibration of the laser pointing based on the satellite-borne laser monolithic footprint image.
Specific example explanations are given below. The step is further implemented on the basis of the step 1 and the step 2, wherein the quaternion of the attitude of the 188518622.33 laser point satellite is [0.685083625455852, -0.201407718823248,0.468915497099260,0.519820751327643]The satellite orbit data are [2986626.6310, -5214381.7380, -3371501.1010, -3188.7791,2400.1707, -6560.3704%]The round-trip flight time Δ t of the laser pulse is 3455999.505348ns, ρ0(t) is the laser range value, ρ0(t) c Δ t/2, c being the speed of light 300000000.0 m/s; and finally, solving the laser pointing angle by a formula (3) given in the step 3, and obtaining the pointing error of the GF-7 laser beam 1 by subtracting the laser pointing angle calculated by the invention from the original pointing angle: Δ α is 0.01244 °, Δ β is-0.01549 °.
Although the embodiments of the present invention have been described above, the above descriptions are only for the convenience of understanding the present invention, and are not intended to limit the present invention. It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (4)

1. A laser pointing on-orbit calibration method based on a satellite-borne laser single-chip footprint image is characterized by comprising the following steps of:
step 1, initially positioning the ground position of a satellite-borne laser footprint;
step 2, based on topographic data, rapidly determining the ground optimal position coordinates of the satellite-borne laser footprint by adopting an elevation layering iteration method;
step 3, solving a laser pointing angle by using the ground optimal position coordinates of the satellite-borne laser footprint;
the step 2 specifically comprises:
step 2.1 obtaining laser footprint centroid ground coordinates P0Centered 2km x 2km square DSM data and compare P0Interpolating the point elevation h by substituting DSM data0Constructing a P0Is a center, h0The three-dimensional elevation surface equation for height is: z ═ h0As a first terrain elevation surface;
step 2.2 using the footprint camera geometric positioning model as Ray equation Ray-F, Ray-F and P0Crossing to obtain an intersection point P1And interpolating P using DSM1Point elevation h1；
Constructing a second layer of terrain elevation surface with an elevation surface equation of Z ═ h1Meanwhile, calculating the plane difference value delta P between the second laser footprint point and the first laser footprint point0＝P1-P0Elevation difference delta h of laser footprint point0＝h1-h0；
Step 2.3 repeat step 2.2 to calculate the intersection point P2And its elevation h2、ΔP0And Δ h0Constructing a third-layer terrain elevation surface;
stopping until the variation of the laser foot print positions of the Nth time and the Nth-1 time is negligible, namely delta PN-1And Δ hN-1Stopping iterative computation when the initial setting threshold value is less than the initial setting threshold value, and obtaining the laser point (P) at the momentN，hN) Three-dimensional ground coordinates of the optimal position of the laser footprint;
according to the imaging principle of an area-array camera, aiming at the fundamental purpose that a footprint camera is mainly used for capturing satellite-borne laser footprints, a strict geometric positioning model of the satellite-borne laser footprint camera is constructed by combining the installation relation of the footprint camera relative to a satellite platform and a GPS (global positioning system) phase center and the relative position offset and rotation geometric relation of an earth ellipsoid, as shown in the following formula;
Figure FDA0002913387260000011
in the above formula, (s, l) is the coordinate of the footprint camera probe in the image plane coordinate system; psixAnd psiyAre respectively eachThe pointing angle of the probe element under the CMOS camera;
Figure FDA0002913387260000021
is a rotation matrix from the footprint camera to the satellite body coordinate system; (pitch, roll, yaw) is the attitude angle of the footprint camera;
Figure FDA0002913387260000022
is a rotation matrix of the satellite body system to the ICRF coordinate system;
Figure FDA0002913387260000023
is a rotation matrix of the celestial sphere frame of reference (ICRF) coordinate system to the international earth frame of reference (ITRF); λ is a scale factor, which is a constant; [ X ]s Ys Zs]TIs the coordinates of the projection center under the ITRF coordinate system; [ X ]g Yg Zg]TIs the object coordinates of the image point in the ITRF coordinate system.
2. The on-orbit calibration method for laser pointing based on satellite-borne laser monolithic footprint image according to claim 1, wherein the step 1 specifically comprises:
step 1.1, constructing a footprint image laser spot centroid image plane coordinate conversion model;
step 1.2, constructing a geometric positioning model of the satellite-borne laser footprint camera;
step 1.3, extracting the image plane coordinates of the original position of the laser footprint centroid according to the footprint image downloaded by the satellite, and calculating the image plane coordinates of the real position of the laser in the footprint image through the coordinate and a footprint image laser spot centroid image plane coordinate conversion model; and
calculating the ground coordinate P of the centroid of the satellite-borne laser footprint through the real position image surface coordinate of the laser in the footprint image and the geometric positioning model of the satellite-borne laser footprint camera0。
3. The on-orbit calibration method for laser pointing based on satellite-borne laser monolithic footprint image according to claim 1, wherein the step 3 specifically comprises:
3.1, based on the constructed on-orbit calibration model of the laser pointing of the satellite-borne laser single-chip footprint image, constructing a strict on-orbit calibration model of the satellite-borne laser pointing according to the relative position deviation and rotation geometric relation of the mass center of a satellite platform, the position of a laser emitting point, a GPS antenna and an earth ellipsoid and by combining laser emitting pulse ranging time, wherein a matrix expression of the model is as follows:
Figure FDA0002913387260000024
in the above formula, (Δ ρ)x Δρy Δρz)TRespectively laser ranging value in space coordinate system (x y z)TA directional component; (Δ X)refΔYref ΔZref)TThe fixed offset between the laser emission reference point and the satellite centroid; rho0The laser distance measurement value is calculated by using the laser pulse time difference; α, β constitute the laser pointing angle, where: alpha is an included angle between the projection of the laser light emitting axis on the XOY surface of the body coordinate system and the positive direction of the X axis, and beta is an included angle between the laser light emitting axis and the projection line of the laser light emitting axis on the XOY surface;
Figure FDA0002913387260000031
wherein:
Figure FDA0002913387260000032
a transformation matrix from a satellite body coordinate system to a ground-fixed coordinate system ITRF; (X)spot Yspot Zspot)TCoordinates of laser footprint centroid ground points;
Figure FDA0002913387260000033
the coordinates of the centroid of the satellite in a ground-fixed coordinate system;
and 3.2, performing on-orbit calibration on the satellite-borne laser pointing angle.
4. The on-orbit calibration method for laser pointing based on satellite-borne laser monolithic footprint image according to claim 3, wherein said step 3.2 specifically comprises:
and (3) determining the ground optimal position of the laser foot point according to elevation layering iteration, substituting the position coordinate into the geometric calibration model in the step 3.1, correcting atmospheric and tidal errors by combining satellite orbit and attitude data at the laser light emitting time, and directly calculating the pointing angle of the satellite-borne laser radar, namely completing the on-orbit calibration of laser pointing based on the satellite-borne laser monolithic footprint image.
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CN106871932A (en) * 2017-04-20 2017-06-20 国家测绘地理信息局卫星测绘应用中心 The in-orbit sensing calibration method of satellite borne laser based on Pyramidal search terrain match
CN110646782A (en) * 2019-10-28 2020-01-03 自然资源部国土卫星遥感应用中心 Satellite-borne laser on-orbit pointing calibration method based on waveform matching
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