CN111538051B - Precise processing method for swing-scanning large-width optical satellite - Google Patents
Precise processing method for swing-scanning large-width optical satellite Download PDFInfo
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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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/396—Determining accuracy or reliability of position or pseudorange measurements
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- G—PHYSICS
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- 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
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
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Abstract
The invention discloses a method for accurately processing a large-width optical satellite of a swinging sweep, which analyzes the mechanism of a scanning mechanism on the one hand according to the observation data and internal and external calibration parameters of the large-width optical satellite of the swinging sweep, further determining the positive and negative corresponding relation of the measured value of the induction synchronizer based on the scanning mechanism, establishing the conversion relation between the scanning mechanism and the satellite body to obtain a conversion matrix, on the other hand, modeling the orbit parameters and the attitude parameters by deducing the imaging process, calculating attitude and orbit parameters at the imaging moment, constructing an accurate processing geometric model according to the transformation matrix and the attitude and orbit parameters at the imaging moment, and then, constructing an RFM model, performing equivalent geometric model conversion on the accurate processing geometric model, and calculating RPCs parameters to obtain an equivalent geometric imaging model of the sweep distribution imaging process of the sweep large-width optical satellite, so as to realize accurate processing of each frame of earth observation image.
Description
Technical Field
The invention relates to the technical field of aerospace, in particular to a method for accurately processing a large-width optical satellite with a swinging scan.
Background
The high-resolution optical remote sensing satellite is used as an important means for acquiring spatial information and plays an important role in the fields of natural resource monitoring, military reconnaissance, surveying and mapping and the like. In the past, the optical remote sensing satellite mainly adopts a conventional linear array CCD push-broom mode, and in order to improve the range of the earth observation image, a large-range integral image is obtained mainly by increasing the load quantity of a physical device CCD or a camera and adopting visual field splicing modes such as optical splicing, non-collinear CCD splicing, dual-camera splicing and the like.
With the diversified development of an optical load imaging mode, the sweep array optical load becomes an important observation means for acquiring a large-width image, and the size of an earth observation field can be increased through one-dimensional multi-step scanning of an internal mechanism under the condition of not increasing the number of detectors, so that the effects of reducing the volume, the quality, the power consumption and the development cost of the load and effectively improving the satellite earth observation time resolution are realized. The common area array swinging wide-width optical satellite camera load comprises three channels of visible light, medium wave infrared and long wave infrared, a three-channel image with the width of 120Km can be obtained through 8 steps of swinging in the vertical rail direction of a swinging mirror scanning mechanism, and the all-day remote sensing data acquisition capability is achieved.
Compared with the conventional linear array push-broom imaging and area array imaging modes, the sweep large-width optical satellite acquires image data in a multi-degree-of-freedom mode combining a satellite attitude maneuver coagulation-broom mechanism and a sweep mechanism, and the mode causes high nonlinearity degree of an attitude model, complex imaging mechanism and high freedom degree of a geometric model in the satellite imaging process, so that the construction and accurate processing of the sweep large-width optical satellite high-precision geometric imaging model are complex, no relevant research provides a proper method at present, and the follow-up image splicing, fusion and classification monitoring application of the sweep large-width optical satellite is difficult to realize.
Disclosure of Invention
Aiming at partial or all problems in the prior art, the invention provides a method for accurately processing a swept-area large-width optical satellite, which realizes accurate processing of each frame of earth observation image by constructing an equivalent geometric imaging model of a swept-area distributed imaging process of the swept-area large-width optical satellite, and comprises the following steps:
determining equivalent transformation matrixes corresponding to the step-by-step imaging process of the swing-scanning large-width optical satellite, wherein the equivalent transformation matrixes comprise a transformation matrix between a camera load and a scanning mechanism, a transformation matrix between the scanning mechanism and a satellite body and a transformation matrix between the satellite body and an object space;
acquiring orbit and attitude parameters at the imaging moment;
constructing an accurate processing geometric model of the sweep large-width optical satellite based on the equivalent transformation matrix and the orbit and attitude parameters at the imaging moment; and
and performing equivalent fitting on the precise processing geometric model.
Further, the parameters of the equivalent geometric imaging model comprise satellite orbit, satellite imaging attitude, imaging time, camera internal calibration parameters and installation parameters among different loads.
Further, the precise processing geometric model is obtained by modeling by adopting a Lagrange polynomial.
Further, a conversion matrix between the camera load and the scanning mechanism is a fixed value and is determined by the camera load and the satellite body installation parameters.
Further, the conversion matrix between the scanning mechanism and the satellite body is determined by measuring parameters through an induction synchronizer: and defining that the clockwise imaging recording angle of the induction synchronizer is a negative value, the anticlockwise imaging recording angle is a positive value, and the imaging angle of the sub-satellite point is zero along the flight direction of the satellite, so that a conversion matrix between the scanning mechanism and the satellite body at the imaging moment t can be obtained.
Further, the attitude parameter modeling is performed by adopting a sliding window fitting polynomial.
Further, a rational function model RFM is adopted to equivalently fit the sweep large-width optical satellite precise processing geometric model.
Further, the calculation of rational polynomial coefficients RPCs of the RFM model comprises:
establishing a global virtual grid for each frame of image;
calculating the virtual grid coordinates of the object space as control points based on the positive and negative transformation functions of the precision processing geometric model of the sweep large-width optical satellite; and
and calculating parameters by using a least square adjustment principle.
Further, in the calculation of the rational polynomial coefficients RPCs, the equation ill-condition problem is solved by adopting a ridge estimation mode.
The method for accurately processing the sweep large-width optical satellite realizes the construction and accurate processing of a high-precision strict geometric imaging model, can solve the problem of high-precision earth observation of the sweep large-width optical satellite, and lays a foundation for the subsequent processing and application of the satellite.
Drawings
To further clarify the above and other advantages and features of various embodiments of the present invention, a more particular description of various embodiments of the 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 flowchart illustrating a precision processing method for a swept-wide optical satellite according to an embodiment of the present invention;
fig. 2 is a schematic flowchart illustrating a precision processing method for a swept-wide optical satellite according to an embodiment of the present invention; and
fig. 3 shows a simulation diagram of a swept-wide optical satellite imaging process according to an embodiment of the 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 invention, the order of the steps may be adjusted according to process adjustments.
The load of the swinging-scanning large-width optical satellite camera has the functions of detecting visible light, medium-wave infrared and long-wave infrared through a light splitting technology, and the field angle of a single-frame image is 1.6 degrees. In order to solve the problem that the single imaging width is too small, the satellite mainly adopts the following steps: 3, the ground speed is reduced, the scanning mechanism arranged on the scanning mechanism performs sweep imaging, and the imaging of 120 kilometers of large width in the vertical rail direction is realized by controlling the overlapping of frames and splicing. The scanning mechanism mainly comprises a scanning mirror, a rotating shaft system, a torque motor, an induction synchronizer and the like. The scanning mirror swings back and forth at +/-3.5 degrees around the X axis of a satellite body coordinate system (9 frames of images are obtained in 8 steps of unidirectional swinging in one period, the images rotate by 0.8 degree every 190ms, and the images are not imaged in the reverse direction), and the swinging angle of each frame of image is recorded through an induction synchronizer. The position measurement precision of the induction synchronizer is not lower than +/-3 ', and the repetition precision is better than 0.2'.
In order to lay a foundation for subsequent processing and application of the swept-up large-width optical satellite, the invention provides a precise processing method of the swept-up large-width optical satellite, as shown in fig. 2 and 3, according to observation data of the swept-up large-width satellite and internal and external calibration parameters, on one hand, a scanning mechanism of the swept-up large-width optical satellite is analyzed, on the other hand, a positive and negative corresponding relation of a measurement value of an induction synchronizer is determined based on the scanning mechanism, a conversion relation between the scanning mechanism and a satellite body is established, a conversion matrix is obtained, on the other hand, modeling of an orbit parameter and a posture parameter is realized by deducting an imaging process of the scanning mechanism, a posture parameter at an imaging moment is calculated, a precise processing geometric model is established according to the conversion matrix and the posture parameter at the imaging moment, then an equivalent geometric model conversion is carried out on the precise processing geometric model by establishing an RFM model, and RPCs parameters are calculated, and obtaining an equivalent geometric imaging model of the sweep distribution imaging process of the sweep large-width optical satellite, and realizing accurate processing of each frame of earth observation images. The technical solution of the present invention is further described below.
Fig. 1 is a flowchart illustrating a precise processing method for a swept-wide optical satellite according to an embodiment of the present invention. As shown in fig. 1, a method for accurately processing a swept-area large-width optical satellite, which implements accurate processing of each frame of earth observation image by constructing an equivalent geometric imaging model of a swept-area distributed imaging process of the swept-area large-width optical satellite, includes:
step 101, determining a transformation matrix. In one embodiment of the invention, model parameters related to the equivalent geometric imaging model comprise satellite orbits, satellite imaging postures, imaging moments, camera internal calibration parameters, installation parameters among different loads and the like. The process of the satellite through the scanning mirror swing step-by-step imaging can be equivalently established into a conversion matrix between the camera load and the scanning mechanism
Conversion matrix between scanning mechanism and satellite body
And a transformation matrix of the satellite body and the object space, wherein:
conversion matrix between camera load and scanning mechanism
Camera load and satellite body installation parameters are used as fixed values; and
conversion matrix between scanning mechanism and satellite body
Determination by induction synchronizer measurement parameters: the definition is along satellite flight direction, and the sensing synchronizer clockwise formation of image recording angle is the negative value, and anticlockwise formation of image recording angle is the positive value, and the imaging angle of the point is zero under the satellite. Then at a certain imaging time t, recording the recording angle of the induction synchronizer as theta, and converting the matrix between the scanning mechanism and the satellite body
Expressed as:
next, in step 102, orbit and attitude parameters are obtained. According to the imaging process and mechanism of the swing-scanning large-width optical satellite, in order to realize 120-kilometer vertical-orbit swing-scanning imaging, the satellite needs to perform the following steps: 3, the ground speed is reduced, and because the attitude of the satellite is controlled by attitude maneuver in the process of ground speed reduction imaging, the attitude changes rapidly and becomes strong nonlinearity at different moments, so that in order to ensure that each frame of image can obtain high-precision external orientation parameters, the orbit and the attitude of the satellite at different imaging moments need to be subjected to refined modeling so as to be subjected to subsequent precise processing. In an embodiment of the present invention, considering that the orbit has no maneuvering in the satellite imaging process, a lagrangian polynomial is used to perform modeling of a precise processing geometric model, and then a sliding window fitting polynomial is used to perform refined modeling on the orbit and the attitude of the satellite at different imaging moments, where the attitude parameter modeling process includes:
let the set of satellite attitude observations comprise n time series output values (q) 1 ,q 2 ,q 3 ,…,q n-1 ,q n )，t k The attitude quaternion of n epochs is recorded as (q) at the imaging time 0 i,q 1 i,q 2 i,q 3 i) I 1,2, …, n, corresponding m-1 degree best orthogonal polynomial P qri (t) fitting is as follows:
P qri (t)＝a 0 +a 1 t+a 2 t 2 +…+a m-1 t m-1 ,(m≤n,r＝1,2,3),
wherein t represents time, a j J is 0,1, …, m-1 represents a polynomial coefficient, and the above formula is defined as each orthogonal polynomial δ j Linear combination of (t):
P qri (t)＝c 0 δ o (t)+c 1 δ 1 (t)+…+c m-1 δ m-1 (t),(r＝1,2,3),
wherein, c j And j is 0,1, …, and m-1 represents an orthogonal polynomial coefficient, t can be obtained according to the principle of least squares k The attitude quaternion fit values at the imaging time are as follows:
wherein the content of the first and second substances,
represents t k The time-of-day quaternion vector portion fit values,
represents t k The time-of-day quaternion scalar portion fit value,
representing quaternion vector partial orthogonal polynomial fitting coefficients,
representing a quaternion vector partial orthogonal polynomial;
next, at step 103, a precision process geometry model is constructed. Constructing the accurate processing geometric model of the sweep large-width optical satellite based on the transformation matrix and the orbit and attitude parameters:
wherein the content of the first and second substances,
representing the camera load scaling factor, R broadsensor Representing a generalized installation matrix, wherein the camera load calibration coefficient and the generalized installation matrix are obtained by calculation in an on-orbit calibration mode; t represents the imaging time, [ X Y Z ]] T Object-side coordinates representing the target point, (Ψ) x (l,s),Ψ y (l, s)) represents the magnitude of the pointing angle of the CCD probe number (l, s) [ X ] s (t) Y s (t) Z s (t)] T Object coordinates representing a camera center, the coordinates obtained by interpolation of orbit parameters; λ represents an imaging scale factor and is,
respectively representing a rotation matrix from a scanning mechanism to a camera load measurement coordinate system, a rotation matrix from a satellite body to the scanning mechanism, a rotation matrix from a J2000 coordinate system to the satellite body coordinate system, and a rotation matrix from a WGS84 coordinate system to the J2000 coordinate system; and
finally, at step 104, an equivalent geometric imaging model is acquired. Although the accurate processing geometric model can establish the relationship between the pixel coordinates of the image points of each frame of image and the geographic coordinates of the corresponding object side points, the accurate processing geometric model has low universality and low calculation efficiency in the application processes of subsequent sensor correction, image fusion and the like, and the coordinate back calculation needs multiple iterations. Therefore, in order to realize accurate processing of each frame of earth observation image, it is further required to perform equivalent fitting, and in an embodiment of the present invention, a rational Function model rfm (rational Function model) is used to perform equivalent fitting on the accurate processing geometric model, including:
regularizing image coordinates (L, s), longitude and latitude coordinates (B, L) and ellipsoid height H of the image point to enable the coordinate range to be [ -1,1]In between, the image side normalized coordinate (l) corresponding to the image point image coordinate (l, s) n ,s n ) And the calculation formulas of the normalized coordinates (U, V, W) of the object coordinates (B, L, H) are respectively expressed as:
wherein LineOff and SampleOff respectively represent translation values of image space coordinates; LineScale and SampleScale respectively represent the zoom values of image side coordinates; LonOff, LatOff, HeiOff represent translation values of the object coordinate, respectively; and LonScale, LatScale and HeiScale respectively represent the scaling value of the object coordinate;
then, for each scene image, the relationship between the image-side coordinates and the object-side coordinates can be expressed as a polynomial ratio as follows:
wherein the content of the first and second substances,
Num L (U,V,W)
＝a 1 +a 2 V+a 3 U+a 4 W+a 5 VU+a 6 VW+a 7 UW+a 8 V 2 +a 9 U 2
+a 10 W 2 +a 11 VUW+a 12 V 3 +a 13 VU 2 +a 14 VW 2 +a 15 V 2 U+a 16 U 3
+a 17 UW 2 +a 18 V 2 W+a 19 U 2 W+a 20 W 3
Den L (U,V,W)
＝b 1 +b 2 V+b 3 U+b 4 W+b 5 VU+b 6 VW+b 7 UW+b 8 V 2 +b 9 U 2
+b 10 W 2 +b 11 VUW+b 12 V 3 +b 13 VU 2 +b 14 VW 2 +b 15 V 2 U+b 16 U 3
+b 17 UW 2 +b 18 V 2 W+b 19 U 2 W+b 20 W 3
Num S (U,V,W)
＝c 1 +c 2 V+c 3 U+c 4 W+c 5 VU+c 6 VW+c 7 UW+c 8 V 2 +c 9 U 2
+c 10 W 2 +c 11 VUW+c 12 V 3 +c 13 VU 2 +c 14 VW 2 +c 15 V 2 U+c 16 U 3
+c 17 UW 2 +c 18 V 2 W+c 19 U 2 W+c 20 W 3
Den S (U,V,W)
＝d 1 +d 2 V+d 3 U+d 4 W+d 5 VU+d 6 VW+d 7 UW+d 8 V 2 +d 9 U 2
+d 10 W 2 +d 11 VUW+d 12 V 3 +d 13 VU 2 +d 14 VW 2 +d 15 V 2 U
+d 16 U 3 +d 17 UW 2 +d 18 V 2 W+d 19 U 2 W+d 20 W 3
wherein, a i ,b i ,c i ,d i (i ═ 1,2, …,20) is rational Polynomial coefficient rpcs (rational multinominal coefficients);
in one embodiment of the present invention, the calculation of the rational polynomial coefficients RPCs comprises:
establishing a global virtual grid for each frame of image;
calculating the virtual grid coordinates of the object space as control points based on the positive and negative transformation functions of the precision processing geometric model of the sweep large-width optical satellite; and
and calculating parameters by using a least square adjustment principle.
In another embodiment of the invention, in the calculation of the RPCs, a ridge estimation method is used to solve the equation ill-condition problem, so as to overcome matrix singularity caused by solving the inhomogeneous distribution of the control points of the RPCs or over-parameterization of a model.
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 (8)
1. A method for accurately processing a large-width optical satellite in a swinging mode is characterized by comprising the following steps:
determining an equivalent conversion matrix corresponding to the step-by-step imaging process of the sweep large-width optical satellite, wherein the equivalent conversion matrix comprises a conversion matrix between a camera load and a scanning mechanism, a conversion matrix between the scanning mechanism and a satellite body and a conversion matrix between the satellite body and an object space;
acquiring orbit and attitude parameters at the imaging moment;
based on the equivalent transformation matrix and the orbit and attitude parameters at the imaging moment, modeling by adopting a Lagrange polynomial to construct an accurate processing geometric model of the swept large-width optical satellite, wherein the accurate processing geometric model is represented as follows:
wherein:
t represents the imaging time;
λrepresenting an imaging scale factor;
and performing equivalent fitting on the precise processing geometric model.
2. The method of claim 1, wherein the conversion matrix between camera load and scanning mechanism is a fixed value determined by camera load and satellite body installation parameters.
3. The method of claim 1, wherein the transformation matrix between the scanning mechanism and the satellite body is determined by sensing synchronizer measurement parameters, the determining comprising the steps of:
defining that the clockwise imaging recording angle of the induction synchronizer is a negative value, the anticlockwise imaging recording angle is a positive value and the imaging angle of the sub-satellite point is zero along the flight direction of the satellite, so that a conversion matrix between the scanning mechanism and the satellite body at the imaging moment t can be obtained
The following:
wherein the content of the first and second substances,θand recording the angle for the induction synchronizer at the imaging time t.
4. The method of claim 1, wherein the orbit and pose parameters at the time of imaging are modeled by fitting a polynomial using a sliding window,
the attitude quaternion fit at the imaging time is as follows:
wherein, the first and the second end of the pipe are connected with each other,
to represent
The time-of-day quaternion vector portion fit values,
to represent
The time-of-day quaternion scalar portion fit value,
representing quaternion vector partial orthogonal polynomial fitting coefficients,
representing a quaternion vector partial orthogonal polynomial.
5. The method of claim 1, wherein the camera load scaling coefficients and the generalized mounting matrix are calculated by in-orbit scaling and the object-side coordinates of the camera center are interpolated by orbit parameters.
6. The method of claim 1, wherein the accurate process geometry model is equivalently fitted using a Rational Function Model (RFM), the equivalent fitting comprising:
image coordinates of image point(l, s)Longitude and latitude coordinates(B, L)Height of ellipsoidHRegularizing to coordinate range of [ -1,1 [)]Get the image coordinates
And normalized coordinates of object coordinates(U, V, W)(ii) a And
establishing an RFM model of the image space coordinates and the object space coordinates:
wherein:
wherein the content of the first and second substances,
is a rational polynomial coefficient RPCs in whichi=1,2,…,20。
7. The method of claim 6 wherein the calculation of the rational polynomial coefficients RPCs comprises the steps of:
establishing a global virtual grid for each frame of image;
calculating the virtual grid coordinates of the object space as control points based on the positive and negative transformation functions of the precision processing geometric model of the sweep large-width optical satellite; and
and calculating parameters by using a least square adjustment principle.
8. The method of claim 7, wherein the equation ill-conditioned problem is solved by using ridge estimation in the calculation of the rational polynomial coefficients RPCs.
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Effective date of registration: 20230331 Address after: 201304 No.1 Xueyang Road, Pudong New Area, Shanghai Patentee after: SHANGHAI ENGINEERING CENTER FOR MICROSATELLITES Address before: 201203 No. 99 Haike Road, Pudong New Area, Shanghai Patentee before: Institute of microsatellite innovation, Chinese Academy of Sciences Patentee before: SHANGHAI ENGINEERING CENTER FOR MICROSATELLITES |
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Effective date of registration: 20230808 Address after: 201306 building C, No. 888, Huanhu West 2nd Road, Lingang New District, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: Shanghai Zhongkechen New Satellite Technology Co.,Ltd. Address before: 201304 No.1 Xueyang Road, Pudong New Area, Shanghai Patentee before: SHANGHAI ENGINEERING CENTER FOR MICROSATELLITES |