CN112082571B - Large-breadth mapping camera system and calibration method - Google Patents
Large-breadth mapping camera system and calibration method Download PDFInfo
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Abstract
The invention discloses a large-breadth mapping camera system, which comprises: the system comprises a lens unit, a digital back focal plane unit, an electronics management and control unit and a data storage unit; the lens unit comprises a first multispectral lens, a second multispectral lens, a third multispectral lens, a fourth multispectral lens, a first panchromatic lens, a second panchromatic lens, a third panchromatic lens and a fourth panchromatic lens; the digital back focal plane unit comprises a first multi-spectral digital back, a second multi-spectral digital back, a third multi-spectral digital back, a fourth multi-spectral digital back, a first full-color digital back group, a second full-color digital back group, a third full-color digital back group and a fourth full-color digital back group; the electronics control unit comprises a signal conversion unit and a main control computer. The aerial surveying camera has a large width, and the operation efficiency and the accuracy of the aerial surveying camera are improved.
Description
Technical Field
The invention belongs to the technical field of photoelectric imaging, and particularly relates to a large-format mapping camera system and a calibration method.
Background
The aviation optical mapping is an important technical means for efficiently acquiring the remote sensing information of the region. The large-breadth mapping camera can obtain high resolution and wide view field, improve operation efficiency, save operation cost, and simultaneously obtain multispectral information of different spectral bands by assisting with a slightly low-resolution multispectral image, thereby being better served for mapping application.
The development of an area array mapping camera towards an ultra-large breadth is a necessary trend, the area array mapping with the pixel size of 4-6 mu m and the total pixel number of 8-16 hundred million can meet the requirement of high operation efficiency of wide-field high-resolution mapping. Due to the limitation of the process level, the CCD or CMOS area array device with the scale of 30k multiplied by 30k and 40k multiplied by 40k is difficult to realize on a single chip. In order to realize the imaging of the ultra-large breadth, the area array mapping camera is generally realized by adopting a splicing mode.
An UtralCamD camera released by Vexcel corporation in 2003 adopts a mixed splicing mode of 4 groups of lenses to realize a large breadth, the 4 groups of lenses are required to be arranged in a straight line along the flight direction, and each lens acquires a single-center projection image in a back delay exposure mode corresponding to the back. This method requires a "one-line" arrangement of lenses, which has a problem of strict restriction on the use of the internal space of the camera, and it is difficult to realize a larger-format splicing operation with the same device.
The invention patent CN 102883095A, CN 102905061A realizes splicing by adopting a double-lens and beam splitter prism mode, has 50% of energy loss of each image surface, and has the defects that the beam splitter prism increases the volume weight of an optical system, and halation exists at the image splicing position.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the large-breadth surveying and mapping camera system and the calibration method are provided, the aerial surveying and mapping camera can have a large breadth, and the operation efficiency and the accuracy of the aerial surveying and mapping camera are improved.
The purpose of the invention is realized by the following technical scheme: a large format mapping camera system, comprising: the system comprises a lens unit, a digital back focal plane unit, an electronics management and control unit and a data storage unit; the lens unit comprises a first multispectral lens, a second multispectral lens, a third multispectral lens, a fourth multispectral lens, a first panchromatic lens, a second panchromatic lens, a third panchromatic lens and a fourth panchromatic lens; the digital postfocal plane unit comprises a first multi-spectral digital postback, a second multi-spectral digital postback, a third multi-spectral digital postback, a fourth multi-spectral digital postback, a first panchromatic digital postback group, a second panchromatic digital postback group, a third panchromatic digital postback group and a fourth panchromatic digital postback group; the electronics control unit comprises a signal conversion unit and a main control computer; wherein, the signal conversion unit is connected with a main control computer; the first multispectral lens transmits a first optical signal obtained by light splitting of an object scene to a first multispectral digital back; the first multispectral digital back converts the first optical signal into a first electric signal and outputs the first electric signal to the signal conversion unit, and the signal conversion unit converts the first electric signal into a first converted optical signal and transmits the first converted optical signal to the data storage unit; the first multispectral digital back is arranged at the focal plane position of the first multispectral lens; the second multispectral lens transmits a second optical signal obtained by splitting the object scene light to a second multispectral digital back; the second multispectral digital back converts the second optical signal into a second electrical signal and outputs the second electrical signal to the signal conversion unit, and the signal conversion unit converts the second electrical signal into a second converted optical signal and transmits the second converted optical signal to the data storage unit; the second multispectral digital back is arranged at the focal plane position of the second multispectral lens; the third multispectral lens transmits a third optical signal obtained by splitting the object scene light to a third multispectral digital back; the third multispectral digital back converts the third optical signal into a third electrical signal and outputs the third electrical signal to the signal conversion unit, and the signal conversion unit converts the third electrical signal into a third converted optical signal and transmits the third converted optical signal to the data storage unit; the third multispectral digital back is located at the focal plane position of the third multispectral lens; the fourth multispectral lens transmits a fourth optical signal obtained by splitting the object scene light to a fourth multispectral digital back; the fourth multispectral digital postback converts the fourth optical signal into a fourth electrical signal and outputs the fourth electrical signal to the signal conversion unit, and the signal conversion unit converts the fourth electrical signal into a fourth converted optical signal and transmits the fourth converted optical signal to the data storage unit; the fourth multispectral digital back is located at the focal plane position of the fourth multispectral lens; the object space scene light is transmitted through the first panchromatic lens to obtain a fifth optical signal, the fifth optical signal is transmitted to the first panchromatic digital postback group, the first panchromatic digital postback group converts the fifth optical signal into a fifth electrical signal and outputs the fifth electrical signal to the signal conversion unit, and the signal conversion unit converts the fifth electrical signal into a fifth converted optical signal and transmits the fifth converted optical signal to the data storage unit; wherein the first full-color digital back group is at a focal plane position of the first full-color lens; the object space scene light is transmitted through the second panchromatic lens to obtain a sixth optical signal, the sixth optical signal is transmitted to the second panchromatic digital postback group, the second panchromatic digital postback group converts the sixth optical signal into a sixth electrical signal and outputs the sixth electrical signal to the signal conversion unit, and the signal conversion unit converts the sixth electrical signal into a sixth converted optical signal and transmits the sixth converted optical signal to the data storage unit; wherein the second full-color digital back group is at a focal plane position of the second full-color lens; the object space scene light is transmitted through the third panchromatic lens to obtain a seventh optical signal, the seventh optical signal is transmitted to the third panchromatic digital postback group, the third panchromatic digital postback group converts the seventh optical signal into a seventh electrical signal and outputs the seventh electrical signal to the signal conversion unit, and the signal conversion unit converts the seventh electrical signal into a seventh converted optical signal and transmits the seventh converted optical signal to the data storage unit; the third full-color digital rear group is arranged at the focal plane position of the third full-color lens; the object space scene light is transmitted through the fourth panchromatic lens to obtain an eighth optical signal, the eighth optical signal is transmitted to the fourth panchromatic digital postback group, the fourth panchromatic digital postback group converts the eighth optical signal into an eighth electrical signal and outputs the eighth electrical signal to the signal conversion unit, and the signal conversion unit converts the eighth electrical signal into an eighth converted optical signal and transmits the eighth converted optical signal to the data storage unit; wherein the fourth full-color digital back group is at a focal plane position of the fourth full-color lens.
In the large-breadth mapping camera system, the optical axis of the first multispectral lens, the optical axis of the second multispectral lens, the optical axis of the third multispectral lens and the optical axis of the fourth multispectral lens are parallel; the connecting line of the optical axis centers of the spectral lenses forms a first square.
In the large-breadth mapping camera system, an optical axis of the first panchromatic lens, an optical axis of the second panchromatic lens, an optical axis of the third panchromatic lens and an optical axis of the fourth panchromatic lens are parallel; the connecting line of the optical axis centers of all the panchromatic lenses forms a second square; the second square differs from the first square by an angle of 45 degrees.
In the large-breadth mapping camera system, the first full-color digital postback group, the second full-color digital postback group, the third full-color digital postback group and the fourth full-color digital postback group have M rows and N columns of postbacks, wherein the digital postback numbers (i, j) of the first full-color digital postback group meet the requirement
mod denotes a remainder operation, where i is 1,2 … …, M; j is 1,2 … …, N.
In the large-breadth mapping camera system, the first full-color digital postback group, the second full-color digital postback group, the third full-color digital postback group and the fourth full-color digital postback group have M rows and N columns of postbacks, wherein the digital postback numbers (i, j) of the second full-color digital postback group meet the requirement
mod denotes a remainder operation, where i is 1,2 … …, M; j is 1,2 … …, N.
In the large-breadth mapping camera system, the first full-color digital postback group, the second full-color digital postback group, the third full-color digital postback group and the fourth full-color digital postback group have M rows and N columns of postbacks, wherein the digital postback numbers (i, j) of the third full-color digital postback group meet the requirement
mod denotes a remainder operation, where i is 1,2 … …, M; j is 1,2 … …, N.
In the large-breadth mapping camera system, the first full-color digital postback group, the second full-color digital postback group, the third full-color digital postback group and the fourth full-color digital postback group have M rows and N columns of postbacks, wherein the digital postback numbers (i, j) of the fourth full-color digital postback group meet the requirement of M rows and N columns of postbacks
mod denotes a remainder operation, where i is 1,2 … …, M; j is 1,2 … …, N.
A calibration method for a full-color camera comprises the following steps: the method comprises the following steps: virtual imaging grids are respectively established at focal planes of 4 panchromatic lenses of a first panchromatic lens, a second panchromatic lens, a third panchromatic lens and a fourth panchromatic lens, wherein the virtual imaging grids are M rows and N columns, and the number of corresponding grid pixels is [ M (M-delta M) + delta M]×[N(n-Δn)+Δn](ii) a The method comprises the following steps that M is the number of lines of the number of the backs participating in splicing the full-color digital, N is the number of columns of the number of the backs participating in splicing the full-color digital, M is the number of lines of pixels of the full-color digital back, N is the number of columns of pixels of the full-color digital back, Δ M is the number of pixels overlapped in the horizontal direction in splicing, and Δ N is the number of pixels overlapped in the vertical direction in splicing; step two: renaming pixels of the back group of the full-color numbers at the 4 full-color lens focal plane positions; step three: respectively carrying out orientation element calibration in the single camera on the panchromatic camera corresponding to each panchromatic lens to obtain a principal point and a principal distance of the panchromatic single camera; wherein, the 1 st panchromatic camera principal point (x) corresponding to the first panchromatic lens 10 ,y 10 ) Main distance f 1 (ii) a Second panchromatic lens corresponding to 2 nd panchromatic camera principal point (x) 20 ,y 20 ) Main distance f 2 (ii) a The 3 rd panchromatic camera principal point (x) corresponding to the third panchromatic lens 30 ,y 30 ) Main distance f 3 (ii) a The 4 th panchromatic camera principal point (x) corresponding to the fourth panchromatic lens 40 ,y 40 ) Main distance f 4 (ii) a Step four: an image space coordinate system S is established for the 1 st panchromatic camera, the 2 nd panchromatic camera, the 3 rd panchromatic camera and the 4 th panchromatic camera respectively i -x i y i z i Wherein i ═ 1,2,3,4 denotes the ith full-color camera; coordinate system S i -x i y i z i In the middle, the origin of coordinates is the camera station S of each panchromatic camera i Transversely parallel to the i-th full-color digital back picture elementHas an axis x i The axis is y, and the axis which is longitudinally parallel to the i full color digital back pixel of the full color camera is i An axis parallel to the principal optical axis of the ith panchromatic camera being z i A shaft; step five: establishing a virtual ground auxiliary coordinate system O-XYZ, wherein O is a 1 st panchromatic camera shooting site S 1 Vertical projection on the ground, and 1 st panchromatic camera image space coordinate system S 1 -x 1 y 1 z 1 X of 1 The axis parallel to the X axis is the spatial coordinate system S of the 1 st panchromatic camera image 1 -x 1 y 1 z 1 Y of (A) to (B) 1 The axis parallel to the axis is Y axis and is in the space coordinate system S with the 1 st panchromatic camera image 1 -x 1 y 1 z 1 Z of (a) 1 The axis parallel to the axis is a Z axis; step six: obtaining a rotation matrix R of the 2 nd panchromatic camera, the 3 rd panchromatic camera and the 4 th panchromatic camera relative to the 1 st panchromatic camera i I is 2,3, 4; step seven: with 1 st panchromatic camera image space coordinate system S 1 -x 1 y 1 z 1 The image element directions S of the panchromatic digital postback group at the focal plane positions of the 2 nd panchromatic camera, the 3 rd panchromatic camera and the 4 th panchromatic camera are taken as a virtual phase space coordinate system 1 -x 1 y 1 z 1 And carrying out single-center projection conversion on the virtual image.
In the calibration method of the full-color camera, in the sixth step, the rotation matrix is R i Comprises the following steps:
wherein, a i1 、a i2 、a i3 、b i1 、b i2 、b i3 、c i1 、c i2 、c i3 Are rotation matrix parameters.
In the calibration method for the full-color camera, in step seven, the conversion formula is as follows:
where i is 2,3,4, S of the ith full color camera i -x i y i z i Coordinate (x) of point to be converted in coordinate system i ,y i )，x i Is S i -x i y i z i Pixel abscissa, y, in a coordinate system i Is S i -x i y i z i Pixel ordinate in the coordinate system; (x) i ,y i ) S for switching to 1 st full color camera 1 -x 1 y 1 z 1 Coordinates (x) in a coordinate system 0 ,y 0 )，x 0 Is S 1 -x 1 y 1 z 1 Pixel abscissa, y, in a coordinate system 0 Is S 1 -x 1 y 1 z 1 Pixel ordinate in the coordinate system; x i As the camera station S of the ith full-color camera i Abscissa, Y, in a virtual ground auxiliary coordinate system O-XYZ i As the camera station S of the ith full-color camera i Ordinate, Z, in a virtual ground auxiliary coordinate system O-XYZ i As the camera station S of the ith full-color camera i Vertical coordinates in the virtual ground auxiliary coordinate system O-XYZ; z 1 For the camera site S of the 1 st panchromatic camera 1 Vertical coordinates in the virtual ground auxiliary coordinate system O-XYZ; f. of i Is the principal distance of the ith full-color camera, f 1 Is the principal distance of the 1 st full color camera.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention adopts a multi-lens multi-imaging device internal and external field of view mixed splicing imaging system with parallel main optical axes, can realize an ultra-large-breadth aerial survey camera system and improve the operation efficiency and precision of an aerial survey camera;
(2) the centers of the optical axes of the lens are arranged in a square shape, the structural layout of full color and multiple hyperspectrum is optimized, the outer envelope size of the structure is reduced to the greatest extent, and the structural space utilization rate is improved;
(3) the invention adopts the modes of parallel-serial signal conversion, electro-optical signal conversion, photoelectric signal conversion and the like, reduces the number of cables of a camera system, optimizes the structural layout and is convenient for engineering realization;
(4) the invention determines the calibration process of the panchromatic camera and provides a conversion method of the virtual single-center image, realizes the output of the approximate single-center image and is adaptive to the existing aerial survey data processing software interface.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like parts throughout the drawings. In the drawings:
FIG. 1 is a general block diagram of a large format mapping camera system provided by an embodiment of the invention;
fig. 2 is a schematic diagram of a panchromatic lens position placement relationship provided by an embodiment of the invention;
FIG. 3 is a bottom view of a panchromatic lens and a multispectral lens provided by an embodiment of the invention;
fig. 4 is a schematic diagram of a digital postback group corresponding to a full-color lens provided by an embodiment of the invention;
fig. 5 is a schematic diagram of parallel-to-serial conversion of 4 channels of signals into 1 channel of signals according to an embodiment of the present invention;
FIG. 6 is a flowchart of a camera calibration method according to an embodiment of the present invention;
FIG. 7 is a schematic diagram illustrating a definition of a serial number of a pixel at a focal plane of a camera according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a spatial coordinate system provided by an embodiment of the invention.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Fig. 1 is a general block diagram of a large format mapping camera system provided by an embodiment of the invention. As shown in fig. 1, the large format mapping camera system includes: the system comprises a lens unit, a digital back focal plane unit, an electronics management and control unit and a data storage unit; wherein,
the lens unit comprises a first multispectral lens, a second multispectral lens, a third multispectral lens, a fourth multispectral lens, a first panchromatic lens, a second panchromatic lens, a third panchromatic lens and a fourth panchromatic lens;
the digital back focal plane unit comprises a first multi-spectral digital back, a second multi-spectral digital back, a third multi-spectral digital back, a fourth multi-spectral digital back, a first full-color digital back group, a second full-color digital back group, a third full-color digital back group and a fourth full-color digital back group;
the first multispectral lens transmits a first optical signal obtained by light splitting of an object scene to a first multispectral digital back; the first multispectral digital back converts the first optical signal into a first electric signal and outputs the first electric signal to the signal conversion unit, and the signal conversion unit converts the first electric signal into a first converted optical signal and transmits the first converted optical signal to the data storage unit; the first multispectral digital back is arranged at the focal plane position of the first multispectral lens;
the second multispectral lens transmits a second optical signal obtained by splitting the object scene light to a second multispectral digital back; the second multispectral digital back converts the second optical signal into a second electrical signal and outputs the second electrical signal to the signal conversion unit, and the signal conversion unit converts the second electrical signal into a second converted optical signal and transmits the second converted optical signal to the data storage unit; the second multispectral digital back is arranged at the focal plane position of the second multispectral lens;
the third multispectral lens transmits a third optical signal obtained by splitting the object scene light to a third multispectral digital back; the third multispectral digital postback converts the third optical signal into a third electrical signal and outputs the third electrical signal to the signal conversion unit, and the signal conversion unit converts the third electrical signal into a third converted optical signal and transmits the third converted optical signal to the data storage unit; the third multispectral digital back is arranged at the focal plane position of the third multispectral lens;
the fourth multispectral lens transmits a fourth optical signal obtained by splitting the object scene light to a fourth multispectral digital back; the fourth multispectral digital postback converts the fourth optical signal into a fourth electrical signal and outputs the fourth electrical signal to the signal conversion unit, and the signal conversion unit converts the fourth electrical signal into a fourth converted optical signal and transmits the fourth converted optical signal to the data storage unit; the fourth multispectral digital back is arranged at the focal plane position of the fourth multispectral lens;
the 4 multispectral lenses adopt the same optical design parameters and the same lens structure design parameters; the optical axes of the 4 multispectral lenses are parallel, and the center of the optical axis is a fixed point to form a square.
The 4 multispectral numbers are the same back, and the pixel number of each back is m 'multiplied by n'.
The object space scene light is transmitted through the first panchromatic lens to obtain a fifth optical signal, the fifth optical signal is transmitted to the first panchromatic digital postback group, the first panchromatic digital postback group converts the fifth optical signal into a fifth electric signal and outputs the fifth electric signal to the signal conversion unit, and the signal conversion unit converts the fifth electric signal into a fifth converted optical signal and transmits the fifth converted optical signal to the data storage unit; wherein the first full-color digital back group is at a focal plane position of the first full-color lens; the first full-color digital postback group, the second full-color digital postback group, the third full-color digital postback group and the fourth full-color digital postback group have M rows and N columns of postbacks, wherein the digital postback numbers (i, j) of the first full-color digital postback group meet the requirement
mod denotes a remainder operation, where i is 1,2 … …, M; j is 1,2 … …, N.
The object space scene light is transmitted through the second panchromatic lens to obtain a sixth optical signal, the sixth optical signal is transmitted to the second panchromatic digital postback group, the second panchromatic digital postback group converts the sixth optical signal into a sixth electrical signal and outputs the sixth electrical signal to the signal conversion unit, and the signal conversion unit converts the sixth electrical signal into a sixth converted optical signal and transmits the sixth converted optical signal to the data storage unit; wherein the second full-color digital back group is at a focal plane position of the second full-color lens; the first full-color digital postback group, the second full-color digital postback group, the third full-color digital postback group and the fourth full-color digital postback group have M rows and N columns of postbacks, wherein the digital postback numbers (i, j) of the second full-color digital postback group meet the requirement of the digital postback numbers (i, j) of the second full-color digital postback group
mod denotes a remainder operation, where i is 1,2 … …, M; j is 1,2 … …, N.
The object space scene light is transmitted through the third panchromatic lens to obtain a seventh optical signal, the seventh optical signal is transmitted to the third panchromatic digital postback group, the third panchromatic digital postback group converts the seventh optical signal into a seventh electrical signal and outputs the seventh electrical signal to the signal conversion unit, and the signal conversion unit converts the seventh electrical signal into a seventh converted optical signal and transmits the seventh converted optical signal to the data storage unit; the third full-color digital rear group is arranged at the focal plane position of the third full-color lens; the first full-color digital postback group, the second full-color digital postback group, the third full-color digital postback group and the fourth full-color digital postback group have M rows and N columns of postbacks, wherein the digital postback numbers (i, j) of the third full-color digital postback group meet the requirement
mod denotes a remainder operation, where i is 1,2 … …, M; j is 1,2 … …, N.
The object space scene light is transmitted through the fourth panchromatic lens to obtain an eighth light signal, the eighth light signal is transmitted to the fourth panchromatic digital postback group, the fourth panchromatic digital postback group converts the eighth light signal into an eighth electric signal and outputs the eighth electric signal to the signal conversion unit, and the signal conversion unit converts the eighth electric signal into an eighth converted light signal and transmits the eighth converted light signal to the data storage unit; wherein the fourth full-color digital back group is at a focal plane position of the fourth full-color lens; the first full-color digital postback group, the second full-color digital postback group, the third full-color digital postback group and the fourth full-color digital postback group have M rows and N columns of postbacks, wherein the digital postback numbers (i, j) of the fourth full-color digital postback group meet the requirement
mod denotes a remainder operation, where i is 1,2 … …, M; j is 1,2 … …, N.
As shown in fig. 2, the 4 panchromatic lenses adopt the same optical design parameters and the same lens structure design parameters; the optical axes of the 4 panchromatic lenses are parallel, and the center of the optical axis is a fixed point to form a square.
The optical axis centers of the 4 multispectral lenses are squares formed by fixed points, and the optical axis centers of the 4 panchromatic lenses are squares formed by fixed points, wherein the two squares have an angle of 45 degrees (as shown in fig. 3).
The M rows and the N columns of full-color digital backs are the same, and the pixel number of each back is M multiplied by N.
The positions of the back groups of 4 full-color numbers corresponding to the 4 full-color lenses can be interchanged.
The signal conversion unit comprises a first signal converter, a second signal converter, a third signal converter and a fourth signal converter
A signal converter and; wherein [ 2 ]]Indicating an upward integer.
The first signal converter receives the electric signals of 4 digital postbacks, 4 paths of electric signals of synchronously exposing the digital postbacks are input to the signal converter in parallel, and the signal converter outputs the optical signals in series;
the second signal converter receives the electric signals of the 4 digital postbacks, the electric signals of the 4 paths of synchronously exposed digital postbacks are input to the signal converter in parallel, and the signal converter outputs the optical signals in series;
…….
first, the
The signal converter receives the electric signals of 4 digital backs, the electric signals of 4 paths of synchronous exposure digital backs are input to the signal converter in parallel, and the signal converter outputs the optical signals in series. Wherein]Represents taking an integer upwards;
first, the
The signal converter receives the electric signals of the rest digital backs, the electric signals of the rest paths of synchronously exposed digital backs are input to the signal converter in parallel, and the signal converter outputs the optical signals in series. Wherein]Represents taking an integer upwards;
the signal converter comprises a control chip, a storage chip and an electro-optical signal conversion chip. The control chip is a common chip such as FPGA or DSP; the memory chip is a common chip such as SDRAM; the electro-optical signal conversion chip is used for converting the electric signal into an optical fiber signal and outputting the optical fiber signal;
the electric signal of the digital back is in a Camera Link format or a USB3.0 format and other common signal formats.
The main control computer sends a control instruction to the signal converter control chip and receives feedback information of the signal converter control chip;
the data storage unit receives the optical fiber signal output by the signal converter, the optical signal is converted into an electric signal by the optical-electric signal conversion chip in the data storage unit, and the electric signal is stored in the data storage disk array.
The digital back number characteristic relation corresponding to the further panchromatic lens is as follows: as shown in fig. 4, after the digital postbacks corresponding to the full-color lens are imaged, M × N (M rows and N columns) digital postbacks are corresponding to a specific splicing position relationship, and the M × N digital postbacks are divided into four groups: group 1 numbers back number (i, j), where i mod 4 ═ 1 or 3(i mod 4 ═ 1 denotes the remainder of i divided by 4 is 1), j mod 4 ═ 1 or 3; group 2 digital back numbers (i, j), wherein i mod 4 ═ 1 or 3, j mod 4 ═ 0 or 2; group 3 digital back numbers (i, j), wherein i mod 4 ═ 0 or 2, j mod 4 ═ 1 or 3; group 4 numbers back (i, j), where i mod 4 ═ 0 or 2, and j mod 4 ═ 0 or 2. 4 groups of digital backs and four groups of full-color lenses are correspondingly installed respectively, and the positions of the lenses can be interchanged.
The electronics management and control unit and the data storage unit implement camera system control and data storage functions. The electronic control unit mainly comprises a main control computer and a signal converter, wherein the main control computer receives and processes information instructions, each 4 digital backs correspond to 1 signal converter, the signal converters realize that 4 paths of electronic image data signals synchronously received in parallel are converted into 1 path of optical fiber image data signals which are output in series, and the optical fiber image data signals are output to the data storage unit to finish data storage.
As shown in fig. 5, 4 paths of synchronous exposure electronic image data signals are simultaneously input to the signal converter, and the electronic image data signals are in a common signal format such as a Camera Link format or a USB3.0 format. The control chip in the signal converter controls and simultaneously receives the 4 paths of signals and stores the signals in the storage chip, and the control chip is a common chip such as an FPGA or a DSP. The control chip receives the instruction of the main control computer, sequentially and serially outputs the 4 paths of signals to the electro-optical signal conversion device, the electro-optical signal conversion device has the function of converting the electric signals into optical fiber signals to be output, the sequentially and serially output optical signals are transmitted to the photoelectric signal conversion device of the data storage, and the photoelectric signal conversion device has the function of converting the optical signals into the electric signals to be stored in the data storage disc array.
Aiming at the calibration of the camera system, a calibration method of the large-breadth mapping camera system is provided, and the calibration method comprises multispectral camera calibration and panchromatic camera calibration. The camera calibration flow is as shown in fig. 6. The multispectral camera calibration is a conventional calibration method, and a precise angle measurement method and the like can be adopted.
The calibration method of the full-color camera comprises the following steps:
the method comprises the following steps: virtual imaging grids are respectively established at the focal planes of 4 panchromatic lenses of the first panchromatic lens, the second panchromatic lens, the third panchromatic lens and the fourth panchromatic lens, as shown in the figure 7. The virtual imaging grid is M rows and N columns, and the number of corresponding grid pixels is [ M (M-delta M) + delta M ] × [ N (N-delta N) + delta N ].
Wherein M is the number of lines of the number of the backs participating in splicing the panchromatic digital, N is the number of columns of the number of the backs participating in splicing the panchromatic digital, M is the number of lines of pixels of the panchromatic digital back, N is the number of columns of pixels of the panchromatic digital back, Δ M is the number of pixels overlapped in the horizontal direction in splicing, and Δ N is the number of pixels overlapped in the vertical direction in splicing.
Each full-color camera focal plane is partially provided with ' real ' picture elements, the number of real ' digital back picture elements needs to be renamed, such as the (A, B) th digital back, namely the digital back at the A row and B column, and the first picture element of the picture elements is named as ((A-1) m- (A-2) delta m +1, (B-1) n- (B-2) delta m +1) at the full-color camera focal plane.
Step two: and renaming the pixels behind the full-color numbers at the focal planes of the 4 full-color lenses. As shown in FIG. 7, the number of pixels in the full color digital rear at column A, row A, at the focal plane of the full color lens is renamed as follows, with pixel (i, j) renamed as ((A-1) m- (A-2) Δ m + i, (B-1) n- (B-2) Δ n + j). Wherein i is the number of rows of original pixels, and j is the number of columns of original pixels;
step three: and (4) respectively carrying out single-camera internal orientation element calibration on the 4 panchromatic cameras to obtain the distortion, principal point and principal distance parameters of the panchromatic single-camera. First panchromatic camera principal point (x) 10 ,y 10 ) Main distance f 1 (ii) a Second panchromatic camera principal point (x) 20 ,y 20 ) Main pitch f 2 (ii) a Third panchromatic camera principal point (x) 30 ,y 30 ) Main pitch f 3 (ii) a Fourth panchromatic camera principal point (x) 40 ,y 40 ) Main distance f 4 。
Step four: an image space coordinate system S is established for the 1 st panchromatic camera, the 2 nd panchromatic camera, the 3 rd panchromatic camera and the 4 th panchromatic camera respectively i -x i y i z i Wherein i ═ 1,2,3,4 denotes the ith full-color camera; coordinate system S i -x i y i z i In the middle, the origin of coordinates is the camera station S of each panchromatic camera i The axis which is transversely parallel to the i full color digital back pixel of the full color camera is x i The axis of the longitudinal parallel axis to the pixel of the ith full-color digital back of the full-color camera is y i An axis parallel to the principal optical axis of the ith panchromatic camera being z i Shaft as shown in fig. 8.
Step five: establishing a virtual ground auxiliary coordinate system O-XYZ, wherein O is a 1 st panchromatic camera shooting site S 1 Vertical projection on the ground, and 1 st panchromatic camera image space coordinate system S 1 -x 1 y 1 z 1 X of (a) 1 The axis parallel to the X axis is the spatial coordinate system S of the 1 st panchromatic camera image 1 -x 1 y 1 z 1 Y of (a) 1 The axis parallel to the axis is Y axis and is in the space coordinate system S with the 1 st panchromatic camera image 1 -x 1 y 1 z 1 Z of (a) 1 The axis parallel to the axis is the Z-axis.
Step six: the relative outer orientation angle elements of the 2 nd panchromatic camera, the 3 rd panchromatic camera and the 4 th panchromatic camera relative to the 1 st panchromatic camera are respectively obtained. The rotation matrix of the 2 nd panchromatic camera, the 3 rd panchromatic camera, the 4 th panchromatic camera relative to the 1 st panchromatic camera is obtained as R i ，i＝2,3,4。R i Expressed as:
wherein a is i1 、a i2 、a i3 、b i1 、b i2 、b i3 、c i1 、c i2 、c i3 Are rotation matrix parameters.
Step seven: with the 1 st panchromatic camera image space coordinate system S 1 -x 1 y 1 z 1 The image elements of the panchromatic digital postnotum group at the focal plane positions of the 2 nd, 3 rd and 4 th panchromatic cameras are oriented S for the virtual phase space coordinate system 1 -x 1 y 1 z 1 And carrying out single-center projection conversion on the virtual image. The conversion formula is as follows：
Where i is 2,3,4, S of the ith full color camera i -x i y i z i Coordinate (x) of point to be converted in coordinate system i ,y i )，x i Is S i -x i y i z i Pixel abscissa, y, in a coordinate system i Is S i -x i y i z i Pixel ordinate in the coordinate system; (x) i ,y i ) S for switching to 1 st full color camera 1 -x 1 y 1 z 1 Coordinates (x) in a coordinate system 0 ,y 0 )，x 0 Is S 1 -x 1 y 1 z 1 Abscissa, y, of pixel in coordinate system 0 Is S 1 -x 1 y 1 z 1 Pixel ordinate in the coordinate system;
X i as the camera site S of the ith panchromatic camera i Abscissa, Y, in a virtual ground auxiliary coordinate system O-XYZ i As the camera site S of the ith panchromatic camera i Ordinate, Z, in a virtual ground auxiliary coordinate system O-XYZ i As the camera station S of the ith full-color camera i Vertical coordinates in the virtual ground auxiliary coordinate system O-XYZ;
Z 1 for the camera site S of the 1 st panchromatic camera 1 Vertical coordinates in the virtual ground auxiliary coordinate system O-XYZ;
f i principal distance of the ith full-color camera, f 1 Is the principal distance of the 1 st full color camera.
The invention adopts a multi-lens multi-imaging device internal and external view field mixed splicing imaging system with parallel main optical axes, can realize an ultra-large-breadth aerial surveying camera system, and improves the operation efficiency and precision of an aerial surveying and mapping camera; the centers of the optical axes of the lens are arranged in a square shape, the structural layout of full color and multiple hyperspectrum is optimized, the outer envelope size of the structure is reduced to the greatest extent, and the structural space utilization rate is improved; the invention adopts the modes of parallel-serial signal conversion, electro-optical and photoelectric signal conversion and the like, reduces the number of cables of a camera system, optimizes the structural layout and is convenient for engineering realization; the invention determines the calibration process of the panchromatic camera and provides a conversion method of the virtual single-center image, realizes the output of the approximate single-center image and is adaptive to the existing aerial survey data processing software interface.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (3)
1. A full-color camera calibration method is characterized by comprising the following steps:
the method comprises the following steps: virtual imaging grids are respectively established at the focal planes of 4 panchromatic lenses of a first panchromatic lens, a second panchromatic lens, a third panchromatic lens and a fourth panchromatic lens, wherein the virtual imaging grids are M rows and N columns, and the number of corresponding grid pixels is [ M (M-delta M) + delta M ] × [ N (N-delta N) + delta N ];
the method comprises the following steps that M is the number of lines of the number of the backs participating in splicing the full-color digital, N is the number of columns of the number of the backs participating in splicing the full-color digital, M is the number of lines of pixels of the full-color digital back, N is the number of columns of pixels of the full-color digital back, Δ M is the number of pixels overlapped in the horizontal direction in splicing, and Δ N is the number of pixels overlapped in the vertical direction in splicing;
step two: renaming pixels of the back group of the full-color numbers at the 4 full-color lens focal plane positions;
step three: respectively performing single-camera internal orientation element calibration on a panchromatic camera corresponding to each panchromatic lens to obtain a principal point and a principal distance of the panchromatic single camera; wherein, the 1 st panchromatic camera principal point (x) corresponding to the first panchromatic lens 10 ,y 10 ) Main distance f 1 (ii) a Second panchromatic lens corresponding to 2 nd panchromatic camera principal point (x) 20 ,y 20 ) Master and slaveDistance f 2 (ii) a 3 rd panchromatic camera principal point (x) corresponding to the third panchromatic lens 30 ,y 30 ) Main pitch f 3 (ii) a The 4 th panchromatic camera principal point (x) corresponding to the fourth panchromatic lens 40 ,y 40 ) Main pitch f 4 ；
Step four: an image space coordinate system S is established for the 1 st panchromatic camera, the 2 nd panchromatic camera, the 3 rd panchromatic camera and the 4 th panchromatic camera respectively i -x i y i z i Where i ═ 1,2,3,4 denotes the ith panchromatic camera; coordinate system S i -x i y i z i In the middle, the origin of coordinates is the camera station S of each panchromatic camera i The axis which is transversely parallel to the i full color digital back pixel of the full color camera is x i The axis is y, and the axis which is longitudinally parallel to the i full color digital back pixel of the full color camera is i Axis, the axis parallel to the principal optical axis of the ith panchromatic camera being z i A shaft;
step five: establishing a virtual ground auxiliary coordinate system O-XYZ, wherein O is a 1 st panchromatic camera shooting site S 1 Vertical projection on the ground, and 1 st panchromatic camera image space coordinate system S 1 -x 1 y 1 z 1 X of 1 The axis parallel to the X axis is in the space coordinate system S with the 1 st panchromatic camera image 1 -x 1 y 1 z 1 Y of (A) to (B) 1 The axis parallel to the axis is Y axis and is in the space coordinate system S with the 1 st panchromatic camera image 1 -x 1 y 1 z 1 Z of (a) 1 The axis parallel to the axis is a Z axis;
step six: obtaining a rotation matrix R of the 2 nd panchromatic camera, the 3 rd panchromatic camera and the 4 th panchromatic camera relative to the 1 st panchromatic camera i ，i＝2,3,4；
Step seven: with the 1 st panchromatic camera image space coordinate system S 1 -x 1 y 1 z 1 The image elements of the panchromatic digital postnotum group at the focal plane positions of the 2 nd, 3 rd and 4 th panchromatic cameras are oriented S for the virtual phase space coordinate system 1 -x 1 y 1 z 1 Carrying out single-center projection conversion on the virtual image; wherein,
the large-format mapping camera system comprises: the system comprises a lens unit, a digital back focal plane unit, an electronics management and control unit and a data storage unit; wherein,
the lens unit comprises a first multispectral lens, a second multispectral lens, a third multispectral lens, a fourth multispectral lens, a first panchromatic lens, a second panchromatic lens, a third panchromatic lens and a fourth panchromatic lens;
the digital postfocal plane unit comprises a first multi-spectral digital postback, a second multi-spectral digital postback, a third multi-spectral digital postback, a fourth multi-spectral digital postback, a first panchromatic digital postback group, a second panchromatic digital postback group, a third panchromatic digital postback group and a fourth panchromatic digital postback group;
the electronics control unit comprises a signal conversion unit and a main control computer; wherein, the signal conversion unit is connected with the main control computer;
the first multispectral lens transmits a first optical signal obtained by light splitting of an object scene to a first multispectral digital back; the first multispectral digital back converts the first optical signal into a first electric signal and outputs the first electric signal to the signal conversion unit, and the signal conversion unit converts the first electric signal into a first converted optical signal and transmits the first converted optical signal to the data storage unit; the first multispectral digital back is arranged at the focal plane position of the first multispectral lens;
the second multispectral lens transmits a second optical signal obtained by splitting the object scene light to a second multispectral digital back; the second multispectral digital postback converts the second optical signal into a second electrical signal and outputs the second electrical signal to the signal conversion unit, and the signal conversion unit converts the second electrical signal into a second converted optical signal and transmits the second converted optical signal to the data storage unit; the second multispectral digital back is arranged at the focal plane position of the second multispectral lens;
the third multispectral lens transmits a third optical signal obtained by splitting the object scene light to a third multispectral digital back; the third multispectral digital back converts the third optical signal into a third electrical signal and outputs the third electrical signal to the signal conversion unit, and the signal conversion unit converts the third electrical signal into a third converted optical signal and transmits the third converted optical signal to the data storage unit; the third multispectral digital back is located at the focal plane position of the third multispectral lens;
the fourth multispectral lens transmits a fourth optical signal obtained by splitting the object scene light to a fourth multispectral digital back; the fourth multispectral digital back converts the fourth optical signal into a fourth electrical signal and outputs the fourth electrical signal to the signal conversion unit, and the signal conversion unit converts the fourth electrical signal into a fourth converted optical signal and transmits the fourth converted optical signal to the data storage unit; the fourth multispectral digital back is located at the focal plane position of the fourth multispectral lens;
the object space scene light is transmitted through the first panchromatic lens to obtain a fifth optical signal, the fifth optical signal is transmitted to the first panchromatic digital postback group, the first panchromatic digital postback group converts the fifth optical signal into a fifth electrical signal and outputs the fifth electrical signal to the signal conversion unit, and the signal conversion unit converts the fifth electrical signal into a fifth converted optical signal and transmits the fifth converted optical signal to the data storage unit; wherein the first full-color digital back group is at a focal plane position of the first full-color lens;
the object space scene light is transmitted through the second panchromatic lens to obtain a sixth optical signal, the sixth optical signal is transmitted to the second panchromatic digital postback group, the second panchromatic digital postback group converts the sixth optical signal into a sixth electrical signal and outputs the sixth electrical signal to the signal conversion unit, and the signal conversion unit converts the sixth electrical signal into a sixth converted optical signal and transmits the sixth converted optical signal to the data storage unit; wherein the second full-color digital back group is at a focal plane position of the second full-color lens;
the object space scene light is transmitted through the third panchromatic lens to obtain a seventh optical signal, the seventh optical signal is transmitted to the third panchromatic digital postback group, the third panchromatic digital postback group converts the seventh optical signal into a seventh electrical signal and outputs the seventh electrical signal to the signal conversion unit, and the signal conversion unit converts the seventh electrical signal into a seventh converted optical signal and transmits the seventh converted optical signal to the data storage unit; wherein the third full-color digital back group is at a focal plane position of the third full-color lens;
the object space scene light is transmitted through the fourth panchromatic lens to obtain an eighth optical signal, the eighth optical signal is transmitted to the fourth panchromatic digital postback group, the fourth panchromatic digital postback group converts the eighth optical signal into an eighth electrical signal and outputs the eighth electrical signal to the signal conversion unit, and the signal conversion unit converts the eighth electrical signal into an eighth converted optical signal and transmits the eighth converted optical signal to the data storage unit; wherein the fourth full-color digital rear group is at a focal plane position of the fourth full-color lens.
2. The full-color camera calibration method according to claim 1, characterized in that: in step six, the rotation matrix is R i Comprises the following steps:
wherein, a i1 、a i2 、a i3 、b i1 、b i2 、b i3 、c i1 、c i2 、c i3 Are rotation matrix parameters.
3. The full-color camera calibration method according to claim 1, characterized in that: in step seven, the conversion formula is as follows:
where i is 2,3,4, S of the ith full color camera i -x i y i z i Coordinate (x) of point to be converted in coordinate system i ,y i )，x i Is S i -x i y i z i Pixel abscissa, y, in a coordinate system i Is S i -x i y i z i Pixel ordinate in the coordinate system; (x) i ,y i ) ConversionS to 1 st full color camera 1 -x 1 y 1 z 1 Coordinates (x) in a coordinate system 0 ,y 0 )，x 0 Is S 1 -x 1 y 1 z 1 Pixel abscissa, y, in a coordinate system 0 Is S 1 -x 1 y 1 z 1 Pixel ordinate in the coordinate system; x i As the camera station S of the ith full-color camera i Abscissa, Y, in a virtual ground auxiliary coordinate system O-XYZ i As the camera site S of the ith panchromatic camera i Ordinate, Z, in a virtual ground auxiliary coordinate system O-XYZ i As the camera site S of the ith panchromatic camera i Vertical coordinates in the virtual ground auxiliary coordinate system O-XYZ; z 1 For the camera site S of the 1 st panchromatic camera 1 Vertical coordinates in the virtual ground auxiliary coordinate system O-XYZ; f. of i Is the principal distance of the ith full-color camera, f 1 Is the principal distance of the 1 st full color camera.
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