CN112461508A - Camera visual axis disturbance measuring equipment and method based on inertial reference unit - Google Patents
Camera visual axis disturbance measuring equipment and method based on inertial reference unit Download PDFInfo
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Abstract
The invention discloses a camera visual axis disturbance measuring device and method based on an inertial reference unit. The measuring equipment consists of a high-precision inertial reference unit and a related measuring unit. The inertial reference unit generally adopts a fiber-optic gyroscope, an angular displacement sensor and the like, and can accurately measure absolute angular displacement information at the installation position; the correlation measurement unit can accurately measure the relative angular displacement information between the visual axis of the camera and the inertial reference unit; the two sets of angular displacement information are combined to obtain the absolute angular displacement information of the camera, namely the visual axis disturbance amount of the camera, and the information can be used for image motion blur compensation and improves the imaging quality of the long-focus space camera.
Description
Technical Field
The invention relates to the technical field of high-resolution space optical remote sensing, in particular to camera visual axis disturbance measuring equipment and method based on an inertial reference unit.
Background
The high-resolution space camera has the characteristic of long focal length, and the tiny visual axis disturbance can also cause remarkable image blurring to influence the imaging quality. In order to eliminate the influence of the visual axis disturbance of the space camera on the quality, the visual axis disturbance of the space camera needs to be accurately measured, and the compensation and correction of the visual axis disturbance are realized through image processing, optical machine image stabilization and other means.
The traditional visual axis disturbance measurement method mainly adopts a visual axis disturbance measurement method based on an observation target or an auxiliary beacon image, namely, the visual axis disturbance amount of a camera is calculated through the position offset of the observation target or the auxiliary beacon on a detector. The method is suitable for scenes such as astronomical observation and the like which easily acquire point targets; for the field of earth observation, as point targets are difficult to obtain, the texture information of the ground object targets needs to be used for resolving, the scenery in the field of view changes continuously and rapidly, and the influence of meteorological conditions is large, so that the method has great limitation.
The traditional visual axis disturbance measurement method based on ground object target images has great limitation in the application of visual axis disturbance measurement of a ground observation camera, and mainly comprises the following steps:
1) the traditional visual axis disturbance measurement method based on the ground object target image has the limitations of high dependence on ground object target texture information and meteorological conditions, poor ground object contrast and poor usability, and even the visual axis disturbance measurement is poor in precision and even cannot work when cloud and mist interference exists;
2) in the traditional visual axis disturbance measurement method based on ground object target images, for a push-broom imaging space camera, the signal-to-noise ratio of a visual axis disturbance measurement detector is very low, and the visual axis disturbance measurement precision is influenced;
3) the ground object image obtained by a visual axis disturbance measurement detector of the push-broom imaging space camera is continuously changed, the relevance is poor, and the visual axis disturbance measurement effect is influenced;
disclosure of Invention
The invention solves the technical problems that: the camera visual axis disturbance measuring equipment and method based on the inertial reference unit overcome the defects of the prior art, effectively solve the problems of high precision, high frequency and high reliability of the visual axis disturbance of the high-resolution space camera, provide reference information for visual axis disturbance compensation and ensure the imaging quality of the high-resolution space camera.
The purpose of the invention is realized by the following technical scheme:
an inertial reference unit based camera boresight disturbance measurement device comprising: an inertial reference unit and an associated measurement unit; wherein,
the inertial reference unit is fixedly connected with a support structure of the camera and used for measuring angular displacement information at the installation position;
the correlation measurement unit is used for measuring the relative pointing change between the visual axis of the camera and the inertial reference unit and comprises a light-emitting component, a light guide component and a light spot recording focal plane;
the light-emitting component comprises a light source and an emission lens, the light source is positioned at the focal plane position of the emission lens, the light-emitting component is fixedly connected with the inertial reference unit, the angle stability between the light-emitting component and the inertial reference unit is superior to 0.03 times of the angular resolution of the camera, light emitted by the light source is collimated by the emission lens and then becomes parallel light, and the parallel light is converted by the light guide component, enters the camera lens and converges on the spot recording focal plane;
the light spot recording focal plane is fixedly connected with the camera imaging focal plane, images the light source of the light-emitting component to form a light spot, and records the position of the center of mass of the light spot; the extraction precision of the spot centroid position of the spot recording focal plane is superior to that of the pixel of the imaging detector of 0.05;
calculating the disturbance quantity of the visual axis of the camera relative to the inertial reference unit by calculating the position offset of the centroid of the light spot recording focal plane; and obtaining absolute angular displacement information of the visual axis of the camera, namely the disturbance quantity of the visual axis of the camera by combining the angular displacement information of the inertial reference unit.
Further, the inertial reference unit is a fiber-optic gyroscope or an angular displacement sensor.
Furthermore, the angular displacement measurement precision of the inertial reference unit is superior to 0.03 time of camera angular resolution, the measurement frequency is more than 10 times of the visual axis disturbance frequency of the camera, and the camera angular resolution refers to the ratio of the pixel to the focal length.
Furthermore, the light spot recording focal plane comprises a windowable area array detector and a processing circuit; the detector pixel is not larger than the imaging detector pixel size of the camera imaging focal plane, and the photosensitive area of the area array detector is larger than the sum of the diameter of the light spot and the maximum offset of the light spot introduced by long-period temperature change; the photosensitive windowing area of the detector is larger than the sum of the diameter of the light spot and the maximum offset of the light spot introduced by short-period vibration; the light spot recording focal plane and the imaging focal plane are both positioned on the image plane position of the camera lens, are coplanar and adjacent and are arranged on the same structure, and the stability of the relative position between the two focal planes is superior to that of a pixel of a 0.03 imaging detector in the single imaging time of the imaging focal plane of the camera.
Furthermore, the size of the light source in the light-emitting component is micron-sized, the spectrum band of the light source is narrow, and the width of the spectrum band is less than or equal to 30 mu m.
Furthermore, the light guide assembly is a 180-degree hollow light guide assembly made of ULE or microcrystalline materials, the plane reflectors at two ends of the light guide assembly form 45 degrees with the central axis of the light guide assembly, the central normals of the plane reflectors at two ends of the light guide assembly are coplanar and form 90 degrees, the surface shape precision of a light reflecting surface is superior to 1/30 lambda, and lambda is the central wavelength of emitted light; the included angle stability of the plane reflecting mirrors at the two ends of the light guide assembly is better than 0.03 times of the angular resolution of the camera. .
Furthermore, the invention also provides a camera visual axis disturbance measuring method, which comprises the following steps:
(1) adjusting the light emitting direction of the light emitting component to enable the light emitting direction of the light emitting component to be parallel to a chief ray corresponding to a central pixel of the area array detector of the spot recording focal plane and opposite to the chief ray;
(2) adjusting the light guide assembly to enable the normal of the reflecting surface of the light guide assembly and the light emitting direction of the light emitting assembly to form 45 +/-1 degrees;
(3) light emitted by the light-emitting component is converged on a light spot recording focal plane after passing through the light guide component and the camera lens, and the light spot recording focal plane is subjected to light spot centroid position extraction and windowing;
the spot size calculation formula is as follows:
wherein D isxIs the X-direction spot size, DyThe size of the light spot in the Y direction; the X direction and the Y direction are the directions of the central view field and the image of the camera, and two adjacent vertical edges of the rectangular imaging detector are arranged; λ is the central wavelength of the emitted light, f is the focal length of the camera, DeIs the effective beam aperture, omegax、ωyThe field angles in the X direction and the Y direction corresponding to the centers of the light spots respectively; d is the size of the light emitting surface of the light source, and m is the magnification.
The minimum windowing size calculation formula is as follows:
Dw＝Ds+2dm
wherein D iswFor minimum detector window size, DsIs DxAnd DyMaximum value between, dmThe maximum amount of change in spot position introduced for vibration.
(4) The light spot recording focal plane takes the centroid position of the first light spot after the measuring equipment works as a reference value, and calculates the offset of the centroid position of the subsequent light spot relative to the reference position, so as to obtain the relative angular displacement between the visual axis of the camera and the light-emitting component;
wherein epsilonxFor relative angular displacement in the X direction, eyIn order to realize relative angular displacement along the Y direction, deltax is the light spot offset along the X direction; Δ Y is the spot offset in the Y direction.
(5) The light-emitting component and the inertial reference unit are stably and fixedly connected together, and the relative angular displacement between the camera visual axis and the light-emitting component is the relative angular displacement between the camera visual axis and the inertial reference unit;
(6) and the relative angular displacement information of the visual axis of the camera is combined with the angular displacement information obtained by the inertial reference unit to obtain the absolute angular displacement information of the camera, so that the visual axis disturbance measurement of the camera is realized.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention adopts the inertial reference unit as disturbance measurement equipment, does not depend on the characteristics of an observation target, such as texture information and radiance of the observation target, is not limited by meteorological conditions of an observation area, can realize all-weather and all-weather application, and has high availability;
(2) the invention adopts a high-precision optical correlation method, effectively eliminates the random included angle error between the inertial reference unit and the visual axis of the camera, and improves the disturbance measurement precision of the visual axis of the camera;
(3) the invention adopts the high-precision high-stability light guide assembly, can control the light guide introduction error at a very low level, and ensures the correlation measurement precision and the visual axis disturbance measurement precision.
(4) The invention adopts the high-stability light-emitting component, can control the introduced error of the light-emitting component at a very low level, ensures the high collimation of a light-emitting beam, ensures the high energy concentration and the high signal-to-noise ratio of a light spot on a correlation measurement focal plane, is favorable for improving the extraction precision of the centroid of the light spot and ensures the correlation measurement precision and the disturbance measurement precision.
Drawings
FIG. 1 is a block diagram of a camera visual axis disturbance measuring device based on an inertial reference unit according to the present invention;
FIG. 2 is a schematic structural diagram of a camera visual axis disturbance measuring device based on an inertial reference unit according to the present invention;
FIG. 3 is a schematic layout of a spot recording focal plane and an imaging focal plane according to the present invention.
The device comprises an inertial reference unit 1, a light emitting component 2, a light guide component 3, a camera lens 4, an imaging focal plane 5, a light spot recording focal plane 6, a camera supporting structure 7, an associated measuring light 8 and an imaging light 9.
Detailed Description
The invention provides a high-precision and high-frequency camera visual axis disturbance measuring system based on an inertial reference unit, which effectively solves the limitation that the traditional visual axis disturbance measuring method based on a ground object target image has high dependence on the texture information and meteorological conditions of the ground object target, realizes accurate association of the inertial reference unit and a camera visual axis, realizes accurate measurement of the visual axis disturbance of a space camera, and is efficient and feasible.
Fig. 1 and fig. 2 are a block diagram and a structural schematic diagram of a camera visual axis disturbance measuring device based on an inertial reference unit according to the present invention, respectively. In the figure 9, imaging light is incident on the imaging focal plane 5 in the camera. The camera visual axis disturbance measuring device comprises: an inertial reference unit 1 and an associated measurement unit; wherein,
the inertial reference unit is fixedly connected with a supporting structure 7 of the camera and is used for measuring angular displacement information at the installation position; the inertial reference unit is a fiber-optic gyroscope or an angular displacement sensor. The angular displacement measurement precision of the inertial reference unit is superior to 0.03 time of camera angular resolution, the measurement frequency is more than 10 times of the visual axis disturbance frequency of the camera, and the camera angular resolution refers to the ratio of the pixel to the focal length.
The correlation measurement unit is used for measuring the relative pointing change between the visual axis of the camera and the inertial reference unit and comprises a light-emitting component 2, a light guide component 3 and a light spot recording focal plane 6;
the light-emitting component comprises a light source and an emission lens, the light source is positioned at the focal plane position of the emission lens, the light-emitting component 2 is fixedly connected with the inertial reference unit 1, and light emitted by the light source, namely the associated measurement light 8, is collimated by the emission lens and then becomes parallel light, is bent by the light guide component 3, enters the camera lens 4 and is converged on the light spot recording focal plane 6;
the size of the light source in the light-emitting component is micron-sized, the spectrum band of the light source is a narrow spectrum band, and the width of the spectrum band is less than or equal to 30 mu m.
The light spot recording focal plane 6 is fixedly connected with the camera imaging focal plane 5, the light spot recording focal plane 6 images the light source of the light-emitting component 2 to form a light spot, and the position of the mass center of the light spot is recorded; the extraction precision of the spot centroid position of the spot recording focal plane is superior to that of the pixel of the imaging detector of 0.05;
the light guide assembly is a 180-degree hollow light guide assembly made of ULE or microcrystalline materials, the plane reflectors at two ends of the light guide assembly form an angle of 45 degrees with the central axis of the light guide assembly, the central normals of the plane reflectors at two ends of the light guide assembly are coplanar and form an angle of 90 degrees, the surface shape precision of a light reflecting surface is superior to 1/30 lambda, and lambda is the central wavelength of emitted light; the included angle stability of the plane reflecting mirrors at the two ends of the light guide assembly is better than 0.03 times of the angular resolution of the camera.
The light spot recording focal plane 6 calculates the disturbance quantity of the visual axis of the camera relative to the inertial reference unit by calculating the position offset of the center of mass of the light spot; and obtaining absolute angular displacement information of the visual axis of the camera, namely the disturbance quantity of the visual axis of the camera by combining the angular displacement information of the inertial reference unit.
The light spot recording focal plane comprises a windowable area array detector and a processing circuit; the detector pixel is not larger than the imaging detector pixel size of the camera imaging focal plane, and the photosensitive area of the area array detector is larger than the sum of the diameter of the light spot and the maximum offset of the light spot introduced by long-period temperature change; the photosensitive windowing area of the detector is larger than the sum of the diameter of the light spot and the maximum offset of the light spot introduced by short-period vibration; the light spot recording focal plane and the imaging focal plane are both positioned on the image plane position of the camera lens, are coplanar and adjacent and are arranged on the same structure, and the stability of the relative position between the two focal planes is superior to that of a pixel of a 0.03 imaging detector in the single imaging time of the imaging focal plane of the camera.
Based on the measuring equipment, the invention also provides a camera visual axis disturbance measuring method, which comprises the following steps:
(1) adjusting the light emitting direction of the light emitting component to enable the light emitting direction of the light emitting component to be parallel to a chief ray corresponding to a central pixel of the area array detector of the spot recording focal plane and opposite to the chief ray;
(2) adjusting the light guide assembly to enable the normal of the reflecting surface of the light guide assembly and the light emitting direction of the light emitting assembly to form 45 +/-1 degrees;
(3) light emitted by the light-emitting component is converged on a light spot recording focal plane after passing through the light guide component and the camera lens, and the light spot recording focal plane is subjected to light spot centroid position extraction and windowing;
the spot size calculation formula is as follows:
wherein D isxIs the X-direction spot size, DyThe size of the light spot in the Y direction; the X direction and the Y direction are respectively the intersection point of the central field of view of the camera and the image plane and are parallel to the directions of two adjacent vertical edges of the rectangular imaging detector, as shown in fig. 3.λ is the central wavelength of the emitted light, f is the focal length of the camera, DeIs the effective beam aperture, omegax、ωyThe field angles in the X direction and the Y direction corresponding to the centers of the light spots respectively; d is the size of the light emitting surface of the light source, and m is the magnification.
The minimum windowing size calculation formula is as follows:
Dw＝Ds+2dm
wherein D iswFor minimum detector window size, DsIs DxAnd DyMaximum value between, dmThe maximum amount of change in spot position introduced for vibration.
(4) The light spot recording focal plane takes the centroid position of the first light spot after the measuring equipment works as a reference value, and calculates the offset of the centroid position of the subsequent light spot relative to the reference position, so as to obtain the relative angular displacement between the visual axis of the camera and the light-emitting component;
wherein epsilonxFor relative angular displacement in the X direction, eyIn order to realize relative angular displacement along the Y direction, deltax is the light spot offset along the X direction; Δ Y is the spot offset in the Y direction. .
(5) The light-emitting component and the inertial reference unit are stably and fixedly connected together, and the relative angular displacement between the camera visual axis and the light-emitting component is the relative angular displacement between the camera visual axis and the inertial reference unit;
(6) and the relative angular displacement information of the visual axis of the camera is combined with the angular displacement information obtained by the inertial reference unit to obtain the absolute angular displacement information of the camera, so that the visual axis disturbance measurement of the camera is realized.
The inertial reference unit is generally positioned on a bearing structure of the camera, and can measure absolute angular displacement information at the installation position, namely the angular displacement of the installation position relative to an inertial reference system; the associated measuring unit may measure the relative angular change between the camera visual axis and the inertial reference unit, i.e. the angular displacement information of the camera visual axis relative to the mounting position of the inertial reference unit. And the relative angular displacement information of the camera visual axis obtained by the correlation measurement unit is combined with the absolute angular displacement information of the mounting position obtained by the inertial reference unit to obtain the absolute angular displacement information of the camera visual axis relative to the inertial reference system, so that the disturbance measurement of the camera visual axis is realized.
Example (b):
for a spatial camera with a focal length f of 20m and an imaging detector pixel of 7 microns, the angular resolution is 0.35 μ rad. In order to realize the camera visual axis disturbance measurement precision superior to 0.1 time angular resolution, the angular displacement measurement precision of the inertial reference unit is superior to 0.01 mu rad, the angle stability between the light-emitting component inertial reference units is superior to 0.01 mu rad, and the included angle stability of the reflector of the light guide component is superior to 0.01 mu rad; the extraction precision of the centroid of the light spot is superior to 0.05 pixel; the position stability of the spot recording focal plane and the imaging detector is superior to 0.03 pixel.
If the frequency of the camera visual axis disturbance is 20Hz, the visual axis disturbance measurement frequency is generally more than or equal to 200 Hz.
Focal length f of camera is 20m, effective light beam caliber D of light guide componente0.02m, and angle of view omega in X and Y directionsxThe angle of view is 2 DEG and Y directiony0.2 degree, central wavelength of 0.65 μm, focal length of emission lens of 0.2m, magnification of 20/0.2, light source size of 4 μm, and X-ray spot size Dx1984 μm, then X spot size DxIt was 1985 μm.
Maximum change d of spot position if vibration is introducedm10 μm, the minimum window size (window side length) Dw≥2005μm。
Dw＝1985+2×10＝2005
The spot offset deltax along the X direction is 6 μm; the spot offset deltay in the Y direction is 5 μm and the relative angular displacement epsilon in the X directionx0.3 μ rad, relative angular displacement in the Y direction εyIs 0.25 μ rad.
The above-described embodiments are merely preferred embodiments of the present invention, and general changes and substitutions by those skilled in the art within the technical scope of the present invention are included in the protection scope of the present invention.
Claims (10)
1. An inertial reference unit-based camera boresight disturbance measurement device, comprising: an inertial reference unit and an associated measurement unit; wherein,
the inertial reference unit is fixedly connected with a support structure of the camera and used for measuring angular displacement information at the installation position;
the correlation measurement unit is used for measuring the relative pointing change between the visual axis of the camera and the inertial reference unit and comprises a light-emitting component, a light guide component and a light spot recording focal plane;
the light-emitting component comprises a light source and an emission lens, the light source is positioned at the focal plane position of the emission lens, the light-emitting component is fixedly connected with the inertial reference unit, light emitted by the light source is collimated by the emission lens and then becomes parallel light, and the parallel light is refracted by the light guide component, enters the camera lens and is converged on the spot recording focal plane;
the light spot recording focal plane is fixedly connected with the camera imaging focal plane, images the light source of the light-emitting component to form a light spot, and records the position of the center of mass of the light spot;
calculating the disturbance quantity of the visual axis of the camera relative to the inertial reference unit by calculating the position offset of the centroid of the light spot recording focal plane; and obtaining absolute angular displacement information of the visual axis of the camera, namely the disturbance quantity of the visual axis of the camera by combining the angular displacement information of the inertial reference unit.
2. The inertial reference unit-based camera boresight disturbance measurement device of claim 1, wherein: the inertial reference unit is a fiber-optic gyroscope or an angular displacement sensor, the angular displacement measurement precision of the inertial reference unit is superior to 0.03 time of the angular resolution of the camera, the measurement frequency is more than 10 times of the disturbance frequency of the visual axis of the camera, and the angular resolution of the camera refers to the ratio of the pixel to the focal length.
3. The inertial reference unit-based camera boresight disturbance measurement device of claim 1, wherein: the angular stability between the light-emitting component and the inertial reference unit is better than 0.03 times of the angular resolution of the camera; the extraction precision of the spot centroid position of the spot recording focal plane is superior to that of the pixel of the 0.05 imaging detector.
4. The inertial reference unit-based camera boresight disturbance measurement device of claim 1, wherein: the light spot recording focal plane comprises a windowable area array detector and a processing circuit; the detector pixel is not larger than the imaging detector pixel size of the camera imaging focal plane, and the photosensitive area of the area array detector is larger than the sum of the diameter of the light spot and the maximum offset of the light spot introduced by long-period temperature change; the photosensitive windowing area of the detector is larger than the sum of the diameter of the light spot and the maximum offset of the light spot introduced by short-period vibration; the light spot recording focal plane and the imaging focal plane are both positioned on the image plane position of the camera lens, are coplanar and adjacent and are arranged on the same structure, and the stability of the relative position between the two focal planes is superior to that of a pixel of a 0.03 imaging detector in the single imaging time of the imaging focal plane of the camera.
5. The inertial reference unit-based camera boresight disturbance measurement device of claim 1, wherein: the light source in the light-emitting component is micron-sized, the spectrum band of the light source is narrow, and the width of the spectrum band is less than or equal to 30 mu m.
6. The inertial reference unit-based camera boresight disturbance measurement device of claim 1, wherein: the light guide assembly is a 180-degree hollow light guide assembly made of ULE or microcrystalline materials, the plane reflectors at two ends of the light guide assembly form an angle of 45 degrees with the central axis of the light guide assembly, the central normals of the plane reflectors at two ends of the light guide assembly are coplanar and form an angle of 90 degrees, the surface shape precision of a light reflecting surface is superior to 1/30 lambda, and lambda is the central wavelength of emitted light; the included angle stability of the plane reflecting mirrors at the two ends of the light guide assembly is better than 0.03 times of the angular resolution of the camera.
7. The camera visual axis disturbance measuring method realized by the camera visual axis disturbance measuring equipment based on the inertial reference unit according to claim 1 is characterized by comprising the following steps:
(1) adjusting the light emitting direction of the light emitting component to enable the light emitting direction of the light emitting component to be parallel to a chief ray corresponding to a central pixel of the area array detector of the spot recording focal plane and opposite to the chief ray;
(2) adjusting the light guide assembly to enable the normal of the reflecting surface of the light guide assembly and the light emitting direction of the light emitting assembly to form 45 +/-1 degrees;
(3) light emitted by the light-emitting component is converged on a light spot recording focal plane after passing through the light guide component and the camera lens, and the light spot recording focal plane is subjected to light spot centroid position extraction and windowing;
(4) the light spot recording focal plane takes the centroid position of the first light spot after the measuring equipment works as a reference value, and calculates the offset of the centroid position of the subsequent light spot relative to the reference position, so as to obtain the relative angular displacement between the visual axis of the camera and the light-emitting component;
(5) the light-emitting component and the inertial reference unit are stably and fixedly connected together, and the relative angular displacement between the camera visual axis and the light-emitting component is the relative angular displacement between the camera visual axis and the inertial reference unit;
(6) and the relative angular displacement information of the visual axis of the camera is combined with the angular displacement information obtained by the inertial reference unit to obtain the absolute angular displacement information of the camera, so that the visual axis disturbance measurement of the camera is realized.
8. The method of claim 7, wherein: the calculation formula of the size of the light spot in the step (3) is as follows:
wherein D isxIs the X-direction spot size, DyThe size of the light spot in the Y direction; the X direction and the Y direction are respectively the intersection points of the central view field of the camera and the image plane and are parallel to the directions of two adjacent vertical edges of the rectangular imaging detector; λ is the central wavelength of the emitted light, f is the focal length of the camera, DeIs the effective beam aperture, omegax、ωyThe field angles in the X direction and the Y direction corresponding to the centers of the light spots respectively; d is the size of the light emitting surface of the light source, and m is the magnification.
9. The method of claim 8, wherein:
the minimum windowing size calculation formula is as follows:
Dw＝Ds+2dm
wherein D iswFor minimum detector window size, DsIs DxAnd DyMaximum value between, dmThe maximum amount of change in spot position introduced for vibration.
10. The method of claim 9, wherein the step of measuring the disturbance of the visual axis of the camera comprises: and (4) relative angular displacement between the camera visual axis and the light-emitting component is specifically as follows:
wherein epsilonxFor relative angular displacement in the X direction, eyIn order to realize relative angular displacement along the Y direction, deltax is the light spot offset along the X direction; Δ Y is the spot offset in the Y direction.
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| CN112461508B (en) | 2022-12-09 |
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