CN113034610A - Astronomical technology-based spatial direction measuring instrument calibration method - Google Patents
Astronomical technology-based spatial direction measuring instrument calibration method Download PDFInfo
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Abstract
The invention discloses a space-pointing measuring instrument calibration method based on an astronomical technique, and belongs to the technical field of space-pointing measuring instrument calibration. The method comprises the steps of utilizing terrestrial landmark features on the earth surface to realize on-orbit calibration of a space pointing measuring instrument, firstly extracting and identifying a plurality of terrestrial landmark feature points from a shot earth optical image, and calculating image coordinates of a terrestrial landmark; secondly, carrying out radial distortion, eccentric distortion and image plane distortion correction on the image coordinates of the landmark feature points, and calculating the observation vector of the landmark feature points in the system of the instrument measurement; and then, calculating landmark vectors obtained by matching in the earth landmark library, corresponding the landmark vectors to the observation vectors one by one, and correcting the focal length, the principal point, the radial distortion and the eccentric distortion of the sensor by using a least square method.
Description
Technical Field
The invention relates to a space-pointing measuring instrument calibration method based on an astronomical technique, and belongs to the technical field of space-pointing measuring instrument calibration.
Background
The space-oriented measuring sensor is used for guiding load aiming targets such as optical cameras and laser weapons on the spacecraft, and has urgent requirements in the fields of low-orbit ultrahigh-scale military surveying and mapping satellites, high-orbit remote sensing satellites, space-based attack defense satellites and the like. Usually, the product is subjected to ground calibration before satellite launching, however, the ground calibration parameters of the product are changed due to severe vibration during launching and changes of the in-orbit running environment, so that the final pointing measurement precision is affected.
In the prior art, a fixed star is mostly adopted as an observation target in a conventional method, and calibration parameters of a space direction measurement sensor during in-orbit work are calibrated by utilizing star-angular distance constraint. However, the fixed star observation quantity which can be obtained by the method is limited, and the requirement of calibrating the instrument parameter in the full view field range cannot be met; on the other hand, the conventional method only considers the focal length and the principal point of the calibrated space pointing measurement sensor, but does not modify the distortion coefficient which affects the pointing measurement precision; although lens distortion is considered in some methods, focal length, principal point correction and distortion correction are carried out separately, and the distortion correction adopts general polynomial fitting, and does not consider the actual rule of the lens distortion, so that the on-orbit calibration precision is difficult to guarantee, and the measurement precision of the space pointing measurement sensor is directly influenced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a space-oriented measuring sensor calibration method based on astronomical technology, calibrates parameters such as focal length, principal point, radial distortion, eccentric distortion, image plane distortion and the like of a space-oriented measuring instrument by using landmark characteristics on the earth surface, and is suitable for practical engineering application.
The technical solution of the invention is as follows:
a space-pointing measuring instrument calibration method based on astronomical technology comprises the following steps:
step one, collecting an optical image of the earth surface, wherein the specific method comprises the following steps: on the set orbit height H, aligning a space pointing measuring instrument to the earth, so that the earth imaging covers the field range of the instrument as much as possible; setting an integration time to enable the texture of the earth surface to be imaged clearly;
step (II), landmark feature point extraction is carried out, and the specific method comprises the following steps: selecting N landmarks from the optical image, and extracting the image coordinate of the feature as (u)p,i，vp,i) Wherein p ═ 1,2, … N, represents the p-th landmark; (u)p,i，vp,i) Representing the coordinates of the image point of the ith feature of the p-th landmark on the image, up,iRepresenting the coordinates of the image point of the ith feature of the p-th landmark in the image line direction, vp,iThe coordinate of the image point of the ith feature of the pth landmark in the image column direction is represented, i is 1,2, … … k represents the ith feature point for describing the landmark, and k represents the number of the feature points of the pth landmark;
step three, carrying out landmark feature point matching, wherein the specific method comprises the following steps: matching the selected landmark with a terrestrial landmark database, and identifying the selected landmark feature point from the terrestrial landmark database;
step (IV), calculating the landmark feature point observation vector, wherein the specific method comprises the following steps: for each recognized landmark feature point, calculating a feature observation vector corresponding to the image coordinate describing the landmark feature point according to a measurement model of the spatial directional measuring instrument
An observation vector representing the ith feature point of the pth landmark;
step five, calculating a landmark feature point constraint vector, wherein the specific method comprises the following steps: for each identified landmark feature point, the right ascension alpha of the landmark in the earth landmark feature database is determinedp,iDeclination deltap,iComputing a feature constraint vector Vp,i；αp,iThe right ascension of the ith feature point of the pth landmark in the landmark feature database is represented, and the declination of the ith feature point of the pth landmark in the landmark feature database is represented, Vp,iRepresenting a feature constraint vector calculated for the ith feature point of the pth landmark;
step six, establishing a constraint equation and solving model parameters, wherein the specific method comprises the following steps: landmark feature point observation vector
And a constraint vector Vp,iIf the deviation exists, the parameter when the deviation reaches the minimum is the calibration coefficient of the space direction measuring instrument through an optimization method;
in the calibration method of the spatial direction measuring instrument based on the astronomical technology, in the step (one), the orbit height H should satisfy H ≦ D/Fov, wherein D represents the diameter of the earth, Fov represents the observation field of view of the spatial direction measuring instrument;
in the calibration method of the space-pointing measuring instrument based on the astronomical technology, in the step (II), the selected landmarks comprise artificial landmarks such as roads and the like and natural landmarks such as coastlines and the like, the number N of the landmarks is not less than 15, and the landmarks are uniformly distributed in the full view field range of the space-pointing measuring instrument;
in the above calibration method for a space-pointing measuring instrument based on astronomical techniques, in the step (four), the observation vectors of the landmark feature points
Calculated according to the following formula:
wherein the content of the first and second substances,
rp,ithe distance of the ith feature point representing the p landmark from the principal point of the spatial orientation measuring instrument on the image is represented as:
rp,i＝(xp,i-x0)2+(yp,i-y0)2
f is the focal length of the space direction measuring sensor, and the unit is mm;
(x0,y0) The intersection point of the main optical axis of the spatial direction measuring sensor and the image surface of the image is a main point in mm;
(xp,i,yp,i) Representing the coordinate position of the ith characteristic point of the p landmark imaged on the image plane by the space direction measuring instrument, and the image coordinate (u) of the ith characteristic point of the p landmarkp,i，vp,i) And calculating to obtain:
m and n respectively represent the resolution of the image sensor of the space direction measuring sensor in the row direction and the column direction;
ps represents the pixel size of the image sensor of the space direction measuring sensor;
k1represents a first order radial distortion coefficient;
k2representing a second order radial distortion coefficient;
k3represents the third order radial distortion coefficient;
p1representing a first off-center distortion factor;
p2representing a second off-center distortion factor;
ap1representing a first image plane distortion coefficient;
ap2representing a second image plane distortion coefficient;
in the above calibration method for a spatial direction measuring instrument based on astronomical techniques, in the step (V), the constraint vector V of the ith feature point of the pth landmark isp,iCalculated according to the following formula,
wherein the content of the first and second substances,
(αp,i,δp,i) The right ascension and the declination of the ith characteristic point of the pth landmark are represented;
in the above calibration method for a space-pointing measuring instrument based on astronomical techniques, in the sixth step, the observation vector is observed according to the landmark feature points
And a constraint vector Vp,iThe deviation of (d) yields the error equation as follows:
wherein the content of the first and second substances,
when identifying N landmarks in the field of view, the column
Equation, iteratively calculating x according to the least squares principle0,y0,f,k1,k2,k3,p1,p2,ap1,ap2,
ω,κ。
Compared with the prior art, the invention has the beneficial effects that:
(1) the on-orbit calibration of the spatial direction measuring instrument is realized by utilizing the abundant landmark features on the earth surface, and the calibration parameters can be ensured to be suitable for the whole imaging range, so that the on-orbit calibration of the spatial direction measuring instrument is ensured;
(2) the calibration model considers the influence of 3-order radial distortion, eccentric distortion and image plane distortion of the lens on the pointing measurement precision, the distortion correction model is consistent with the geometric optics principle and is closer to the imaging rule of the actual lens, and the calibration precision of the spatial pointing measurement instrument can be effectively improved;
(3) in the calibration resolving process, the focal length, the principal point and the 7 distortion coefficients are corrected simultaneously, so that the influence of step-by-step correction on the calibration precision is overcome, and the calibration precision of the spatial direction measuring instrument can be effectively improved.
Drawings
FIG. 1 is a flow chart of the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
Step 1, collecting an optical image on the surface of the earth; on a certain orbit height, the space pointing measuring instrument is aligned to the earth, so that the earth imaging covers the field range of the instrument as much as possible; setting a proper integration time to enable the texture of the earth surface to be imaged clearly; in the present example, a spatial pointing measurement instrument with a field of view Fov of 20 ° x 20 ° was calibrated: the space direction measuring instrument shoots an optical image of the earth surface at the height H of 36000km of a track.
Step 2, extracting landmark feature points; selecting N landmarks from the optical image, and extracting the image coordinates (u) of each landmark feature pointp,i，vp,i) Where p ═ 1,2, … N denotes the p-th landmark, i ═ 1,2, … … k denotes the i-th feature point describing the landmark; (u)p,i，vp,i) Representing the coordinates of the image point of the ith feature of the p-th landmark on the image, up,iRepresenting the coordinates of the image point of the ith feature of the p-th landmark in the image line direction, vp,iRepresenting the pixel coordinates of the ith feature of the pth landmark in the image column direction; the selected landmarks comprise artificial landmarks such as roads and the like and natural landmarks such as coastlines and the like, the number N of the landmarks is 30, for each landmark, the number of feature points describing the landmark is not less than 10, and the 30 landmarks are uniformly distributed in the field range of 20 degrees multiplied by 20 degrees of a spatial directional measuring instrument.
Step 3, landmark feature point matching; matching the selected 30 landmark feature points with an earth landmark database, and identifying the selected 30 landmark feature points from the landmark database;
step 4, calculating a landmark feature point observation vector; for 30 recognized landmarks, calculating feature observation vectors corresponding to image coordinates describing landmark feature points according to a measurement model of a space-oriented measuring instrument
In the embodiment of the present invention, the resolution of the space-pointing measurement sensor in the row and column directions is 2048, m is 2048, and the pixel size ps is 0.0055mm, so that each feature observation vector can be written as:
wherein the content of the first and second substances,
rp,ithe distance of the ith feature point representing the pth landmark from the principal point of the spatial pointing instrument on the image can be represented as:
rp,i＝(xp,i-x0)2+(yp,i-y0)2
f is the focal length of the space direction measuring sensor, and the unit is mm;
(x0,y0) The intersection point of the main optical axis of the spatial direction measuring sensor and the image surface of the image is a main point in mm;
(xp,i,yp,i) The coordinate position of the ith characteristic point of the pth landmark imaged on the image plane by the space direction measuring instrument is represented, and the image coordinate (u) of the ith characteristic point of the pth landmark can be obtainedp,i，vp,i) And calculating to obtain:
k1represents a first order radial distortion coefficient;
k2representing a second order radial distortion coefficient;
k3represents the third order radial distortion coefficient;
p1representing a first off-center distortion factor;
p2representing a second off-center distortion factor;
ap1representing the first image planeA surface distortion coefficient;
ap2representing a second image plane distortion coefficient;
step 5, calculating landmark feature point constraint vectors; for each identified landmark, the right ascension alpha of the landmark feature point in the earth landmark feature database is determinedp,iDeclination deltap,iComputing a feature constraint vector Vp,i；
Wherein the content of the first and second substances,
(αp,i,δp,i) The right ascension and the declination of the ith characteristic point of the pth landmark are represented;
step 6, establishing a constraint equation and solving model parameters; the landmark feature point observation vector and the constraint vector have deviation, and the parameter when the deviation reaches the minimum is the calibration coefficient of the space-pointing measuring instrument by an optimization method; the error equation is as follows:
wherein the content of the first and second substances,
In the terrestrial landmark image of the earth surface shot by the space-oriented measuring sensor, 30 landmarks are identified, the total number of feature points is 420, 3 × 420 equations can be listed, and the in-orbit calibration parameters of the space-oriented measuring sensor are obtained through iterative calculation according to the least square principle:
those skilled in the art will appreciate that the details not described in the present specification are well known.
Claims (7)
1. A space direction measuring instrument calibration method based on astronomical technology is characterized by comprising the following steps:
step one, collecting an optical image of the surface of the earth;
step (II), landmark feature point extraction is carried out, and the specific method comprises the following steps: selecting N landmarks from the optical image, and extracting the image coordinate of the feature as (u)p,i，vp,i) Wherein p ═ 1,2, … N, represents the p-th landmark; (u)p,i，vp,i) Representing the coordinates of the image point of the ith feature of the p-th landmark on the image, up,iIndicating the ith feature of the pth landmarkCoordinates of image points in the direction of image lines, vp,iThe coordinate of the image point of the ith feature of the pth landmark in the image column direction is represented, i is 1,2, … … k represents the ith feature point for describing the landmark, and k represents the number of the feature points of the pth landmark;
step three, carrying out landmark feature point matching, wherein the specific method comprises the following steps: matching the selected landmark with a terrestrial landmark database, and identifying the selected landmark feature point from the terrestrial landmark database;
step (IV), calculating the landmark feature point observation vector, wherein the specific method comprises the following steps: for each recognized landmark feature point, calculating a feature observation vector corresponding to the image coordinate describing the landmark feature point according to a measurement model of the spatial directional measuring instrument
An observation vector representing the ith feature point of the pth landmark;
step five, calculating a landmark feature point constraint vector, wherein the specific method comprises the following steps: for each identified landmark feature point, the right ascension alpha of the landmark in the earth landmark feature database is determinedp,iDeclination deltap,iComputing a feature constraint vector Vp,i；αp,iThe right ascension of the ith feature point of the pth landmark in the landmark feature database is represented, and the declination of the ith feature point of the pth landmark in the landmark feature database is represented, Vp,iRepresenting a feature constraint vector calculated for the ith feature point of the pth landmark;
step six, establishing a constraint equation and solving model parameters, wherein the specific method comprises the following steps: landmark feature point observation vector
And a constraint vector Vp,iAnd if the deviation exists, the parameter when the deviation reaches the minimum is the calibration coefficient of the space direction measuring instrument through an optimization method.
2. The astronomical-technology-based spatial direction measurement instrument calibration method according to claim 1, wherein: in the step (one), the specific method for collecting the optical image on the surface of the earth comprises the following steps: on the set orbit height H, aligning a space pointing measuring instrument to the earth, so that the earth imaging covers the field range of the instrument as much as possible; the integration time is set so that the texture of the earth's surface can be imaged sharply.
3. The astronomical-technology-based spatial direction measurement instrument calibration method according to claim 2, wherein: the orbit height H satisfies H ≦ D/Fov, where D represents the diameter of the earth and Fov represents the observation field of view of the spatial pointing instrument.
4. The astronomical-technology-based spatial direction measurement instrument calibration method according to claim 1, wherein: in the step (II), the landmarks comprise artificial landmarks and coastline natural landmarks, the number N of the landmarks is more than or equal to 15, and the landmarks are uniformly distributed in the full-field range of the space-pointing measuring instrument.
5. The astronomical-technology-based spatial direction measurement instrument calibration method according to claim 1, wherein: in the step (IV), the observation vector of the landmark feature point
Calculated according to the following formula:
wherein the content of the first and second substances,
rp,ithe distance of the ith feature point representing the p landmark from the principal point of the spatial orientation measuring instrument on the image is represented as:
rp,i＝(xp,i-x0)2+(yp,i-y0)2
f is the focal length of the space direction measuring sensor, and the unit is mm;
(x0,y0) The intersection point of the main optical axis of the spatial direction measuring sensor and the image surface of the image is a main point in mm;
(xp,i,yp,i) Representing the coordinate position of the ith characteristic point of the p landmark imaged on the image plane by the space direction measuring instrument, and the image coordinate (u) of the ith characteristic point of the p landmarkp,i，vp,i) And calculating to obtain:
m and n respectively represent the resolution of the image sensor of the space direction measuring sensor in the row direction and the column direction;
ps represents the pixel size of the image sensor of the space direction measuring sensor;
k1represents a first order radial distortion coefficient;
k2representing a second order radial distortion coefficient;
k3represents the third order radial distortion coefficient;
p1representing a first off-center distortion factor;
p2representing a second off-center distortion factor;
ap1representing a first image plane distortion coefficient;
ap2representing the second image plane distortion coefficient.
6. The method of claim 1The space direction measuring instrument calibration method based on the astronomical technology is characterized by comprising the following steps: in the step (V), the constraint vector V of the ith feature point of the pth landmarkp,iCalculated according to the following formula,
wherein the content of the first and second substances,
(αp,i,δp,i) The right ascension and the declination of the ith characteristic point of the pth landmark are represented;
7. The astronomical-technology-based spatial direction measurement instrument calibration method according to claim 1, wherein: in the step (VI), observing vectors according to the landmark feature points
And a constraint vector Vp,iThe deviation of (d) yields the error equation as follows:
wherein the content of the first and second substances,
when identifying N landmarks in the field of view, the column
Equation, iteratively calculating x according to the least squares principle0,y0,f,k1,k2,k3,p1,p2,ap1,ap2,
ω,κ。
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