CN111681287A - Moon calibration parameter evaluation method for multi-angle camera of large remote sensing satellite - Google Patents
Moon calibration parameter evaluation method for multi-angle camera of large remote sensing satellite Download PDFInfo
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Abstract
The common method for calibrating the moon at present is to control the autorotation speed of a satellite, match with the integral time of a camera and image the moon at the same time. However, typical integration time of different imaging angles to the ground is different for a multi-angle camera carried by a large remote sensing satellite, and if a single track is required to complete a calibration task to the moon for all angles, the satellite is required to rapidly change the self rotating speed in a short time even in the imaging process, which is difficult to realize for the large remote sensing satellite with large mass. Meanwhile, when the multi-angle optical load is used for imaging the moon, the applicability evaluation of multiple groups of imaging parameters is needed to obtain higher imaging quality. The method for evaluating the lunar calibration parameters of the multi-angle camera of the large remote sensing satellite overcomes the defect that the large remote sensing satellite cannot finish multi-angle lunar calibration in a single track, improves calibration efficiency, determines proper imaging parameters through multi-boundary joint evaluation, and improves calibration precision.
Description
Technical Field
The invention relates to a method for evaluating lunar calibration parameters of a multi-angle camera of a large remote sensing satellite, and belongs to the technical field of remote sensing satellite celestial body radiometric calibration.
Background
The on-orbit celestial body radiation calibration method has the advantages of small influence of environmental factors, high calibration frequency and the like, and is more and more concerned by people. In celestial body calibration, the advantages of lunar calibration mainly include: firstly, the moon is an extraterrestrial target with the largest external view angle of the sun, and absolute radiation calibration of a large number of pixels of satellite-borne passive optical loads can be completed by once monthly imaging; secondly, the lunar reflection characteristic is very stable and is suitable for the radiation response stability tracking of the detector; thirdly, the lunar calibration has the advantages of no influence of earth atmosphere, full visible and near infrared spectrum coverage of calibration spectrum and the like. This makes the moon well suited as a reference source for satellite in-orbit radiometric calibration.
The conventional lunar calibration method calculates attitude control parameters required by satellite attitude maneuver based on certain camera integration time, controls the satellite rotation speed to be matched with the integration time of a camera, and solves the lunar image distortion problem caused by mismatching of the integration time and the push-broom speed in the lunar imaging process. However, for a multi-angle camera carried by a large remote sensing satellite, the common integration time of different imaging angles to the ground is different. The large remote sensing satellite cannot adjust the attitude maneuvering speed in real time in a short-time single imaging task to match the integration time requirements of imaging at different angles due to the self-quality. Whereas if the same integration time parameter setting is used for different angle loads when imaging a month, scaling errors can be introduced due to non-linearity of the integration time and signal response.
When the multi-angle optical load images the moon, different TDI series and gain combinations can be selected, the applicability of the parameter combinations is evaluated through effective principles and methods, imaging parameters suitable for a moon calibration task can be determined, higher imaging quality is obtained, and more accurate source end data is provided for land surface information quantitative inversion based on satellite remote sensing images.
Disclosure of Invention
The invention solves the problems that: the method overcomes the defects of the prior art, designs a corresponding lunar calibration scheme aiming at the problem that the existing lunar calibration scheme is not suitable for the technical state of the multi-angle optical load of the large remote sensing satellite, and provides a method for evaluating the lunar calibration parameters of the multi-angle camera of the large remote sensing satellite so as to determine the proper lunar calibration imaging parameters and ensure the image quality and the calibration precision of lunar imaging.
The technical scheme of the invention is as follows: a method for evaluating a lunar calibration parameter of a multi-angle camera of a large remote sensing satellite comprises the following steps:
(1) based on a ground surface digital elevation model DEM and each satellite parameter, obtaining the integral time of each angle camera at different latitudes through STK simulation;
(2) selecting the integration time of each angle camera according to the integration time of each angle camera at different latitudes obtained in the step (1) by combining the latitude range of the hot spot area concerned by the satellite in orbit;
(3) determining the entrance pupil radiance of a certain spectrum section of a certain angle camera when the moon is imaged, and further obtaining a moon calibration lunar phase;
(4) calculating voltage values of TDICCD signals under different gain and stage combination collocation of the angle camera selected in the step (3) according to the integration time obtained in the step (2) and the entrance pupil radiance obtained in the step (3), comparing the voltage values of the TDICCD signals with saturation voltage values in a TDICCD device manual one by one, and obtaining all TDI stages which do not exceed the saturation voltage of the device and gains used by combining the TDI stages;
(5) calculating to obtain MTF reduction degrees corresponding to different TDI levels under the condition of satellite attitude stability according to the integration time obtained in the step (2), and determining the upper limit of the TDI levels as the maximum TDI level causing MTF reduction not more than 3%;
(6) selecting a stage less than or equal to the upper limit of the TDI stage in the step (5) from the TDI stages not exceeding the saturation voltage of the device obtained in the step (4) to obtain the TDI stage meeting the requirements of the saturation voltage and the MTF;
(7) according to the TDI series obtained in the step (6) and meeting the requirements of saturation voltage and MTF, finding out the gain used in combination with the TDI series in the step (4), calculating the signal voltage value obtained in the step (4), and calculating the signal-to-noise ratio;
(8) according to the step (7), referring to the signal-to-noise ratio requirement commonly used for ground image processing, determining one or more groups of TDI series and gain combinations meeting the conditions according to image processing limiting conditions, wherein the combinations are used as imaging parameters of a monthly calibration task;
(9) and (3) respectively executing the steps (1) to (8) to each spectral band of other angle cameras, finishing the parameter applicability evaluation of all TDI series and gain combinations, and obtaining the imaging parameters of the monthly calibration task of each spectral band of each angle camera.
And (3) the integration time in the step (2) is the average value of the maximum integration time and the minimum integration time corresponding to the hot spot area.
The specific process of the step (3) is as follows:
(3a) the principle of determining a lunar phase for a lunar calibration should follow: the entrance pupil radiance corresponding to the moon is as consistent as possible with the entrance pupil radiance which is common in the case of on-orbit ground photography; when the camera shoots on the ground in an orbit, common entrance pupil radiance corresponding to a certain spectral band at a certain shooting angle of the camera can be obtained by calculation through MODTRAN software;
(3b) the phases of the moon and the entrance pupil radiance of the camera at the time of imaging the moon are in one-to-one correspondence, so that the corresponding phases of the moon are determined based on the entrance pupil radiance obtained in (3a) by a table lookup method.
The specific formula of the voltage values of the tdicpcd signal calculated in the step (4) and matched with different combinations of gains and series of the camera with a certain angle selected in the step (3) is as follows:
wherein L (lambda) is entrance pupil radiance, R (lambda) is responsivity of TDICCD in full stage N, M is actual stage, t is integration time of TDICCD, Delta lambda is wave band width, and tau is optical transmittance of camera.
In the step (5), a specific formula for calculating the MTF degradation degree of the camera is as follows:
MTF(N)＝sinc(πNd)
in the formula, N is sampling frequency, d is movement distance on image surface
Wherein
The attitude stability is shown, f is the focal length, m is the number of stages, and ti is the integration time.
The specific formula for calculating the signal-to-noise ratio in the step (7) is as follows:
S/N＝20lg(V/Vnoise)
wherein V is a signal voltage; vnoiseFor noise, specific values were obtained by the camera in a ground laboratory with absolute radiometric calibration tests.
The image processing limiting conditions in the step (8) are specifically: the signal-to-noise ratio is greater than 23 dB.
Compared with the prior art, the invention has the beneficial effects that:
(1) a strategy is proposed for monthly calibration integration time set by imaging angle: the nonlinear factor which is difficult to correct and is introduced due to different calibration integration time and ground imaging integration time is effectively avoided, and the calibration precision is improved;
(2) the strategy for completing the calibration of the cameras at all angles of the large remote sensing satellite on the moon in the single track is provided, the defect that the large remote sensing satellite cannot adjust the attitude maneuvering speed in the single track moon imaging task to match the integral time requirements of the cameras at different angles is overcome, and the calibration efficiency is improved;
(3) the multi-boundary joint evaluation method for the applicability of the multi-angle optical load to the imaging parameters in the monthly calibration task is provided, and the imaging parameters suitable for the monthly calibration task can be determined so as to obtain higher imaging quality.
Drawings
FIG. 1 is a flow chart of an evaluation method proposed by the present invention;
FIG. 2 is a schematic diagram of the calibration condition of the multi-angle optical load of the large remote sensing satellite on the moon.
Detailed Description
The invention discloses a method for evaluating a lunar calibration parameter of a multi-angle camera of a large remote sensing satellite, which comprises the following specific steps as shown in figure 1, and figure 2 is a calibration working condition schematic diagram. For a camera with a certain shooting angle, the parameter evaluation method is realized by the following steps:
(1) based on a ground Digital Elevation Model (DEM) and each satellite parameter, obtaining the integral time of each angle camera at different latitudes through STK simulation;
(2) selecting the integration time of each angle camera according to the integration time of each angle camera at different latitudes obtained in the step (1) by combining the latitude range of the hot spot area concerned by the satellite in orbit;
(3) and determining the entrance pupil radiance of a certain spectral band of a certain angle camera when the moon is imaged, and further determining a calibration lunar phase. The lunar calibration radiation reference transmission process is mainly divided into three parts: the process of transmitting the sun to the moon in a radiation manner, the process of reflecting solar radiation energy by the moon, and the process of transmitting the moon to the on-orbit optical remote sensor in a radiation manner.
(3a) In order to better realize the on-orbit absolute calibration, the principle of selecting the lunar calibration lunar phase is as follows: the entrance pupil radiance corresponding to the month matches as much as possible the entrance pupil radiance that is common in the case of on-orbit imaging. When the camera shoots on the ground in an orbit, common entrance pupil radiance corresponding to a certain spectral band at a certain shooting angle of the camera can be obtained by calculation through MODTRAN software;
(3b) the moon phases and the entrance pupil radiance of the camera during the imaging of the moon are in one-to-one correspondence, so that the corresponding moon phases can be determined by a table look-up method based on the entrance pupil radiance obtained in step (3a), as shown in table 1, and a proper moon calibration arc section is designed according to the moon phases.
TABLE 1 entrance pupil radiance at different moon facies angles (W/m2/sr) when imaging a month
(4) And (3) calculating voltage values of TDICCD signals under different gain and stage combination of the angle camera selected in the step (3) according to the integration time obtained in the step (2) and the entrance pupil radiance obtained in the step (3), comparing the voltage values of the TDICCD signals with saturation voltage values in a TDICCD device manual one by one, and obtaining all TDI stages which do not exceed the saturation voltage of the device and gains used by combining the TDI stages. The signal voltage value calculation formula is as follows:
wherein L (lambda) is entrance pupil radiance, R (lambda) is responsivity of TDICCD in full stage N, M is actual stage, t is integration time of TDICCD, Delta lambda is wave band width, and tau is optical transmittance of camera.
Since the attitude orientation of the satellite has a certain degree of stability, and under the condition of a certain attitude stability, the higher the TDI series is, the more the MTF is reduced in the monthly observation, it is necessary to select an appropriate TDI series based on the limitation on the degree of MTF reduction.
(5) And (3) calculating to obtain MTF reduction degrees corresponding to different TDI levels under the condition of satellite attitude stability according to the integration time obtained in the step (2), and determining the upper limit of the TDI levels as the maximum TDI level causing MTF reduction not more than 3%. The calculation formula is as follows:
MTF(N)＝sinc(πNd)
in the formula, N is sampling frequency, d is movement distance on image surface
Wherein
The pose stability (rad/s) is given as f is the focal length (mm), m is the number of stages, and ti is the integration time.
(6) And (4) selecting the number of TDI series not exceeding the saturation voltage of the device from the TDI series obtained in the step (4) and less than or equal to the upper limit of the TDI series obtained in the step (5), so as to obtain the TDI series meeting the requirements of the saturation voltage and the MTF at the same time.
When the calibration data is processed, the signal-to-noise ratio has a great influence on the calibration accuracy, and it is necessary to constrain the signal-to-noise ratio index of the image.
(7) According to the TDI series obtained in the step (6) and meeting the saturation voltage and MTF requirements, finding the gain used in combination with the TDI series in the step (4), and calculating the signal-to-noise ratio according to the signal voltage value obtained in the step (4), wherein the calculation formula is as follows:
S/N＝20lg(V/Vnoise)
wherein V is a signal voltage, VnoiseAs noise, the noise value was obtained by the camera in a ground laboratory using an absolute radiometric calibration test.
(8) Determining one or more TDI series and gain combinations meeting the conditions according to the calculation result of the step (7) and the image processing limiting conditions with the signal-to-noise ratio larger than 23dB, wherein the combinations can be used as imaging parameters of a monthly calibration task;
(9) and (3) respectively executing the steps (1) to (8) to each spectral band of other angle cameras, finishing the parameter applicability evaluation of all TDI series and gain combinations, and obtaining the imaging parameters of the monthly calibration task of each spectral band of each angle camera.
Examples
In the embodiment, given the earth radius 6371km, the moon radius 1737km, the earth-moon center distance 384400 km., the satellite orbit height 505.984km, the camera focal length 5520mm and the CCD pixel size 7 mu m, the rotation speed of the satellite in the push-broom direction during imaging is 0.1 degree/s, and the attitude stability is 2.5 × 10-4The shooting angles of the multi-angle camera and the angles under the stars comprise 5 degrees, 19 degrees and 26 degrees, which are respectively called as a 5-degree camera, a 19-degree camera and a 26-degree camera, and imaging spectral bands are full-color spectral bands: 450 nm-900 nm, optical system transmittance of 0.8, full TDI response 1000V/(uJ/cm2), F number of 10.5 and zero blocking ratio.
The following steps (1) to (9) are performed for the "5 ° camera".
(1) Based on a Digital Elevation Model (DEM) on the earth surface and each satellite parameter, obtaining the integral time range of the camera in China by STK simulation, wherein the integral time range is about 0.09 ms-0.11 ms;
(2) the usual integration time is (0.09+0.11)/2 ═ 0.1 ms.
(3) According to the entrance pupil radiance of different observation conditions when each spectrum section observes the earth and the entrance pupil radiance of different lunar phases in table 1, a matching relation can be found, and a lunar phase range which can meet imaging conditions is selected, wherein the lunar phase range is taken as an example, and the entrance pupil radiance of the P spectrum section is 16.99W/m 2/sr.
(4) The TDI series of the camera is set to be 8,16,24,32,48,64,88 and 128 optional stages, and taking the 88 stages of the TDI series and the 1-gear gain as examples, according to the formula:
the signal voltage under the state is 0.306V and is less than the saturation voltage of the device by 1V, so the parameter meets the limit requirement of the saturation voltage.
(5) Calculating the MTF reduction degree brought by different TDI levels under the condition of certain attitude stability, taking TDI level 88 as an example, and using a formula:
the available image shift amount is 2.1 × 10-4mm, and further by the formula:
under the condition of 88-grade TDI, MTF is reduced to 0.0004, and the limit condition is met.
(6) In this embodiment, the number of TDI levels that do not exceed the saturation voltage of the device obtained in step (4) and the upper limit of the number of TDI levels in step (5) are the same number of levels, and the number of levels can satisfy the saturation voltage and MTF requirements at the same time.
(7) According to the stage number which is obtained in the step (6) and simultaneously meets the requirements of saturation voltage and MTF, the gain which is used in combination with the stage number in the step (4) is found to be 1, the signal voltage value which is calculated in the step (4) is 0.306V, the noise voltage is taken as 1mV, and the following formula is adopted:
S/N＝20lg(Vs/Vnoise)＝20lg(306/1)＝49.71dB
the resulting signal-to-noise ratio was 49.71 dB.
(8) And (4) according to the step (7), determining the combination of TDI series and gain as the imaging parameter of the lunar calibration task according to the limit condition that the signal-to-noise ratio is more than 23dB by referring to the signal-to-noise ratio requirement commonly used for ground image processing. .
(9) The steps (1) to (8) are respectively executed for the full-color spectral bands of the '19-degree camera' and the '26-degree camera', and the evaluation on the applicability of the lunar calibration parameters of each spectral band of the multiple angle cameras of the large remote sensing satellite set in the embodiment can be completed.
The invention has not been described in detail and has been tried and tested by a person skilled in the art.
Claims (7)
1. A method for evaluating lunar calibration parameters of a multi-angle camera of a large remote sensing satellite is characterized by comprising the following steps:
(1) based on a ground surface digital elevation model DEM and each satellite parameter, obtaining the integral time of each angle camera at different latitudes through STK simulation;
(2) selecting the integration time of each angle camera according to the integration time of each angle camera at different latitudes obtained in the step (1) by combining the latitude range of the hot spot area concerned by the satellite in orbit;
(3) determining the entrance pupil radiance of a certain spectrum section of a certain angle camera when the moon is imaged, and further obtaining a moon calibration lunar phase;
(4) calculating voltage values of TDICCD signals under different gain and stage combination collocation of the angle camera selected in the step (3) according to the integration time obtained in the step (2) and the entrance pupil radiance obtained in the step (3), comparing the voltage values of the TDICCD signals with saturation voltage values in a TDICCD device manual one by one, and obtaining all TDI stages which do not exceed the saturation voltage of the device and gains used by combining the TDI stages;
(5) calculating to obtain MTF reduction degrees corresponding to different TDI levels under the condition of satellite attitude stability according to the integration time obtained in the step (2), and determining the upper limit of the TDI levels as the maximum TDI level causing MTF reduction not more than 3%;
(6) selecting a stage less than or equal to the upper limit of the TDI stage in the step (5) from the TDI stages not exceeding the saturation voltage of the device obtained in the step (4) to obtain the TDI stage meeting the requirements of the saturation voltage and the MTF;
(7) according to the TDI series obtained in the step (6) and meeting the requirements of saturation voltage and MTF, finding out the gain used in combination with the TDI series in the step (4), calculating the signal voltage value obtained in the step (4), and calculating the signal-to-noise ratio;
(8) according to the step (7), referring to the signal-to-noise ratio requirement commonly used for ground image processing, determining one or more groups of TDI series and gain combinations meeting the conditions according to image processing limiting conditions, wherein the combinations are used as imaging parameters of a monthly calibration task;
(9) and (3) respectively executing the steps (1) to (8) to each spectral band of other angle cameras, finishing the parameter applicability evaluation of all TDI series and gain combinations, and obtaining the imaging parameters of the monthly calibration task of each spectral band of each angle camera.
2. The method for evaluating the monthly calibration parameters of the multi-angle camera of the large remote sensing satellite according to claim 1, which is characterized in that: and (3) the integration time in the step (2) is the average value of the maximum integration time and the minimum integration time corresponding to the hot spot area.
3. The method for evaluating the monthly calibration parameters of the multi-angle camera of the large remote sensing satellite according to claim 1, which is characterized in that: the specific process of the step (3) is as follows:
(3a) the principle of determining a lunar phase for a lunar calibration should follow: the entrance pupil radiance corresponding to the moon is as consistent as possible with the entrance pupil radiance which is common in the case of on-orbit ground photography; when the camera shoots on the ground in an orbit, common entrance pupil radiance corresponding to a certain spectral band at a certain shooting angle of the camera can be obtained by calculation through MODTRAN software;
(3b) the phases of the moon and the entrance pupil radiance of the camera at the time of imaging the moon are in one-to-one correspondence, so that the corresponding phases of the moon are determined based on the entrance pupil radiance obtained in (3a) by a table lookup method.
4. The method for evaluating the monthly calibration parameters of the multi-angle camera of the large remote sensing satellite according to claim 1, which is characterized in that: the specific formula of the voltage values of the tdicpcd signal calculated in the step (4) and matched with different combinations of gains and series of the camera with a certain angle selected in the step (3) is as follows:
wherein L (lambda) is entrance pupil radiance, R (lambda) is responsivity of TDICCD in full stage N, M is actual stage, t is integration time of TDICCD, Delta lambda is wave band width, and tau is optical transmittance of camera.
5. The method for evaluating the monthly calibration parameters of the multi-angle camera of the large remote sensing satellite according to claim 1, which is characterized in that: in the step (5), a specific formula for calculating the MTF degradation degree of the camera is as follows:
MTF(N)＝sinc(πNd)
in the formula, N is sampling frequency, d is movement distance on image surface
Wherein
The attitude stability is shown, f is the focal length, m is the number of stages, and ti is the integration time.
6. The method for evaluating the monthly calibration parameters of the multi-angle camera of the large remote sensing satellite according to claim 1, which is characterized in that: the specific formula for calculating the signal-to-noise ratio in the step (7) is as follows:
S/N＝20lg(V/Vnoise)
wherein V is a signal voltage; vnoiseFor noise, specific values were obtained by the camera in a ground laboratory with absolute radiometric calibration tests.
7. The method for evaluating the monthly calibration parameters of the multi-angle camera of the large remote sensing satellite according to claim 1, which is characterized in that: the image processing limiting conditions in the step (8) are specifically: the signal-to-noise ratio is greater than 23 dB.
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