CN112702542B - Imaging electronic equipment in motion - Google Patents
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- CN112702542B CN112702542B CN202011480355.7A CN202011480355A CN112702542B CN 112702542 B CN112702542 B CN 112702542B CN 202011480355 A CN202011480355 A CN 202011480355A CN 112702542 B CN112702542 B CN 112702542B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04N25/50—Control of the SSIS exposure
- H04N25/53—Control of the integration time
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- H—ELECTRICITY
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- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/40—Extracting pixel data from image sensors by controlling scanning circuits, e.g. by modifying the number of pixels sampled or to be sampled
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Abstract
The invention discloses a moving imaging electronic device, which adopts an integral time calculation module to automatically calculate the theoretical integral time of different fields of view on orbit; a TDI series calculation module is adopted to automatically calculate the theoretical TDI series of each field on orbit; an imaging parameter adjusting module is adopted to partition the detector according to information such as theoretical integration time, theoretical TDI series and the like of different fields of view, and imaging parameters of each partition are optimized and adjusted respectively to ensure good transfer function and signal-to-noise ratio under imaging in motion; the adopted TDI detector has a bidirectional scanning function, an integral time partition adjusting function and a multi-TDI series adjusting function. The imaging electronic equipment in motion can meet the imaging requirement of imaging parameters in motion with complex changes of space at any time, ensures the imaging quality in motion, and has important significance for improving the optical remote sensing efficiency, realizing multi-mode imaging and the like.
Description
Technical Field
The invention relates to the technical field of space optical remote sensing, in particular to an imaging electronic device in motion.
Background
The traditional optical remote sensing satellite mainly adopts a passive push-broom imaging mode, the direction and the size of the push-broom speed in the imaging process are almost unchanged, the imaging parameters of a camera are stable and unchanged, and the requirement on the imaging electronics of the camera is low.
The in-motion imaging optical remote sensing satellite has the characteristics of high maneuvering speed, high speed change, complex and changeable imaging parameters at any time, and the like, has different requirements on integration time and TDI (time delay integration) series of different time and different view fields, and provides extremely high requirements for imaging electronics, and imaging electronic equipment is required to be capable of automatically adjusting according to the change conditions of the imaging parameters along with time and space so as to ensure the imaging quality. The conventional imaging electronic device has been unable to meet the imaging requirements in motion.
Disclosure of Invention
The technical problem solved by the invention is as follows: the defects of the prior art are overcome, the imaging electronic equipment in motion is provided, the problem that imaging electronics of the imaging remote sensing satellite in motion adapts to complex and changeable imaging parameters at any time is effectively solved, the imaging parameters are automatically matched, and the imaging quality of the imaging remote sensing satellite in motion is guaranteed.
The purpose of the invention is realized by the following technical scheme: an in-motion imaging electronic device comprising: the device comprises an integration time calculation module, a TDI series calculation module, an imaging parameter adjustment module and a TDI detector; the imaging electronic equipment in motion is installed on a satellite;
the integral time calculation module receives GPS information, star sensor information, gyro information and camera parameters from the outside in real time, calculates theoretical integral time of the camera under different fields of view and different time according to the GPS information, the star sensor information, the gyro information and the camera parameters (preferably comprising focal length, pixel size and field angle), and transmits the theoretical integral time to the TDI series calculation module and the imaging parameter adjustment module to provide basis for TDI series on-orbit autonomous calculation and imaging parameter partition autonomous adjustment of different fields of view.
And the TDI series calculation module receives GPS information, star sensor information, gyro information and camera parameters from the outside in real time, and calculates theoretical TDI series of the camera under different fields of view and different time in an on-orbit manner according to the GPS information, the star sensor information, the gyro information and the camera parameters (preferably comprising focal length, field angle, relative caliber, pixel size, obscuration ratio, transmittance, detector quantum efficiency and the like) and theoretical integration time of the camera under different fields of view and different time obtained by the integration time calculation module, so as to provide basis for the partition and independent adjustment of imaging parameters.
The imaging parameter adjusting module is used for partitioning the TDI detector according to theoretical integration time under different fields of view and different time, and determining the integration time adjusting quantity and adjusting frequency of each region and the TDI series adjusting quantity and adjusting frequency of each region; forming integral time and TDI series control signals of each partition, and sending the signals to a TDI detector;
the theoretical integration time of the central field of view of each zone is preferably the integration time actually set for that zone.
Preferably, it is required to ensure that the TDI levels of each field of view are appropriate, that is, the signal-to-noise ratio of the signal low-end detector is improved as much as possible on the premise that the signal high-end detector is not saturated;
the TDI detector adjusts the integration time and the TDI stage number of each partition under the control of the integration time and the TDI stage number control signals of each partition sent by the imaging parameter adjusting module, so that imaging in motion is realized, and a good transfer function and signal-to-noise ratio under the imaging in motion can be ensured; (in-motion imaging, the push-broom speed of an imaging camera is constantly changed, and the image speeds of different fields of view can be different.)
Preferably, the imaging electronic device in motion belongs to the electronic device of a camera, and needs to be matched with a lens of the camera to realize imaging; the satellite is also provided with a GPS antenna, a star sensor and a gyroscope;
preferably, the integration time calculation module calculates the theoretical integration time of the camera under different fields of view and different times on the orbit according to the GPS information, the star sensor information, the gyro information, and the camera parameters (preferably including a focal length, a pixel size, a field angle, and the like), specifically as follows:
GPS information, including: satellite orbit information installed on the imaging electronic equipment in motion;
star sensor information, including: satellite attitude information installed on the imaging electronic equipment in motion;
the camera integration time under different fields of view and different times of the camera refers to the camera integration time which changes along with the field angle and time of the space;
the integral time of the camera is the ratio of the sampling interval of the ground pixels of different view fields to the synthetic speed of the ground objects of the view fields;
the ground pixel sampling interval refers to the projection size of the camera detector pixels on the ground. (the camera pixel is preferably square, the projection of the camera pixel on the ground may be square or rectangular, the dimensions are the side lengths;)
The synthetic speed of the ground object is determined by the flight speed of the satellite, the rotation speed of the earth and the maneuvering speed of the satellite.
Preferably, the TDI series calculating module is used for automatically calculating the TDI series of the camera under different fields of view and different time in an on-orbit manner according to the GPS information, the star sensor information, the gyro information and the camera parameters (preferably comprising a focal length, a field angle, a relative caliber, a pixel size, an obscuration ratio, a transmittance, a detector quantum efficiency and the like);
GPS information, including: satellite orbit information and current time installed on the imaging electronic equipment in motion;
star sensor information, including: satellite attitude information installed on the imaging electronic equipment in motion;
gyro information, including: satellite angular displacement information installed on the imaging electronic equipment in motion;
and calculating the solar altitude angle of the imaging area by using orbit analysis software according to the satellite orbit information and the current time of the satellite installed on the imaging electronic equipment in motion and the satellite attitude information installed on the imaging electronic equipment in the GPS information, namely obtaining the solar illumination information.
And acquiring the entrance pupil radiance information of the camera according to the solar altitude of the imaging area and the ground object reflectivity of the imaging area.
And calculating TDI series of the camera under different view fields and different time according to the entrance pupil radiance information of the camera, the integration time of the camera under different view fields and different time and camera parameters.
Preferably, the imaging parameter adjusting module divides the TDI detector into regions according to theoretical integration time under different fields of view and different times, the difference between the ground pixel sampling interval at two ends of each divided region and the ground pixel sampling interval at the center of each divided region is less than 0.2/m times of the ground pixel sampling interval at the center of each divided region, and m is a TDI series.
The imaging parameter adjusting module determines the integral time adjustment quantity and the adjustment frequency thereof and the TDI series adjustment quantity and the adjustment frequency thereof of each area, and specifically comprises the following steps:
setting integral time adjustment quantity and adjustment frequency of each subarea and different time, wherein the requirements are as follows: the ratio of the theoretical integration time and TDI series of which the adjustment quantity of the integration time under different fields and different times is less than 0.2 times; adjusting the ratio of the change rate of the ground convergence speed in unit time with the frequency being more than 0.2 times to the TDI series;
the integration time adjustment amount is preferably: Δ t int ≤0.2×t int /m
The integration time adjustment frequency is preferably: n is a radical of an alkyl radical t ≥0.2×ΔVr/Vr/m
Δt int For integration time adjustment, t int For integration time, m is the TDI series, n t Adjusting frequency for integration time, wherein delta Vr is the variation of ground combining speed in unit time, and Vr is the ground combining speed; Δ Vr/Vr is the rate of change of the ground engaging speed.
Preferably, the TDI levels and the adjustment frequency of the TDI levels in each partition and at different time of the camera are set as follows: the TDI series of each field partition and different time is less than the detector series corresponding to the partition signal when the number of electrons generated at the high end is 95% of the number of electrons in the full well, and is more than the detector series corresponding to the partition signal when the number of electrons generated at the high end is 85% of the number of electrons in the full well; and when the deviation of the actually set TDI series of each area and the theoretical TDI series exceeds 5%, carrying out TDI series adjustment.
The TDI series calculation method for the camera detector is as follows:
in the formula, Se is 85% -95% of the number of electrons in a full well, h is a Planck constant, c is a number of light, and F # The number of F of the optical system is shown, Ap is the photosensitive area of a pixel, tau is the transmittance of the optical system, epsilon is the surface obscuration ratio of the optical system, lambda is the central wavelength, QE is the quantum efficiency of the detector, tint is the single-stage integration time of the detector, and L is the entrance pupil radiance.
The imaging parameter adjusting module forms the integral time of each partition and a TDI series control signal, and sends the control signal to the TDI detector.
Preferably, the TDI detector has the functions of bidirectional scanning, partition adjustment of imaging parameters and TDI multi-stage selection, and can perform partition adjustment on the imaging parameters according to control signals sent by the imaging parameter adjusting module to adapt to complex changes of imaging parameters in motion;
adjusting imaging parameters in a partitioned manner, comprising: integration time and TDI series of each partition at different time;
preferably, the line frequency range of the TDI detector should be greater than the inverse of the minimum integration time of each region.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention adopts the integral time calculation module, can autonomously calculate the theoretical integral time of the detector in real time on orbit, provides information support for autonomous matching of imaging parameters, avoids image blurring caused by integral time and image speed failure and ensures a good in-motion imaging modulation transfer function;
(2) the invention adopts the TDI series calculation module, can autonomously calculate the required TDI series of the detector on the orbit, provides information support for the autonomous matching of imaging parameters, avoids the problems of detector saturation caused by too many TDI series or low signal-to-noise ratio caused by too few TDI series, and ensures good imaging signal-to-noise ratio in motion;
(3) the invention adopts the imaging parameter adjusting module, can autonomously calculate the partition number required along the detector linear array direction in an on-orbit manner and carry out partition adjustment and optimization on the imaging parameters, effectively solves the problem of inconsistent imaging parameters of each field under the imaging condition in motion and the partition adjustment problem, and ensures that each field can obtain good imaging quality.
Drawings
FIG. 1 is a block diagram of an imaging electronic device in motion according to an embodiment of the present invention;
Detailed Description
The invention is described in detail below with reference to the figures and the specific embodiments.
The invention discloses a moving imaging electronic device, which adopts an integral time calculation module to automatically calculate the theoretical integral time of different fields of view on orbit; a TDI series calculation module is adopted to automatically calculate the theoretical TDI series of each field on orbit; an imaging parameter adjusting module is adopted to partition the detector according to information such as theoretical integration time, theoretical TDI series and the like of different fields of view, and imaging parameters of each partition are optimized and adjusted respectively to ensure good transfer function and signal-to-noise ratio under imaging in motion; the adopted TDI detector has the functions of bidirectional scanning, integral time partition adjustment and multi-TDI series adjustment. The imaging electronic equipment in motion can meet the imaging requirement of imaging parameters in motion with complex changes in space at any time, ensures the imaging quality in motion, and has important significance for improving the optical remote sensing efficiency, realizing multi-mode imaging and the like.
The imaging optical remote sensing satellite in motion is used as a new generation of high-performance agile imaging optical remote sensing satellite, active push-broom imaging can be realized under the condition of quick two-dimensional maneuverability by virtue of good maneuverability, the direction and the size of the push-broom imaging speed are continuously changed, more imaging modes can be realized, and higher imaging efficiency is realized, so that the imaging optical remote sensing satellite has important application prospects, such as flexible curve imaging, multi-angle high-frequency class video imaging and the like.
The imaging electronics required by the imaging optical remote sensing satellite in motion has the functions of bidirectional scanning, automatic integral time adjustment, TDI series automatic adjustment and the like, meets the requirements of high-precision and high-frequency adjustment of space-time dimensions, cannot meet the requirements of the traditional imaging electronics, and needs to adopt imaging electronics in motion to ensure the imaging quality in motion.
The invention provides a moving imaging electronic device, comprising: the device comprises an integration time calculation module, a TDI series calculation module, an imaging parameter adjustment module and a TDI detector; the imaging electronic equipment in motion is arranged on the satellite;
the integral time calculation module receives GPS information, star sensor information, gyro information and camera parameters in real time from the outside, automatically calculates integral time of the camera under different fields of view (angle classification) and different time (millisecond class) according to the GPS information, the star sensor information, the gyro information and the camera parameters (preferably comprising focal length, field angle, pixel size and the like), and sends the integral time to the TDI class calculation module to provide a basis for integral time adjustment;
the TDI series calculation module receives GPS information, star sensor information, gyro information and camera parameters from the outside in real time, and automatically calculates TDI series of the camera under different view fields and different time (millisecond level) in an orbit according to the GPS information, the star sensor information, the gyro information and the camera parameters (preferably including focal length, pixel size, light-passing aperture, obscuration ratio, detector electronic parameters and the like) and the integration time obtained by the integration time calculation module, so as to provide basis for adjusting the TDI series.
The imaging parameter adjusting module is used for partitioning the TDI detector according to theoretical integration time under different fields of view and different time, and determining the integration time adjusting quantity and adjusting frequency of each region and the TDI series adjusting quantity and adjusting frequency of each region; forming integral time and TDI series control signals of each partition, and sending the signals to a TDI detector;
the TDI detector adjusts the integration time and the TDI stage number of each partition under the control of the integration time and the TDI stage number control signals of each partition sent by the imaging parameter adjusting module, so that imaging in motion is realized, and a good transfer function and signal-to-noise ratio under the imaging in motion are ensured; (in-motion imaging, the push-broom speed of an imaging camera is constantly changed, and the image speeds of different fields of view can be different.)
The TDI detector is controlled by a control signal sent by the imaging parameter adjusting module, and the adjusted integration time and TDI series under different fields and different times meet the imaging requirement in motion;
the imaging electronic equipment in motion belongs to electronic equipment of a camera, and needs to be matched with a lens of the camera to realize imaging; the satellite is also provided with a GPS antenna, a star sensor and a gyroscope;
the track position measurement precision of the GPS antenna is better than 0.1m, and the measurement frequency is more than 1 Hz;
the attitude measurement precision of the star sensor is better than 1', and the measurement frequency is higher than 8 Hz;
the angular displacement measurement precision of the attitude of the gyroscope is better than 0.01', and the measurement frequency is more than 100 Hz.
The integral time calculation module is used for automatically calculating the integral time of the camera under different fields of view and different time in an on-orbit mode according to the GPS information, the star sensor information, the gyro information and the camera parameters (including focal length, pixel size, field angle and the like), and specifically comprises the following steps:
GPS information, including: satellite orbit position information installed on the imaging electronic equipment in motion;
star sensor information, including: satellite attitude information installed on the imaging electronic equipment in motion;
gyro information, including: satellite high-frequency angular displacement information installed on the imaging electronic equipment in motion;
the camera theoretical integration time under different viewing fields and different time of the camera is the camera integration time which changes along with the space viewing angle and time;
the integration time of the camera is the ratio of the ground pixel sampling interval of different view fields to the ground synthesis speed of the image formed by the view field camera;
the ground synthetic speed is determined by the satellite flight speed, the earth rotation speed and the satellite maneuvering speed.
The ground resultant velocity, namely the velocity of the ground projection of the detector relative to the ground, consists of three parts, namely the ground velocity introduced by the flight of the satellite, the ground velocity introduced by the rotation of the earth and the ground velocity introduced by the maneuvering of the satellite.
Ground speed V introduced by satellite flight s ：
Wherein R is the earth radius, GM is the gravitational constant, H is the orbit height, and is the included angle between the ground projection position-earth center connecting line and the normal of the orbit surface.
Ground speed V introduced by earth rotation e ：
V e ＝ω e ·R·cos(θ latitude )
In the formula, ω e Is the rotational angular velocity of the earth, R is the radius of the earth, theta latitude And corresponding latitude for the ground projection point of the detector.
Ground speed V introduced by satellite motor m ：
Ground resultant velocity V r ：
In the formula, Vr is the ground closing speed, Vs is the ground speed introduced by the flight of the satellite, Ve is the ground speed introduced by the rotation of the earth, and Vm is the ground speed introduced by the maneuvering of the satellite. The three directions may have a certain included angle, and are expressed in a vector form.
The ground pixel sampling interval refers to the projection size of the camera pixels on the ground of the imaging area. The camera pixels are square, the projection of the camera pixels on the ground can be square or rectangular, and the size refers to the side length;
theta is the inclination angle deviating from the interstellar point; l is the slope distance at a certain inclination angle; r is the radius of the earth; h is the satellite orbit height; GSDx is the sampling interval of ground pixels in the direction vertical to the linear array of the detector; GSDy is the sampling interval of ground pixels parallel to the linear array direction of the detector; eta x Is an angle between the vertical linear array direction and the projection plane normal, eta y Is the included angle between the vertical linear array direction and the normal of the projection plane, and f is the focal length of the camera.
The TDI grade calculation module is used for automatically calculating the TDI grade of the camera under different view fields and different time in an orbit according to the GPS information, the star sensor information, the gyro information and the camera parameters; the method comprises the following specific steps:
GPS information, including: satellite orbit information and current time installed on the imaging electronic equipment in motion;
star sensor information, including: satellite attitude information installed on the imaging electronic device in motion;
and calculating the solar altitude angle of the imaging area by using orbit analysis software according to the satellite orbit information and the current time of the imaging electronic equipment in motion in the GPS information and the satellite attitude information of the imaging electronic equipment in motion, namely obtaining the solar illumination information.
And acquiring the entrance pupil radiance information of the camera according to the solar altitude of the imaging area and the ground object reflectivity of the imaging area.
And calculating TDI series of the camera under different fields of view and different times according to the entrance pupil radiance information of the camera, the integration time of the camera under different fields of view and different times and camera parameters.
Camera parameters. The method comprises the following steps: and calculating the optimal TDI series according to the relative aperture, the pixel size and the quantum efficiency. (the camera preferably comprises a lens and a detector, the relative aperture refers to the relative aperture of the lens, and the pixel size and the quantum efficiency refer to the pixel size and the quantum efficiency of the detector);
the TDI series calculation method for the camera detector is as follows:
in the formula, Se is 85% -95% of the number of electrons in a full well, h is a Planck constant, c is a number of light, and F # The number of F of the optical system is shown, Ap is the photosensitive area of a pixel, tau is the transmittance of the optical system, epsilon is the surface obscuration ratio of the optical system, lambda is the central wavelength, QE is the quantum efficiency of the detector, tint is the single-stage integration time of the detector, and L is the entrance pupil radiance.
The TDI series and the adjustment frequency of each camera partition and at different time are set, and the requirements are as follows: the TDI series of each field partition and different time is less than the detector series corresponding to the partition signal when the number of electrons generated at the high end is 95% of the number of electrons in the full well, and is more than the detector series corresponding to the partition signal when the number of electrons generated at the high end is 85% of the number of electrons in the full well; when the deviation of the actually set TDI series of each area and the theoretical TDI series exceeds 5%, carrying out TDI series adjustment;
and the imaging parameter adjusting module is used for partitioning the TDI detector according to theoretical integral time under different fields of view and different time, the difference value between the ground pixel sampling interval at two ends in each partitioned area and the ground pixel sampling interval at the center of each partitioned area is less than 0.2/m times of the ground pixel sampling interval at the center of each partitioned area, and m is TDI. And (4) counting. The partition adjustment number of the TDI detector is equal to the ratio of the total pixel number of the TDI detector to the pixel number of each adjustment area. The partition adjustment of the TDI detector can ensure that the integration time set in each partition is well matched with the theoretical integration time of each pixel in each partition. The theoretical integral time of each pixel is equal to the ratio of the ground pixel sampling interval to the ground synthesis speed of each pixel.
Setting integral time adjustment quantity and adjustment frequency of the integral time adjustment quantity under different fields and different time, wherein the requirements are as follows: taking the theoretical integration time of the central view field of each area as the integration time actually set for the area; the adjustment quantity of the integration time under different fields and different times is less than the ratio of the theoretical integration time of 0.2 times to the TDI series, and the adjustment frequency is more than the ratio of the change rate of the ground convergence speed in unit time of 0.2 times to the TDI series;
integration time adjustment frequency:
integration time adjustment amount: Δ t int ≤0.2×t int /m
Integration time adjustment frequency: n is t ≥0.2×ΔVr/Vr/m
Δt int For integrating time adjustment, t int M is TDI series, nt is integration time adjustment frequency, Δ Vr is ground closure velocity variation in unit time, V r The ground speed is the ground speed; Δ V r /V r Is the rate of change of the ground closing velocity.
The TDI series and the adjustment frequency of each camera partition and at different time are set, and the requirements are as follows: the TDI series of each view field partition and different time is smaller than the detector series corresponding to the partition signal when the high-end generated electron number is 95% of the full-well electron number, and is larger than the detector series corresponding to the partition signal when the high-end generated electron number is 85% of the full-well electron number; when the deviation between the actually set TDI series of each region and the theoretical TDI series exceeds 5%, adjusting the TDI series to ensure that the TDI series of each field is proper, namely, the signal-to-noise ratio of the signal low-end detector is improved as much as possible on the premise that the signal high-end detector is not saturated;
the TDI detector has the functions of bidirectional scanning, partition adjustment of imaging parameters and TDI multi-stage selection, and can adjust the imaging state according to a control signal sent by the imaging parameter adjusting module to realize imaging in motion;
adjusting imaging parameters in a partitioned manner, comprising: integration time and TDI series under different fields and different times;
the line frequency range of the TDI detector should cover the integration time requirement for imaging in motion, i.e. the maximum line frequency should be larger than the inverse of the integration time.
The invention relates to a method for designing imaging electronics and parameters thereof in motion, which comprises the following steps: an integration time calculation module and a calculation method, a TDI series calculation module and a calculation method, an imaging parameter adjustment module and a bidirectional scanning partition adjustment TDI detector.
The integral time calculation module is used for automatically calculating the accurate integral time of different fields of view on the orbit according to the maneuvering speed, the attitude information, the spatial resolution, the field angle and other information, ensuring the synchronous matching of the integral time of each field of view and the image speed and ensuring the imaging quality in motion;
and the TDI series calculating module is used for automatically calculating the optimal TDI series of each field on orbit according to the integration time information, the illumination condition, the field angle, the posture information and the like, so as to ensure the proper signal-to-noise ratio.
The imaging parameter adjusting module is used for automatically calculating the number of partitions needed in the linear array direction in an on-orbit mode according to information such as integration time and TDI (time delay integration) series of different view fields, and adjusting and optimizing imaging parameters in a partitioning mode to ensure the best image quality; according to the maneuvering speed, the maneuvering acceleration, the line frequency of each view field, the TDI series and other information, the adjustment quantity and the adjustment frequency of the line frequency and the TDI series of each view field and each area are automatically calculated in an on-orbit mode, and the imaging quality under the condition that the speed is constantly changed is guaranteed.
FIG. 1 is a block diagram of a motion imaging electronic device of the present invention. As shown in fig. 1, the imaging electronics in motion includes: the device comprises a TDI detector, an integral time calculating module, a TDI series calculating module and an imaging parameter adjusting module.
The integral time calculation module is used for accurately calculating integral time corresponding to different fields of view according to information such as a GPS, a star sensor, a gyroscope and the like;
the TDI series calculation module is used for accurately calculating integral time corresponding to different view fields according to the GPS, the star sensor, the gyroscope and the integral time information;
and the imaging parameter adjusting module is used for accurately adjusting imaging parameters according to the information such as the change of parameters such as the integration time, the TDI series and the like along with time and space, which is provided by the integration time calculating module and the TDI series calculating module.
The invention adopts the integral time calculation module, can autonomously calculate the theoretical integral time of the detector in real time on orbit, provides information support for autonomous matching of imaging parameters, avoids image blurring caused by integral time and image speed failure and ensures a good in-motion imaging modulation transfer function; the invention adopts the TDI series calculation module, can autonomously calculate the required TDI series of the detector on the orbit, provides information support for the autonomous matching of imaging parameters, avoids the problems of detector saturation caused by too many TDI series or low signal-to-noise ratio caused by too few TDI series, and ensures good imaging signal-to-noise ratio in motion;
the invention adopts the imaging parameter adjusting module, can automatically calculate the number of partitions needed along the linear array direction of the detector in an on-orbit manner and perform imaging parameter adjustment and optimization in a partitioning manner, effectively solves the problem of inconsistent imaging parameters of each field of view and the problem of partition adjustment under the imaging condition in motion, and ensures that each field of view can obtain good imaging quality.
Claims (7)
1. An imaging in motion electronic device, comprising: the device comprises an integration time calculation module, a TDI series calculation module, an imaging parameter adjustment module and a TDI detector; the imaging electronic equipment in motion is installed on a satellite;
the integral time calculation module receives GPS information, star sensor information, gyro information and camera parameters from the outside in real time, autonomously calculates theoretical integral time of the camera under different fields of view and different time in orbit according to the GPS information, the star sensor information, the gyro information and the camera parameters, and sends the theoretical integral time to the TDI series calculation module and the imaging parameter adjustment module;
the TDI series calculation module receives GPS information, star sensor information, gyro information and camera parameters from the outside in real time, and calculates theoretical TDI series of the camera in different view fields and different time in orbit according to the GPS information, the star sensor information, the gyro information and the camera parameters and theoretical integration time of the camera in different view fields and different time obtained by the integration time calculation module, so as to provide basis for the imaging parameter partition autonomous adjustment;
the imaging parameter adjusting module is used for partitioning the TDI detector according to theoretical integration time under different fields of view and different time, and determining the integration time adjusting quantity and adjusting frequency of each region and the TDI series adjusting quantity and adjusting frequency of each region; forming integral time and TDI series control signals of each partition, and sending the signals to a TDI detector;
and the TDI detector adjusts the integration time and the TDI stage of each partition under the control of the integration time and the TDI stage control signal of each partition sent by the imaging parameter adjusting module, so as to realize imaging in motion.
2. The imaging-in-motion electronic device of claim 1, wherein: the imaging electronic equipment in motion belongs to electronic equipment of a camera, and needs to be matched with a lens of the camera to realize imaging; the satellite is also provided with a GPS antenna, a star sensor and a gyroscope.
3. The in-motion imaging electronic device of claim 1, wherein: the integral time calculation module is used for automatically calculating theoretical integral time of the camera under different fields of view and different times in an on-orbit mode according to the GPS information, the star sensor information, the gyro information and the camera parameters, and specifically comprises the following steps:
GPS information, including: satellite orbit information installed on the imaging electronic equipment in motion;
star sensor information, including: satellite attitude information installed on the imaging electronic device in motion;
the camera integration time under different fields of view and different times of the camera refers to the camera integration time which changes with the angle of view and time of the space;
the integral time of the camera is the ratio of the sampling interval of the ground pixels of different view fields to the synthetic speed of the ground objects of the view fields;
the ground pixel sampling interval refers to the projection size of the camera detector pixels on the ground;
the synthetic speed of the ground object is determined by the flight speed of the satellite, the autorotation speed of the earth and the maneuvering speed of the satellite.
4. The in-motion imaging electronic device of claim 1, wherein: the TDI grade calculation module is used for automatically calculating the TDI grade of the camera under different view fields and different time in an orbit according to the GPS information, the star sensor information, the gyro information and the camera parameters;
GPS information, including: satellite orbit information and current time installed on the imaging electronic equipment in motion;
star sensor information, including: satellite attitude information installed on the imaging electronic equipment in motion;
gyro information, including: satellite angular displacement information installed on the imaging electronic equipment in motion;
calculating the sun altitude of an imaging area by using orbit analysis software according to satellite orbit information and current time of the imaging electronic equipment in motion in the GPS information and satellite attitude information of the imaging electronic equipment in motion, namely obtaining sun illumination information;
acquiring entrance pupil radiance information of the camera according to the solar altitude of the imaging area and the ground object reflectivity of the imaging area;
and calculating TDI series of the camera under different view fields and different time according to the entrance pupil radiance information of the camera, the integration time of the camera under different view fields and different time and camera parameters.
5. The in-motion imaging electronic device of claim 1, wherein: the imaging parameter adjusting module divides the TDI detector into regions according to theoretical integral time under different fields of view and different time, the difference value between the ground pixel sampling interval at two ends in each divided region and the ground pixel sampling interval at the center of each region is less than 0.2/m times of the ground pixel sampling interval at the center of each region, and m is TDI series;
the imaging parameter adjusting module determines the integral time adjusting quantity and the adjusting frequency thereof and the TDI series adjusting quantity and the adjusting frequency thereof of each area, and comprises the following specific steps:
setting integral time adjustment quantity and adjustment frequency of each partition and under different time, wherein the requirements are as follows: the ratio of the theoretical integration time and TDI series of which the adjustment quantity of the integration time under different fields and different times is less than 0.2 times; adjusting the ratio of the change rate of the ground combining speed in unit time with the frequency more than 0.2 times to the TDI series;
integration time adjustment amount: Δ t int ≤0.2×t int /m
Integration time adjustment frequency: n is a radical of an alkyl radical t ≥0.2×ΔVr/Vr/m
Δt int For integrating time adjustment, t int For integration time, m is the TDI series, n t Adjusting frequency for integration time, wherein delta Vr is the variation of ground combining speed in unit time, and Vr is the ground combining speed; delta Vr/Vr is the rate of change of the ground engaging speed;
the TDI series and the adjustment frequency of each camera partition and at different time are set, and the requirements are as follows: the TDI series of each field partition and different time is less than the detector series corresponding to the partition signal when the number of electrons generated at the high end is 95% of the number of electrons in the full well, and is more than the detector series corresponding to the partition signal when the number of electrons generated at the high end is 85% of the number of electrons in the full well; when the deviation of the actually set TDI series of each area and the theoretical TDI series exceeds 5%, carrying out TDI series adjustment;
the TDI series calculation method of the camera detector comprises the following steps:
in the formula, Se is 85% -95% of the number of electrons in a full well, h is a Planck constant, c is a number of light, and F # Is the F number of the optical system, Ap is the photosensitive area of the pixel, τ is the transmittance of the optical system, ε is the surface obscuration ratio of the optical system, λ is the central wavelength, QE is the quantum efficiency of the detector, t int Is the detector single-stage integration time, and L is the entrance pupil radiance;
the imaging parameter adjusting module forms the integral time of each partition and a TDI series control signal, and sends the control signal to the TDI detector.
6. The in-motion imaging electronic device according to claim 1, wherein: the TDI detector has the functions of bidirectional scanning, partition adjustment of imaging parameters and TDI multi-stage selection, and can perform partition adjustment of the imaging parameters according to control signals sent by the imaging parameter adjustment module to adapt to complex changes of the imaging parameters in motion;
adjusting imaging parameters in a partitioned mode, comprising: integration time and TDI series under different time of each partition.
7. The in-motion imaging electronic device according to claim 1, wherein: the line frequency range of the TDI detector should be greater than the inverse of the minimum integration time of each region.
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