CN111521197A - Method for correcting swing scanning large-width optical satellite sensor - Google Patents
Method for correcting swing scanning large-width optical satellite sensor Download PDFInfo
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Abstract
The invention discloses a method for correcting a swinging scanning large-width optical satellite sensor, which is used for correcting a visible light channel sensor, a medium wave infrared channel sensor and a long wave infrared channel sensor respectively according to the following methods: firstly, constructing an equivalent virtual camera according to the physical design and the imaging mechanism of an imaging load carried by a sweep large-width optical satellite; then, constructing an original CCD imaging geometric model and an equivalent virtual CCD imaging geometric model, and realizing free net adjustment by adopting an RFM model so as to realize space reference unification; and finally, according to the equivalent virtual CCD imaging geometric model and the RFM model of the original CCD imaging geometric model, performing virtual resampling based on the object space geometric positioning consistency to obtain a steady-state equivalent central projection sensor correction image.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a method for correcting a large-amplitude wide-range optical satellite sensor through swinging.
Background
With the development of the technology, the earth observation satellite is more and more widely applied. The earth surface coverage width when the earth observation satellite is observed is an important index in satellite remote sensing application, and for a user, the larger the coverage width is, the better the working convenience is. In order to realize large-width earth observation, physical devices are mainly added at present, or a mode of attitude maneuver and multi-angle scanning in a load is adopted. For example, a conventional optical remote sensing satellite is generally carried with a linear array push-broom camera imaging load, the number of TDI CCD pieces is increased, a non-collinear staggered arrangement mode is designed, and the earth observation amplitude of the satellite is improved by using an optical splicing or field splicing method; the loaded imaging load of the swinging and sweeping large-width optical camera comprises three channels of visible light, medium wave infrared and long wave infrared, three-channel images of 120Km width can be obtained through 8 steps of swinging and sweeping in the vertical rail direction of the swinging mirror scanning mechanism, and under the condition that the number of detectors is not increased, the size of an earth observation field of view is increased through one-dimensional multistep scanning of an internal mechanism, so that the load size, the quality, the power consumption and the development cost are reduced, and the wide-width earth observation and the time resolution of the satellite are effectively improved.
No matter what method is adopted to realize large-breadth earth observation, various problems which are unfavorable for image data application and caused in the sensor design and imaging process are corrected according to the imaging load, namely the characteristics of the sensor, so that complete and effective image data are finally obtained, which are the core and the key of subsequent optical satellite ground preprocessing and application and are also important reflection of satellite performance. The design characteristics and the imaging state of the imaging load carried by the satellite are different, and the content of sensor correction is also different. Due to the fact that multi-channel imaging exists in the sweep large-width optical camera, and multi-step scanning is adopted, the obtained images are complex, and therefore high-precision splicing is difficult to achieve.
How to correct the sensor of the optical satellite with large amplitude and wide width by swinging and eliminate the image distortion generated by lens distortion, CCD deformation, platform vibration and the like so as to obtain continuous, complete and distortion-free large amplitude and wide standard image data, which is convenient for subsequent use, is a key technical problem and an important bottleneck which need to be solved urgently.
Disclosure of Invention
The invention provides a calibration method of a swinger-scanning large-width optical satellite sensor, aiming at the design characteristics and the imaging state of an imaging load carried by a swinger-scanning large-width optical satellite, comprising the following steps of:
a corrected visible light channel sensor comprising:
constructing an equivalent virtual camera according to the physical design and the imaging mechanism of an imaging load carried by a sweep large-width optical satellite;
constructing an original CCD imaging geometric model and an equivalent virtual CCD imaging geometric model according to the physical design and the imaging mechanism of an imaging load carried by a sweep large-width optical satellite;
constructing a free net adjustment model to enable a space reference to be uniform, wherein a rational function model RFM is adopted to equivalently replace the equivalent virtual CCD imaging geometric model and the original CCD imaging geometric model, and corresponding least squares are calculated to solve RPCs parameters; and
performing virtual resampling based on the object space geometric positioning consistency according to the equivalent virtual CCD imaging geometric model and the RFM model of the original CCD imaging geometric model to obtain a steady-state equivalent center projection sensor correction image;
correcting the medium wave infrared channel sensor, wherein the correction method of the medium wave infrared channel sensor is the same as that of the visible light channel sensor; and
and correcting the long-wave infrared channel sensor, wherein the correction method of the long-wave infrared channel sensor is the same as that of the visible light channel sensor.
Further, the equivalent virtual camera is a virtual complete undistorted area array wide-width camera, and the construction of the virtual complete undistorted area array wide-width camera includes: according to physical parameters and an imaging process of an imaging load carried by the swing-scanning large-width optical satellite, the size of the equivalent virtual CCD is determined, and then the real physical CCD is used as the center to perform vertical and horizontal expansion.
Furthermore, the principal point, principal distance and probe element size of the virtual complete undistorted area array large-width camera CCD are all consistent with those of a visible light channel CCD of an imaging load carried by the swept large-width optical satellite.
Further, the original CCD imaging geometric model is realized by adopting sliding window fitting polynomial modeling.
Further, the original CCD imaging geometric model comprises track parameters, attitude parameters, on-orbit geometric calibration parameters and induction synchronizer angles.
Further, the equivalent virtual CCD imaging geometric model is obtained by performing steady-state equivalence processing on the imaging process of the imaging load carried by the sweep large-width optical satellite by adopting an overall fitting polynomial.
Further, the equivalent virtual CCD imaging geometric model and the original CCD imaging geometric model have the same orbit parameters, models and attitude parameters.
Further, the construction of the free net adjustment model comprises the following steps of solving the object space coordinates of the image surface affine transformation coefficient and the connecting point together:
the RFM model of each frame of image is modified, and six affine change coefficients are introduced on the basis of the modification;
constructing an error equation for the connection point influenced by each frame; and
and constructing a normal equation, and solving unknown parameters based on a least square method so as to realize the standard unification of the area network formed by the multi-frame overlapped images.
Further, the virtual resampling comprises:
calculating coordinates of intersection points of image point photographing light rays and an object space on a virtual scanning scene according to an RFM model of the equivalent virtual CCD imaging geometric model and preset average elevation auxiliary information;
reversely calculating the image point coordinates of the original image corresponding to the intersection point based on the RFM model of the original CCD imaging geometric model;
obtaining the gray value of the image point on the virtual scanning scene image through cubic spline interpolation; and
and repeating the steps until the equivalent virtual re-imaging is completed.
According to the method for correcting the sweep large-width optical satellite sensor, disclosed by the invention, the equivalent virtual camera and the imaging model are constructed, so that the multi-step and multi-channel image high-precision splicing of the sweep large-width optical camera is realized, the image distortion caused by various factors is eliminated, and a foundation is laid for the high-efficiency and high-quality subsequent application of a high-resolution optical satellite.
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To further clarify the above and other advantages and features of embodiments of the present invention, a more particular description of embodiments of the present invention will be rendered by reference to the appended drawings. It is appreciated that these drawings depict only typical embodiments of the invention and are therefore not to be considered limiting of its scope. In the drawings, the same or corresponding parts will be denoted by the same or similar reference numerals for clarity.
FIG. 1 is a schematic flow chart illustrating a method for calibrating a swept-wide optical satellite sensor according to an embodiment of the invention;
FIG. 2 is a schematic diagram of a virtual equivalent area array large-width camera model according to an embodiment of the invention;
FIG. 3 is a schematic flow chart illustrating a calibration method for a swept-wide optical satellite visible light channel sensor according to an embodiment of the present invention; and
fig. 4 is a schematic diagram illustrating a calibration method for a swept-wide optical satellite visible light channel sensor according to an embodiment of the present invention.
Detailed Description
In the following description, the present invention is described with reference to examples. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other alternative and/or additional methods, materials, or components. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the invention. Similarly, for purposes of explanation, specific numbers, materials and configurations are set forth in order to provide a thorough understanding of the embodiments of the invention. However, the invention is not limited to these specific details. Further, it should be understood that the embodiments shown in the figures are illustrative representations and are not necessarily drawn to scale.
Reference in the specification to "one embodiment" or "the embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the invention. The appearances of the phrase "in one embodiment" in various places in the specification are not necessarily all referring to the same embodiment.
It should be noted that the embodiment of the present invention describes the process steps in a specific order, however, this is only for the purpose of illustrating the specific embodiment, and does not limit the sequence of the steps. Rather, in various embodiments of the present invention, the order of the steps may be adjusted according to process adjustments.
The load of a swinging and sweeping large-width camera carried by the swinging and sweeping large-width optical satellite is a main optical path multi-channel common-caliber, the light splitting scheme of a rear optical path realizes the ground imaging function of different resolutions of visible light, medium wave infrared and long wave infrared, the swinging and sweeping of a scanning mechanism realizes the 120Km ultra-large wide coverage, and the full-day imaging capability to the ground and sea is realized. Under the coordination of the satellite platform, the radiation energy is detected by utilizing the long wave and the medium wave band, and the visible spectrum band is utilized for identification and confirmation. According to design requirements, an optical design scheme adopts an off-axis two-mirror system with a middle image surface as a main optical system, and a rear light path adopts a channel light splitting mode to realize simultaneous earth observation of a visible light channel, a medium wave infrared channel and a long wave infrared channel; the color separation plate 1 separates a visible light channel from an infrared channel, reflects visible light, transmits an infrared spectrum band, and images the visible light on a visible light detector through a visible lens group; the color separation sheet 2 separates the medium wave infrared and the long wave infrared, reflects the medium wave infrared and transmits the long wave infrared, and the two beams of light are imaged on the medium wave infrared detector and the long wave infrared detector respectively through the infrared lens group.
Therefore, the swinging scanning large-width optical satellite imaging load is mainly imaged gradually in the vertical rail direction through the scanning mechanism to obtain three-channel data, and then transverse splicing is realized through proportional speed reduction and frame-to-frame overlapping, so that large-width data in the vertical rail direction can be obtained. The invention provides a correction method of a swinging large-width optical satellite sensor, which is used for equivalently simulating the imaging process of the imaging load of the swinging large-width optical satellite into a virtual CCD with a large-width physical design to perform stable and gradual push-broom imaging on the ground, so that the problems of complex imaging mechanism and difficulty in distortion-free splicing correction of the swinging large-width optical satellite are solved. The scheme provided by the invention is further described in the following by combining the embodiment drawings.
A method for correcting a swinging scanning large-width optical satellite sensor is used for correcting a visible light channel sensor, a medium wave infrared channel sensor and a long wave infrared channel sensor respectively. As shown in fig. 1, the method for calibrating each channel sensor includes:
step 101, constructing an equivalent virtual camera. Constructing an equivalent virtual camera according to the physical design and the imaging mechanism of an imaging load carried by a sweep large-width optical satellite;
and 102, constructing a CCD imaging geometric model. Constructing an original CCD imaging geometric model and an equivalent virtual CCD imaging geometric model according to the physical design and the imaging mechanism of an imaging load carried by a sweep large-width optical satellite;
step 103, unifying the space reference. Constructing a free net adjustment model to enable a space reference to be uniform, wherein a rational function model RFM is adopted to equivalently replace the equivalent virtual CCD imaging geometric model and the original CCD imaging geometric model, and corresponding least squares are calculated to solve RPCs parameters; and
and step 104, virtually resampling to obtain a corrected image. And performing virtual resampling based on the object space geometric positioning consistency according to the equivalent virtual CCD imaging geometric model and the RFM model of the original CCD imaging geometric model to obtain a steady-state equivalent center projection sensor correction image.
In an embodiment of the present invention, as shown in fig. 3 and 4, the method for calibrating a visible light channel sensor mounted on a swept-type large-width optical satellite includes:
step 301, constructing an equivalent virtual CCD. And designing an equivalent virtual complete undistorted area array large-width camera according to physical parameters and an imaging process of a visible light channel sensor carried by the sweep large-width optical satellite. The size of a visible light channel CCD detector carried by the swing-scanning large-width optical satellite is 5120 multiplied by 4552 in the through orbit direction, the resolution of a sub-satellite point is 3 m, and the ground speed reduction ratio is 1: and 3, the imaging time difference between the steps is 195 milliseconds, according to measurement and calculation, in order to realize large-width splicing of 120 kilometers, the detector needs to sweep 9 frames of images in total for 8 steps along the vertical rail direction, each frame of image in the vertical rail direction has certain overlap, and 145 pixels are staggered along the flight direction. In summary, the equivalent virtual CCD size is designed to be 6280 x 40000 along the rail direction. Assuming that the equivalent virtual camera has no internal distortion, as shown in fig. 2, in order to avoid the difference of elevation difference of the ground observation region, the equivalent virtual CCD is expanded up and down, left and right around the real physical CCD as a center, covering the whole imaging view field, and ensuring that the difference between the original imaging view field and the virtual imaging view field is minimum. The principal point, the principal distance and the size of the detecting element of the equivalent virtual CCD are consistent with the physical design of a visible light channel CCD detector carried by the sweep large-width optical satellite;
then, an original CCD imaging geometric model and an equivalent virtual CCD imaging geometric model are constructed according to the physical design and the imaging mechanism of the imaging load carried by the sweep large-width optical satellite, and the method comprises the following steps:
and step 3021, constructing an original CCD imaging geometric model. An original CCD imaging geometric model is constructed according to the physical design and the imaging mechanism of an imaging load carried by a sweep large-width optical satellite, the parameters of the construction design of the original CCD imaging geometric model comprise orbit parameters, attitude parameters, original CCD in-orbit geometric calibration parameters and induction synchronizer angles, and the concrete model is expressed as follows:
wherein the content of the first and second substances,
representing camera load scaling factor, t representing imaging time, [ X Y Z]TObject-side coordinates representing the target point, (Ψ)x(l,s),Ψy(l, s)) represents the magnitude of the pointing angle of the CCD probe number (l, s) [ X ]s(t) Ys(t) Zs(t)]TObject coordinates representing a photographing center; λ represents an imaging scale factor and is,
respectively representing a rotation matrix from the scanning mechanism to the camera load measurement coordinate system, a rotation matrix from the satellite body to the scanning mechanism, a rotation matrix from the J2000 coordinate system to the satellite body coordinate system, and a rotation matrix from the WGS84 coordinate system to the J2000 coordinate system. In one embodiment of the invention, in order to realize accurate construction of the original CCD strict geometric imaging model, the rotation matrix of the scanning mechanism to the camera load measurement coordinate system
The method is characterized in that the method is obtained by measurement of an induction synchronizer of a scanning mechanism, the pointing angle of a probe element of an original CCD is determined by on-orbit geometric calibration, a shooting center coordinate is obtained by interpolation from GPS orbit observation data according to the image imaging time, and an interpolation model adopts a cubic polynomial. The imaging attitude angle is obtained by interpolating from the original attitude observation data at the imaging moment, and considering that the attitude has jitter in the imaging process, the attitude fitting model of the original image must be capable of better fitting the original attitude observation value,the real state of the imaging moment can be accurately recovered, so that a sliding window fitting polynomial is adopted for modeling; and
and step 3022, constructing an equivalent virtual CCD imaging geometric model. Designing a large-area array distortion-free CCD covering the whole imaging field to perform steady-state push-broom imaging of points under the ground to realize steady-state equivalent processing of an imaging process of an imaging load carried by the sweep large-width optical satellite, wherein the imaging process comprises the following steps: the scanning mechanism is used for sweeping 8 steps to image the ground, and the induction synchronizer is used for measuring the included angle between the vector of the direction of the load intersatellite point of the camera and the actual pointing direction of the optical axis in the imaging process of each step to carry out high-precision observation. The equivalent virtual CCD imaging geometric model is as follows:
wherein the content of the first and second substances,
the magnitude of the pointing angle, which represents the equivalent virtual CCD probe number (l, s), is obtained from the design value in step 301,
a rotation matrix representing the satellite body to camera load measurement coordinate system.
The equivalent virtual CCD imaging geometric model shooting center coordinates and the original CCD set imaging model share a set of orbit parameters and a set of orbit models. And the equivalent virtual CCD imaging geometric model attitude angle and the original CCD assembly imaging model share a set of attitude parameters. In one embodiment of the invention, to simulate an equivalent steady-state imaging process, an ensemble fitting polynomial is used for modeling;
and then, equivalently replacing the equivalent virtual CCD imaging geometric model and the original CCD imaging geometric model by adopting a rational function model RFM, and calculating corresponding least squares to solve RPCs parameters so as to enable the regional network formed by multiple frames of overlapped images to be uniform in reference. In order to improve the subsequent sensor correction calculation efficiency, in an embodiment of the invention, the equivalent virtual CCD imaging geometric model and the original CCD imaging geometric model are subjected to RFM generation by a terrain-independent method, then a large number of virtual control points are generated by a rigorous imaging model in uniform distribution, and corresponding RPCs parameters are calculated by using least squares. The rational Function model RFM (rational Function model) is a substitute model of a strict imaging geometric model of the optical satellite remote sensing image, hides parameters of a satellite sensor and attitude and orbit parameters, and has the advantages of universality, high calculation efficiency, no need of iteration for coordinate back calculation and the like, so that the rational Function model RFM (rational Function model) is widely applied. The unification of the multi-step sweep single-frame image space reference is a key link for realizing the correction of the high-precision sensor. In the embodiment of the invention, the high-precision camera internal and external orientation elements and the high-precision orbit attitude parameters are provided, and the requirements on the attitude relative precision and the measurement precision of the induction synchronizer reach the sub-pixel level, so that the high-precision sensor correction can be realized by adopting a virtual CCD steady-state equivalent imaging mode to accurately recover a strict geometric imaging model of an original CCD, thereby establishing the association with the virtual CCD imaging model and obtaining a distortion-free and seamless high-precision equivalent virtual scanning scene. However, the above technical requirements cannot be met due to the current sensor measurement level and the on-orbit calibration capability, and therefore, the embodiment of the invention adopts the free net adjustment model to realize the spatial reference unification of multiple frames of images. The method comprises the steps of extracting a plurality of connection points between every two adjacent frames of images in a matching mode, utilizing the connection points and an RFM model of a single frame of image to conduct inter-slice relative orientation, constructing a consistency condition of inter-frame geometric positioning accuracy based on an object space average elevation surface, constructing a free net adjustment model, decomposing the inter-frame geometric positioning accuracy inconsistency caused by various observation value errors during imaging into image surface affine transformation coefficients of the single frame of image to be corrected, and absorbing the influence of various observation errors. Specifically, in an embodiment of the present invention, a method for solving an image plane affine transformation coefficient and an object space coordinate of a connection point together to obtain a multi-frame image free net adjustment includes:
step 3031, introducing an image surface affine transformation coefficient. Appropriate deformation is made to the RFM model of each frame of image:
wherein, S _ SCALE, L _ SCALE, S _ OFF, L _ OFF, Nums(lat,lon,h)，Dens(lat,lon,h)，NumL(lat, lon, h) and DenL(lat, lon, h) are expressed as specific parameters of the RFM model. Introducing six affine transformation coefficients a on the basis of an RFM (radio frequency memory) model of each frame of image0,a1,a2,b0,b1,b2The (x, y) represents the image point measurement coordinates of the connection point, and the (S, L) represents the image point coordinates of the ground point coordinates (lat, lon, h) obtained by the intersection in front of the connection point, which are inversely projected to the image plane by using the RPCs parameters. For the reference effect, the six affine transformation coefficients are constantly 0, and there are:
Fx＝a0+a1×S+a2×L+S-x＝0
Fy＝b0+b1×S+b2×L+S-y＝0
step 3032, constructing an error equation of the connection point. An error equation is constructed for the connection points on each frame of image as follows:
V＝At+BX-L
t＝(△a0△a1△a2△b0△b1△b2)T
wherein, V represents the residual vector of the observed value of the image point coordinates, t represents the vector of the image error compensation parameters to be solved, X represents the correction value vector of the object space coordinates of each connecting point, A, B represents the partial derivative coefficient matrix of the corresponding unknowns, L represents the constant vector, (lat lon h), (△ lat △ lon △ h) represents the object space coordinates and the correction value of the connecting point, and Fx、
Fy、
Representing image space residual error theoretical function and calculation function; and
step 3033, solving parameters. Constructing a normal equation, and solving two types of unknown parameters based on a least square method so as to realize the standard unification of the area network formed by the multi-frame overlapped images; and finally, according to the equivalent virtual CCD imaging geometric model and the RFM model of the original CCD imaging geometric model, performing virtual resampling based on the object space geometric positioning consistency to obtain a steady-state equivalent center projection sensor correction image, wherein the steps of:
step 3042, inverse-computing the coordinates of the corresponding original image points. Reversely calculating the coordinates of the original image points corresponding to the intersection points based on the RFM model of the original CCD imaging geometric model; and
step 3043, obtain the gray value of the image point. And obtaining the gray value of the image point on the virtual scanning scene image through cubic spline interpolation.
And repeating the steps 3041 to 3043 until the equivalent virtual re-imaging is completed, and generating a seamless and distortion-free correction image of the large-width and large-area sensor.
In another embodiment of the present invention, the sensor calibration of the mid-wave infrared channel carried by the swept-wide optical satellite is similar to the calibration method of the visible light channel sensor, and includes:
and constructing an equivalent virtual camera according to the physical parameters and the imaging process of the medium wave infrared channel sensor carried by the sweep large-width optical satellite. The size of a medium wave infrared channel detector carried by the large-width optical satellite of the swinging sweep is 1280 multiplied by 1024 in the through orbit direction along the orbit direction, the resolution of the sub-satellite point is 19 meters, and the ground speed reduction ratio is 1: and 3, the imaging time difference between the steps is 190 milliseconds, and according to measurement and calculation, in order to realize large-width splicing of 120 kilometers, the detector needs to sweep 9 frames of images in 8 steps along the vertical rail direction. In summary, the size of the equivalent virtual camera can be calculated, and assuming that the equivalent virtual camera has no internal distortion, when the equivalent virtual camera is constructed, in order to avoid the difference generated by the elevation difference of the ground observation region, the real medium-wave infrared channel sensor is used as the center to perform vertical and horizontal expansion, so that the whole imaging view field is covered, and the minimum difference between the original imaging view angle and the virtual imaging view angle is ensured. The principal point, the principal distance and the size of a probe element of the equivalent virtual camera are consistent with the physical design of a medium wave infrared channel sensor carried by the sweep large-width optical satellite;
then, an original medium wave infrared imaging geometric model is constructed according to the physical design and the imaging mechanism of the medium wave infrared load carried by the sweep large-width optical satellite, the parameters of the construction design of the original medium wave infrared imaging geometric model comprise orbit parameters, attitude parameters, in-orbit geometric calibration parameters of an original medium wave infrared sensor and the angle of an induction synchronizer, and the concrete model is expressed as follows:
wherein the content of the first and second substances,
representing camera load scaling factor, t representing imagingTime, [ X Y Z]TObject-side coordinates representing the target point, (Ψ)x(l,s),Ψy(l, s)) represents the magnitude of the pointing angle of the medium-wave infrared probe number (l, s) [ X ]s(t) Ys(t) Zs(t)]TObject coordinates representing a photographing center; λ represents an imaging scale factor and is,
respectively representing a rotation matrix from the scanning mechanism to the camera load measurement coordinate system, a rotation matrix from the satellite body to the scanning mechanism, a rotation matrix from the J2000 coordinate system to the satellite body coordinate system, and a rotation matrix from the WGS84 coordinate system to the J2000 coordinate system. In one embodiment of the invention, in order to realize accurate construction of the original medium wave infrared strict geometric imaging model, the scanning mechanism is connected with a rotation matrix of a camera load measurement coordinate system
The method is characterized in that the method is obtained by measurement of an induction synchronizer of a scanning mechanism, the pointing angle of an original medium wave infrared probe element is determined by on-orbit geometric calibration, a shooting center coordinate is obtained by interpolation from GPS orbit observation data according to the imaging moment of an image, and an interpolation model adopts a cubic polynomial. The imaging attitude angle is obtained by interpolating from the original attitude observation data at the imaging moment, and the attitude fitting model of the original image can accurately recover the real state of the imaging moment only by better fitting the original attitude observation value considering that the attitude shakes in the imaging process, so a sliding window fitting polynomial is adopted for modeling;
then, constructing a large-area distortion-free medium-wave infrared earth ground steady-state push-scan imaging covering the whole imaging field to realize steady-state equivalent processing of an imaging process of an imaging load carried by the swing-scan large-width optical satellite, wherein the imaging process comprises the following steps: the scanning mechanism is used for sweeping 8 steps to image the ground, and the induction synchronizer is used for measuring the included angle between the vector of the direction of the load intersatellite point of the camera and the actual pointing direction of the optical axis in the imaging process of each step to carry out high-precision observation. The equivalent virtual medium wave infrared imaging geometric model is as follows:
wherein the content of the first and second substances,
the size of the pointing angle of the equivalent virtual medium wave infrared probe number (l, s) is obtained according to the design value in the previous step,
a rotation matrix representing the satellite body to camera load measurement coordinate system.
The equivalent virtual medium wave infrared imaging geometric model shooting center coordinates and the original medium wave infrared aggregate imaging model share a set of orbit parameters and models. And the equivalent virtual medium wave infrared imaging geometric model attitude angle and the original medium wave infrared aggregate imaging model share a set of attitude parameters. In one embodiment of the invention, to simulate an equivalent steady-state imaging process, an ensemble fitting polynomial is used for modeling;
and then, a free net adjustment model is adopted to realize the spatial reference unification of the multi-frame images. The method comprises the following steps of extracting a plurality of connection points between every two adjacent images in a matching manner, utilizing the connection points and an RFM model of a single-frame image to carry out relative orientation between sheets, constructing a consistency condition of interframe geometric positioning precision based on an object space average elevation surface, constructing a free net adjustment model, decomposing the inconsistency of interframe geometric positioning precision caused by various observation value errors during imaging into image surface affine transformation coefficients of the single-frame image to be corrected so as to absorb the influence of various observation errors, and comprising the following steps:
appropriate deformation is made to the RFM model of each frame of image:
wherein, S _ SCALE, L _ SCALE, S _ OFF, L _ OFF, Nums(lat,lon,h)，Dens(lat,lon,h)，NumL(lat, lon, h) and DenL(lat, lon, h) are expressed as specific parameters of the RFM model. Introducing six affine transformation coefficients a on the basis of an RFM (radio frequency memory) model of each frame of image0,a1,a2,b0,b1,b2The (x, y) represents the image point measurement coordinates of the connection point, and the (S, L) represents the image point coordinates of the ground point coordinates (lat, lon, h) obtained by the intersection in front of the connection point, which are inversely projected to the image plane by using the RPCs parameters. For the reference effect, the six affine transformation coefficients are constantly 0, and there are:
Fx＝a0+a1×S+a2×L+S-x＝0
Fy＝b0+b1×S+b2×L+S-y＝0
an error equation is constructed for the connection points on each frame of image as follows:
V＝At+BX-L
t＝(△a0△a1△a2△b0△b1△b2)T
wherein, V represents the residual vector of the observed value of the image point coordinates, t represents the vector of the image error compensation parameters to be solved, X represents the correction value vector of the object space coordinates of each connecting point, A, B represents the partial derivative coefficient matrix of the corresponding unknowns, L represents the constant vector, (lat lon h), (△ lat △ lon △ h) represents the object space coordinates and the correction value of the connecting point, and Fx、
Fy、
Representing image space residual error theoretical function and calculation function; and
constructing a normal equation, and solving two types of unknown parameters based on a least square method so as to realize the standard unification of the area network formed by the multi-frame overlapped images; and
according to the equivalent virtual medium wave infrared imaging geometric model and the RFM model of the original medium wave infrared imaging geometric model, virtual resampling is carried out based on object space geometric positioning consistency, and a steady-state equivalent center projection sensor correction image is obtained, wherein the method comprises the following steps:
calculating coordinates of intersection points of image point photographing light rays and object space on a virtual scanning scene according to an RFM model of the equivalent virtual medium wave infrared imaging geometric model and preset average elevation auxiliary information;
reversely calculating the coordinates of the original image points corresponding to the intersection points based on the RFM model of the original medium wave infrared imaging geometric model;
obtaining the gray value of the image point on the virtual scanning scene image through cubic spline interpolation; and
and repeating the steps until equivalent virtual re-imaging is completed, and generating a seamless and distortion-free large-breadth area sensor correction image.
In another embodiment of the present invention, the calibration method of the sensor for sweeping the long-wave infrared channel carried by the large-width optical satellite is similar to the calibration method of the visible light channel sensor, and includes:
and constructing an equivalent virtual camera according to the physical parameters and the imaging process of the medium wave infrared channel sensor carried by the sweep large-width optical satellite. The size of a medium wave infrared channel detector carried by the large-width optical satellite with the swinging sweep is 640 multiplied by 512 in the through orbit direction, the resolution of a sub-satellite point is 30 meters, and the ground speed reduction ratio is 1: and 3, the imaging time difference between the steps is 190 milliseconds, and according to measurement and calculation, in order to realize large-width splicing of 120 kilometers, the detector needs to sweep 9 frames of images in 8 steps along the vertical rail direction. In summary, the size of the equivalent virtual camera can be calculated, and assuming that the equivalent virtual camera has no internal distortion, when the equivalent virtual camera is constructed, in order to avoid the difference of elevation difference of an observation area of the ground, the real long-wave infrared channel sensor is used as the center to perform vertical and horizontal expansion, so that the whole imaging view field is covered, and the difference between the original imaging view angle and the virtual imaging view angle is ensured to be minimum. The principal point, the principal distance and the size of the detecting element of the equivalent virtual camera are consistent with the physical design of a long-wave infrared channel sensor carried by the sweep large-width optical satellite;
then, an original long-wave infrared imaging geometric model is constructed according to the physical design and the imaging mechanism of a long-wave infrared load carried by the swinging large-width optical satellite, the parameters of the construction design of the original long-wave infrared imaging geometric model comprise orbit parameters, attitude parameters, original medium-wave infrared sensor on-orbit geometric calibration parameters and induction synchronizer angles, and the concrete model is expressed as follows:
wherein the content of the first and second substances,
representing camera load scaling factor, t representing imaging time, [ X Y Z]TObject-side coordinates representing the target point, (Ψ)x(l,s),Ψy(l, s)) represents the magnitude of the pointing angle of the long-wavelength infrared probe number (l, s) [ X ]s(t) Ys(t) Zs(t)]TObject coordinates representing a photographing center; λ represents an imaging scale factor and is,
respectively representing the rotation matrix from the scanning mechanism to the camera load measuring coordinate system, the rotation of the satellite body to the scanning mechanismA rotation matrix, a rotation matrix from the J2000 coordinate system to the satellite body coordinate system, and a rotation matrix from the WGS84 coordinate system to the J2000 coordinate system. In one embodiment of the invention, in order to realize the accurate construction of the original long-wave infrared strict geometric imaging model, the rotation matrix from the scanning mechanism to the camera load measurement coordinate system
The method is characterized in that the method is obtained by measuring an induction synchronizer of a scanning mechanism, the pointing angle of an original long-wave infrared probe element is determined by on-orbit geometric calibration, a shooting center coordinate is obtained by interpolation from GPS orbit observation data according to an image imaging moment, and an interpolation model adopts a cubic polynomial. The imaging attitude angle is obtained by interpolating from the original attitude observation data at the imaging moment, and the attitude fitting model of the original image can accurately recover the real state of the imaging moment only by better fitting the original attitude observation value considering that the attitude shakes in the imaging process, so a sliding window fitting polynomial is adopted for modeling;
then, constructing a large-area array undistorted long-wave infrared earth ground steady-state push-scan imaging covering the whole imaging field to realize steady-state equivalence processing of an imaging process of an imaging load carried by the swinging large-width optical satellite, wherein the imaging process comprises the following steps: the scanning mechanism is used for sweeping 8 steps to image the ground, and the induction synchronizer is used for measuring the included angle between the vector of the direction of the load intersatellite point of the camera and the actual pointing direction of the optical axis in the imaging process of each step to carry out high-precision observation. The equivalent virtual long-wave infrared imaging geometric model is as follows:
wherein the content of the first and second substances,
indicating the size of the pointing angle of the equivalent virtual long-wave infrared probe number (l, s), obtained according to the design value in the previous step,
a rotation matrix representing the satellite body to camera load measurement coordinate system.
The equivalent virtual long-wave infrared imaging geometric model shooting center coordinate and the original long-wave infrared gathering imaging model share a set of orbit parameters and models. And the equivalent virtual long-wave infrared imaging geometric model attitude angle and the original long-wave infrared gathering imaging model share a set of attitude parameters. In one embodiment of the invention, to simulate an equivalent steady-state imaging process, an ensemble fitting polynomial is used for modeling;
and then, a free net adjustment model is adopted to realize the spatial reference unification of the multi-frame images. The method comprises the following steps of extracting a plurality of connection points between every two adjacent images in a matching manner, utilizing the connection points and an RFM model of a single-frame image to carry out relative orientation between sheets, constructing a consistency condition of interframe geometric positioning precision based on an object space average elevation surface, constructing a free net adjustment model, decomposing the inconsistency of interframe geometric positioning precision caused by various observation value errors during imaging into image surface affine transformation coefficients of the single-frame image to be corrected so as to absorb the influence of various observation errors, and comprising the following steps:
appropriate deformation is made to the RFM model of each frame of image:
wherein, S _ SCALE, L _ SCALE, S _ OFF, L _ OFF, Nums(lat,lon,h)，Dens(lat,lon,h)，NumL(lat, lon, h) and DenL(lat, lon, h) are expressed as specific parameters of the RFM model. Introducing six affine transformation coefficients a on the basis of an RFM (radio frequency memory) model of each frame of image0,a1,a2,b0,b1,b2(x, y) represents the measured coordinates of the connecting point, and (S, L) represents the coordinates (lat, lon, h) of the ground point obtained by the intersection of the front of the connecting point by using RPCs
The parameters are back projected to the image point coordinates of the image plane. For the reference effect, the six affine transformation coefficients are constantly 0, and there are:
Fx＝a0+a1×S+a2×L+S-x＝0
Fy＝b0+b1×S+b2×L+S-y＝0
an error equation is constructed for the connection points on each frame of image as follows:
V＝At+BX-L
t＝(△a0△a1△a2△b0△b1△b2)T
wherein, V represents the residual vector of the observed value of the image point coordinates, t represents the vector of the image error compensation parameters to be solved, X represents the correction value vector of the object space coordinates of each connecting point, A, B represents the partial derivative coefficient matrix of the corresponding unknowns, L represents the constant vector, (lat lon h), (△ lat △ lon △ h) represents the object space coordinates and the correction value of the connecting point, and Fx、
Fy、
Representing image space residual error theoretical function and calculation function; and
constructing a normal equation, and solving two types of unknown parameters based on a least square method so as to realize the standard unification of the area network formed by the multi-frame overlapped images; and
according to the equivalent virtual long-wave infrared imaging geometric model and the RFM model of the original long-wave infrared imaging geometric model, virtual resampling is carried out based on the geometric positioning consistency of the object space, and a steady-state equivalent center projection sensor correction image is obtained, wherein the method comprises the following steps:
calculating coordinates of intersection points of image point photographing light rays and an object space on a virtual scanning scene according to an RFM model of the equivalent virtual long-wave infrared imaging geometric model and preset average elevation auxiliary information;
reversely calculating the coordinates of the original image points corresponding to the intersection points based on the RFM model of the original long-wave infrared imaging geometric model;
obtaining the gray value of the image point on the virtual scanning scene image through cubic spline interpolation; and
and repeating the steps until equivalent virtual re-imaging is completed, and generating a seamless and distortion-free large-breadth area sensor correction image.
While various embodiments of the present invention have been described above, it should be understood that they have been presented by way of example only, and not limitation. It will be apparent to persons skilled in the relevant art that various combinations, modifications, and changes can be made thereto without departing from the spirit and scope of the invention. Thus, the breadth and scope of the present invention disclosed herein should not be limited by any of the above-described exemplary embodiments, but should be defined only in accordance with the following claims and their equivalents.
Claims (9)
1. A method for correcting a sweep large-width optical satellite sensor is characterized by comprising the following steps:
a corrected visible light channel sensor comprising:
constructing an equivalent virtual camera according to the physical design and the imaging mechanism of the visible light imaging load carried by the sweep large-width optical satellite;
constructing an original CCD imaging geometric model and an equivalent virtual CCD imaging geometric model according to the physical design and the imaging mechanism of a visible light imaging load carried by a sweep large-width optical satellite;
constructing a free net adjustment model to enable a space reference to be uniform, wherein a rational function model RFM is adopted to equivalently replace the equivalent virtual CCD imaging geometric model and the original CCD imaging geometric model, and corresponding least squares are calculated to solve RPCs parameters; and
performing virtual resampling based on the object space geometric positioning consistency according to the equivalent virtual CCD imaging geometric model and the RFM model of the original CCD imaging geometric model to obtain a steady-state equivalent center projection sensor correction image;
correcting the medium wave infrared channel sensor, wherein the correction method of the medium wave infrared channel sensor is the same as that of the visible light channel sensor; and
and correcting the long-wave infrared channel sensor, wherein the correction method of the long-wave infrared channel sensor is the same as that of the visible light channel sensor.
2. The method of claim 1, wherein the equivalent virtual camera is a virtual full undistorted area array wide camera, and wherein constructing the virtual full undistorted area array wide camera comprises the steps of:
according to physical parameters and an imaging process of an imaging load carried by the swing-scanning large-width optical satellite, the size of the equivalent virtual CCD is determined, and then the real physical CCD is used as the center to perform vertical and horizontal expansion.
3. The method of claim 2, wherein the principal point, principal distance and probe size of the virtual full-complete distortion-free area array large-width camera CCD are all consistent with the visible light channel CCD of the imaging load carried by the swept large-width optical satellite.
4. The method of claim 1, wherein the original CCD imaging geometry model is implemented using sliding window fitting polynomial modeling, the original CCD imaging geometry model being represented as:
wherein the content of the first and second substances,
representing camera load scaling factor, t representing imaging time, [ X Y Z]TObject-side coordinates representing the target point, (Ψ)x(l，s)，Ψy(l, s)) represents the magnitude of the pointing angle of the CCD probe number (l, s) [ X ]s(t) Ys(t) Zs(t)]TObject coordinates representing a photographing center; λ represents an imaging scale factor and is,
respectively representing a rotation matrix from the scanning mechanism to the camera load measurement coordinate system, a rotation matrix from the satellite body to the scanning mechanism, a rotation matrix from the J2000 coordinate system to the satellite body coordinate system, and a rotation matrix from the WGS84 coordinate system to the J2000 coordinate system.
5. The method of claim 4, wherein the rotation matrix of the scanning mechanism to camera load measurement coordinate system
The method is characterized in that the method is obtained by measurement of an induction synchronizer of a scanning mechanism, the pointing angle of a probe element of an original CCD is determined by on-orbit geometric calibration, the object space coordinate of a photographing center is obtained by interpolation from GPS orbit observation data according to the image imaging time, and an interpolation model adopts a cubic polynomial.
6. The method according to claim 1, wherein the equivalent virtual CCD imaging geometry model is obtained by performing steady-state equivalence processing on an imaging process of an imaging load carried by a swept large-width optical satellite by using an overall fitting polynomial, and the equivalent virtual CCD imaging geometry model is expressed as:
wherein the content of the first and second substances,
indicating the size of the pointing angle of the equivalent virtual CCD probe number (l, s), obtained according to the design value of the equivalent virtual camera,
a rotation matrix representing the satellite body to camera load measurement coordinate system.
7. The method of claim 1, wherein the equivalent virtual CCD imaging geometry model and the original CCD imaging geometry model employ the same orbit parameters and model and pose parameters.
8. The method of claim 1, wherein the constructing of the free net adjustment model includes solving image plane affine transformation coefficients together with object space coordinates of the connection points:
and (3) deforming the RFM model of each frame of image:
wherein, S _ SCALE, L _ SCALE, S _ OFF, L _ OFF, Nums (lat, lon, h), Dens(lat，lon，h)，NumL(lat, lon, h) and DenL(lat, lon, h) are expressed as specific parameters of the RFM model;
then, six affine change coefficients a are introduced on the basis0，a1，a2，b0，b1，b2；
Constructing an error equation for the connection point on each frame of image:
V＝At+BX-L，
t＝(△a0△a1△a2△b0△b1△b2)T，
X＝(△lat △lon △h)T，
wherein, V represents the residual vector of the observed value of the image point coordinates, t represents the vector of the image error compensation parameters to be solved, X represents the correction value vector of the object space coordinates of each connecting point, A, B represents the partial derivative coefficient matrix of the corresponding unknowns, L represents the constant vector, (latlon h), (△ lat △ lon △ h) represents the object space coordinates and the correction value of the connecting point, and Fx、
Fy、
Representing image space residual error theoretical function and calculation function; and
and constructing a normal equation, and solving unknown parameters based on a least square method so as to realize the standard unification of the area network formed by the multi-frame overlapped images.
9. The method of claim 1, wherein the virtual resampling comprises:
calculating coordinates of intersection points of image point photographing light rays and an object space on a virtual scanning scene according to an RFM model of the equivalent virtual CCD imaging geometric model and preset average elevation auxiliary information;
reversely calculating the image point coordinates of the original image corresponding to the intersection point based on the RFM model of the original CCD imaging geometric model;
obtaining the gray value of the image point on the virtual scanning scene image through cubic spline interpolation; and
and repeating the steps until the equivalent virtual re-imaging is completed.
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