CN112653855B - Multichannel TDI imaging method based on area array detector and readable storage medium - Google Patents
Multichannel TDI imaging method based on area array detector and readable storage medium Download PDFInfo
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Abstract
The invention provides a multichannel TDI imaging method based on an area array detector, wherein the area array detector comprises a full spectrum window and at least one target spectrum window; the imaging method comprises the steps of respectively setting the initial line position and the line number of each spectrum section window on the area array detector according to the required integral progression; calculating the line frequency of an image plane, and adjusting the imaging frame frequency of the area array detector to be matched with the line frequency; controlling the area array detector to be exposed and imaged in an external triggering mode to obtain a continuous image sequence of each window; and accumulating the image sequence according to the corresponding pixels to obtain each spectral band image. The method provided by the invention realizes the multi-channel TDI push-broom imaging function on a single area array detector, establishes a strict relation between the integral series and the frame frequency and the image moving line frequency, and can flexibly configure the push-broom imaging parameters of the integral series, the line frequency and the like of each channel.
Description
Technical Field
The invention belongs to the technical field of optical remote sensing imaging, relates to an imaging method based on an area array detector, and particularly relates to a method capable of flexibly realizing multi-channel TDI imaging.
Background
Imaging detectors are very important imaging photosensitive elements, and mainly include two major categories, namely CCD (Charge-coupled Device) and CMOS (complementary Metal Oxide Semiconductor). The charge information stored by CCD needs to be transferred and read one by one under the control of synchronous signal, the transfer and read output of charge information need to be matched with different power supplies by a clock control circuit, and the whole circuit is complex and has low speed. The CMOS sensor directly outputs digital signals after photoelectric conversion, signal reading is very simple, and image information of each unit can be processed simultaneously. In recent years, with the continuous development of noise cancellation technology of CMOS circuits, the performance of CMOS has been almost the same as that of CCD, and gradually occupies the field of remote sensing application.
The time Delay integration TDI (time Delay integration) refers to the process of exposing the same moving target for multiple times, and the exposure results are accumulated, so that the signal-to-noise ratio and the sensitivity of the image sensor can be improved, and the method is suitable for remote sensing satellite in-orbit push-broom imaging. Due to the limitation of the process and the technology, compared with an area array CMOS, the high-end CMOS-TDI product which is suitable for the aerospace field in China is not enough, and the price is higher.
Multi-channel TDI imaging refers to delay integration imaging that a camera can implement multiple independent channels. Each channel may be configured to be in the full or target spectral range. The full-spectrum imaging contains the light information of the full spectrum and is suitable for distinguishing the details of the ground features. The target spectral band imaging comprises more spectral information, is suitable for agricultural general investigation, such as monitoring of plant diseases and insect pests and crop growth, and is also applied to monitoring of soil and water pollution.
The target spectral band imaging has two important resolution indexes, spatial resolution and spectral resolution. The spatial resolution refers to the ground distance corresponding to one pixel, and the smaller the distance is, the higher the resolution is. Spectral resolution refers to the minimum wavelength interval that the sensor can resolve when receiving the spectrum of the target radiation. The smaller the spacing, the higher the resolution. The target spectral band is imaged, and a light splitting or filtering process is carried out before the sensor receives the light signal, so that the incident white light is decomposed or filtered into a light beam in a required spectral band. Because the incident energy of light is certain, the energy is reduced after light splitting or filtering, so that a pixel with a larger size needs to be selected, and the corresponding spatial resolution is reduced. To ensure a certain imaging quality, the higher the spectral resolution, the lower the corresponding spatial resolution.
When the TDI camera operates in orbit, since the change of factors such as the height of the orbit, the position of a satellite point, an attitude angle and the like can cause the change of an image moving speed vector, the line frequency needs to be adjusted in real time in order to ensure the imaging quality, and the TDI camera needs to have the capability of continuously adjusting the line frequency. The integration series is a key parameter of TDI imaging, determines the exposure time of a camera, and needs to be adjusted to ensure that an image is in a good dynamic range under the conditions of different solar altitude angles and ground reflectivity. Meanwhile, the higher the number of integration stages, the higher the image signal-to-noise ratio.
Therefore, the multichannel TDI imaging is realized by the area array detector, the above conditions and factors need to be comprehensively considered, and key parameters can be controlled and adjusted.
Disclosure of Invention
The purpose of the invention is as follows:
in order to realize a method for flexibly carrying out multichannel TDI imaging, the multichannel TDI imaging method based on the area array detector provided by the invention comprises the following steps:
the area array detector has the ROI windowing function; the imaging method comprises the following steps:
s1: respectively setting the initial line position and the line number of a full spectrum section window and a target spectrum section window on the area array detector according to the integral series required by each spectrum section;
s2: calculating line frequency on a focal plane of the area array detector according to satellite working conditions, and adjusting the imaging frame frequency of the area array detector to be matched with the line frequency;
s3: controlling an area array detector to be exposed and imaged in an external triggering mode according to an imaging frame frequency to obtain a full-spectrum image sequence of a full-spectrum window and a target spectrum image sequence of the target spectrum window;
s4: accumulating the corresponding pixels of the full-spectrum image sequence and the target spectrum image sequence according to a preset accumulation strategy to obtain a full-spectrum image and a target spectrum image;
s5: and uploading the full spectral band image and the target spectral band image to an upper computer.
In another aspect of the present invention, in step S2, the line frequency is calculated in real time based on the image velocity vector on the satellite.
In another aspect of the present invention, in step S2, the adjustable time is controlled so that the imaging frame frequency matches the line frequency:
wherein, the imaging frame frequency is set as Fframe；
The time per imaging frame frequency is Tframe＝1/Fframe；
The temporal composition per imaging frame rate is:
Tframe＝Tfot+Trd+Tadj，
Tfotthe fixed time is determined by the fixed time sequence of the area array detector,
Trdis the data readout time of the area array detector,
Tadjthe time can be adjusted.
In another aspect of the present invention, before step S1, the method further includes:
calculating the maximum line frequency of the area array detector according to the on-orbit operation plan of the satellite camera, which comprises the following steps: the adjustable time is set to be 0, the maximum integral series which can be realized by the area array detector is determined according to the maximum line frequency, and the sum of the integral series required by each spectrum section is ensured not to exceed the maximum integral series.
In another aspect of the invention, optical coatings are used on the area array detector to divide the target spectral band window.
In another aspect of the invention, the target spectral band window is imaged using a binning mode.
In another aspect of the present invention, after step S5,
when the area array detector receives the imaging starting instruction again, register parameter reconfiguration is carried out on the area array detector; and setting the initial line position and the line number of each spectrum section window on the area array detector independently according to the set integration series.
In another aspect of the invention, the full spectral band window is located in the middle of the area array detector and the target spectral band windows are on both sides of the full spectral band window.
In another aspect of the invention, the number of integration levels for each spectral segment can take on different values.
The invention also provides a computer readable storage medium storing a multi-channel TDI imaging method based on an area array detector, wherein the imaging method is implemented by any one of the above aspects when executed by a processor.
According to the TDI imaging method and the readable storage medium provided by the invention, the following beneficial technical effects can be achieved:
(1) the application field of the area array detector is expanded, the multi-channel TDI push-scan imaging function is realized, and the purchase cost and the development cost of the detector can be greatly reduced due to the fact that the multi-spectral TDI detector is high in price and few in type selection.
(2) Compared with the traditional TDI detector, the TDI detector only has 4 to 5 fixed channels (spectral bands), the expansibility is stronger, considering that the number of lines of the area array detector generally reaches the magnitude of more than 4K, taking the highest 128-level integration number of each channel as an example, and ensuring that the adjacent channels have enough intervals and can be expanded to at least 15 channels, and more spectral bands can be added through coating.
(3) A strict mathematical relation is established among the integral series, the frame frequency and the image line frequency, and the frame frequency of the detector can be accurately adjusted in real time through an external trigger mode so as to match the line frequency.
(4) Compared with the accumulated integral of pixels of adjacent rows of the full-color spectrum section, the multispectral spectrum section is specially processed, and the pixel size of the multispectral spectrum section is equivalently improved through pixel merging processing, so that the incident light energy is increased, and the image quality is improved.
Drawings
FIG. 1 is a flow chart of a multi-channel TDI imaging method in accordance with the present invention;
fig. 2 is a configuration diagram of an area array probe according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The invention relates to a method for carrying out multichannel TDI imaging by using an area array detector, in particular to a CMOS image sensor which has the same photoelectric conversion principle as a CCD image sensor carried by a remote sensing satellite in the prior art, but the CCD adopts one-by-one photosensitive output, can only output according to a specified program and has lower speed. The CMOS chip has multiple charge-voltage converters and row-column switch control, and has high reading speed. In addition, the address gating switch of the CMOS chip can randomly sample, so that the output of the sub-window is realized, and higher speed can be obtained when only the image of the sub-window is output.
Furthermore, the area array detector needs to have an ROI (region of interest) windowing mode, where in the imaging application, one or more window regions of interest are defined in a resolution range of the image sensor, and only image information in the windows is read out, and only an image of the local region is obtained. Setting a smaller ROI area can reduce the amount of image information transmitted by the sensor and processed by the computer, and improve the frame rate of the camera. Since the area array detector generally has a large number of lines, only the desired data portion can be detected in the actual detection, thereby greatly improving the efficiency of transmission and processing.
In a specific embodiment, a plurality of light sensing windows/channels are formed in the area array detector, wherein the light sensing windows/channels include a full spectrum window and one or more target spectrum windows. The full spectral range window refers to the maximum range of light that the CMOS sensor can detect within the window, and is determined by the properties of the CMOS sensor itself, which may be in the uv-vis-ir range. On the other hand, the target spectrum window refers to the window in which light of a specific spectrum, specifically light of a specific wavelength or a specific wavelength range, is detected, the wavelength or wavelength range of which is determined according to actual service requirements, such as blue: 450-510 nm; green: 510-580 nm; red: 655 and 690 nm; near infrared: 780-920 nm. Furthermore, the area array detector is at least provided with a full spectrum section window and at least one target spectrum section window, considering that the number of pixel rows of the area array detector generally reaches the magnitude of more than 4K, taking the highest 128 rows of pixels as an example, and ensuring that the adjacent photosensitive windows have enough space, which can be extended to at least 15 photosensitive windows/channels. Specifically, the target spectrum band window is realized by detecting only light with a specific wavelength or a specific wavelength range through an optical coating on the area array detector, and the area array detector also has an electronic dark level and an optical dark level with fixed line number for correction.
In a specific embodiment, the area array detector is controlled by a camera imaging unit mounted on the satellite, specifically, the camera imaging unit is a control chip including an SoC, an FPGA and the like, which can run a preset program, and communicates with the area array detector through a communication interface such as an SPI protocol and the like, and controls the area array detector to perform a shooting action. Meanwhile, the satellite upper computer can also receive image data shot by the area array detector and send the image data back to the ground station.
The multi-channel TDI imaging method based on the area array detector specifically comprises the following steps of S1-S5:
s1: and respectively setting the initial line position and the line number of the full spectrum window and the target spectrum window on the area array detector according to the integral series required by each spectrum.
And according to task requirements, the line number of each light sensing window is set by the integral number required to be set by each spectrum section, and the control chip modifies the initial line position and the line number of each light sensing window of the area array detector through the serial interface before imaging. The number of integration levels may be different for each spectral band. The integration number is the number of pixel lines transferred during TDI imaging, and the exposure time of the image sequence is equivalent to the integration number x the exposure time per line.
S2: and calculating the line frequency on the focal plane of the area array detector according to the working condition of the satellite, and adjusting the imaging frame frequency of the area array detector to be matched with the line frequency.
Specifically, the line frequency on the focal plane of the area array detector calculated in real time according to the satellite image motion velocity vector is used as the imaging frame frequency of the area array detector. The adjustable time is controlled to enable the imaging frame frequency to be matched with the line frequency:
wherein, the imaging frame frequency is set as Fframe；
The time per imaging frame frequency is Tframe＝1/Fframe；
The temporal composition per imaging frame rate is: t isframe＝Tfot+Trd+Tadj，
TfotThe time is fixed and is determined by the fixed time sequence of the area array detector;
Trdthe data reading time of the area array detector is obtained;
Tadjthe time can be adjusted.
According to the line frequency on the focal plane of the satellite area array detector, the time T of each frame is easily obtainedframeCalculating the total number of lines of the image to be windowed according to the set number of integration stages, and calculating the number of lines to be read on the area array detector to obtain TrdAnd then calculate Tadj. T is completed by setting a clock counter through a control chipadjThe time period is adjusted to satisfy that the frame frequency is equal to the current line frequency.
In an optional embodiment, before step S1, the method further includes:
calculating the maximum line frequency of the area array detector according to the on-orbit operation plan of the satellite camera, and adjusting the time TadjAnd setting the number to be 0, determining the maximum integral number of stages which can be realized by the area array detector according to the maximum line frequency, and ensuring that the sum of the integral numbers required by each spectrum section does not exceed the maximum integral number of stages.
Before the launching satellite enters a working orbit, the in-orbit operation planning of the satellite camera can be performed in advance, and the working condition of the satellite is simulated according to the in-orbit operation planning.
Specifically, the line frequency calculated in real time according to the satellite image motion velocity vector is used as the imaging frame frequency of the area array detector, and the line frequency updating period is 1 s. Because the line frequency is influenced by factors such as the satellite camera satellite down-point latitude, maneuvering angle, orbit height and the like, the maximum line frequency of the area array detector needs to be calculated by simulating the factors, namely the imaging frame frequency at least to be reached by the area array detector. The imaging frame frequency is the largest factor restricting the application of the area array detector to the TDI push-broom mode.
S3: controlling an area array detector to be exposed and imaged in an external triggering mode according to the imaging frame frequency to obtain a full spectrum segment image sequence of a full spectrum segment window and a target spectrum segment image sequence of a target spectrum segment window;
in a specific embodiment, the area array detector performs sampling by adopting an external triggering mode, wherein the external triggering mode is that the control chip sends a signal to the area array detector, and the area array detector controls the exposure time through the triggering signal. The shooting frequency can be set through software of the upper computer. On the other hand, if the internal register is adopted to control the exposure mode, since the operating condition of the satellite is constantly changed, the register value needs to be constantly adjusted according to the updated line frequency, the SPI register is frequently written for operation, the real-time performance is poor, and the output image state of the detector is unstable in the changing process. Specifically, the area array detector exposure imaging mode may be a push-broom imaging mode.
S4: accumulating the corresponding pixels of the full-spectrum image sequence and the target spectrum image sequence according to a preset accumulation strategy to obtain a full-spectrum image and a target spectrum image;
in a specific embodiment, the area array detector performs continuous exposure imaging and output according to the frame frequency, and the sequence of images obtained by shooting is P1、P2～PnN is the number of integration stages, n must be an even number. Each image frame includes a full spectral band window and 4 target spectral band windows, respectively designated as A, B, C, D and E, as illustrated in fig. 2, the area array detector includes 7400 rows of pixels, each row of pixels includes 8200 pixel units (i.e., pixels), and EB and OB are electrically and optically dark parallel. The image sequence of each window is A1、A2～An；B1、B2～Bn；C1、C2～Cn；D1、D2～Dn；E1、E2～En。
Each spectrum window comprises n lines of pixels, for simplifying description, each spectrum window is set to be of the same level, along the opposite direction of the satellite flight, taking the full spectrum window as an example, each line of pixels is respectively marked as A1-L1、A1-L2～A1-Ln；A2-L1、A2-L2～A2-Ln；An-L1、An-L2～An-Ln。
In a specific accumulation strategy, since the frame frequency of the area array detector is matched with the push-broom frequency, the images in the adjacent image sequence are shifted by one line along the flight direction of the satellite, namely A1-L1And A2-L2Imaging the same ground object, and so on, A1-L1、A2-L2～An-LnTo image the same target, n exposure images are realized. For the full spectrum, A1-L1、A2-L2～An-LnThe DN values of the n lines of images are accumulated according to the corresponding pixel positions, and n-level integration is realized.
In one embodiment, the target spectral band window is imaged in a binning mode, which is a mode in which charges induced by neighboring pixels are added together and read out in a pixel mode, since the target spectral band window can only transmit light of a specific wavelength and the transmitted energy is limited, compared to the full spectral band. And under the condition of low ambient light, the dynamic range and the signal-to-noise ratio of the image are improved. Specifically, 4 pixels are equivalently combined into one pixel. That is, in the row direction and the column direction, the equivalent pixel size is twice of the original pixel.
For a target spectral band image sequence, special processing of data is required, one frame apart. B is to be1-L1、B1-L2And B3-L3、B3-L4The DN values of (a) are accumulated. By analogy, Bi-L1、Bi-L2、Bi+2-L3、Bi+2-L4The DN values are added, the integration in the target spectrum image line direction is completed, a line of image data is obtained, and i is the sequence number of the image sequence. And in the column direction, the DN values of two adjacent pixels of the image in the row are combined, and the imaging data of the target spectrum B in the pixel combination mode is obtained. Similarly, C, D, E spectrum image data can be obtained.
S5: and uploading the full spectral band image and the target spectral band image to an upper computer.
And (4) caching the panchromatic spectral band image data and the multispectral spectral band image data through a DDR (double data rate), and transmitting the panchromatic spectral band image data and the multispectral spectral band image data to an upper computer (satellite) for storage through a data transmission interface such as a serial bus. And when an imaging stopping instruction sent by an upper computer (satellite) is received, stopping driving the detector to image.
When an imaging starting command is received again, register parameter reconfiguration is firstly carried out on the detector through the SPI communication bus. And setting the initial line number and the line number of each spectrum section window according to the injected integral series, wherein the integral series of each spectrum section is independent. The function can flexibly meet the requirements of different application scenes.
The above-described imaging method may be executed by a computer program recorded on a computer-readable medium.
Furthermore, it will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer readable storage medium, and can include the processes of the embodiments of the methods described above when executed. Any reference to memory, storage, database, or other medium used in the embodiments provided herein may include non-volatile and/or volatile memory, among others. Non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
Those skilled in the art will appreciate that the configurations illustrated in the figures are merely block diagrams of portions of configurations related to aspects of the present application, and do not constitute limitations on the computing devices to which aspects of the present application may be applied, as a particular computing device may include more or less components than those illustrated, or may combine certain components, or have a different arrangement of components. Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A multi-channel TDI imaging method based on an area array detector is used for satellite remote sensing imaging and is characterized in that:
the area array detector has an ROI windowing function;
the imaging method comprises the following steps:
s1: respectively setting the initial line position and the line number of a full spectrum window and a target spectrum window on the area array detector according to the integral series required by each spectrum;
s2: calculating the line frequency on the focal plane of the area array detector according to the satellite working condition, and adjusting the imaging frame frequency of the area array detector to be matched with the line frequency, wherein the method specifically comprises the following steps: by controlling the adjustable time so that the imaging frame frequency matches the line frequency:
wherein the imaging frame frequency is set to Fframe；
Time per said imaging frame rate is then Tframe＝1/Fframe；
The temporal composition per the imaging frame rate is:
Tframe＝Tfot+Trd+Tadj，
Tfotis fixed time, is determined by the fixed time sequence of the area array detector,
Trdfor the data readout time of the area array detector,
Tadjis the adjustable time;
s3: controlling the area array detector to be exposed and imaged in an external triggering mode according to the imaging frame frequency to obtain a full-spectrum image sequence of the full-spectrum window and a target spectrum image sequence of the target spectrum window;
s4: accumulating the corresponding pixels of the full spectrum image sequence and the target spectrum image sequence according to a preset accumulation strategy to obtain a full spectrum image and a target spectrum image;
s5: and uploading the full spectrum image and the target spectrum image to an upper computer.
2. The multi-channel TDI imaging method of claim 1, wherein:
in step S2, the line frequency is calculated in real time according to the image velocity vector on the satellite.
3. The multi-channel TDI imaging method of claim 2, wherein:
before the step S1, the method further includes:
calculating the maximum line frequency of the area array detector according to the on-orbit operation plan of the satellite camera, wherein the maximum line frequency comprises the following steps:
and setting the adjustable time to be 0, determining the maximum integration level number which can be realized by the area array detector according to the maximum line frequency, and ensuring that the sum of the integration levels required by each spectrum section does not exceed the maximum integration level number.
4. The multi-channel TDI imaging method of claim 1, wherein:
and dividing the target spectrum window on the area array detector by using optical coating.
5. The multi-channel TDI imaging method of claim 4, wherein:
the target spectral band window is imaged using a binning mode.
6. The multi-channel TDI imaging method according to any one of claims 1 to 5, wherein:
when the area array detector receives the imaging starting instruction again, register parameter reconfiguration is carried out on the area array detector; and setting the initial line position and the line number of each spectrum section window on the area array detector independently according to the set integration series.
7. The multi-channel TDI imaging method according to any one of claims 1 to 5, wherein:
the full spectrum section window is positioned in the middle of the area array detector, and the target spectrum section window is positioned at two sides of the full spectrum section window.
8. The multi-channel TDI imaging method according to any one of claims 1 to 5, wherein:
the number of integration levels for each of the spectral segments can take different values.
9. A computer-readable storage medium characterized by: the computer readable storage medium stores a multi-channel TDI imaging method based on an area array detector, which when executed by a processor implements the imaging method of any one of claims 1 to 8.
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