CN114019759A - Cone sweep imaging method and system for dual-high-resolution camera - Google Patents
Cone sweep imaging method and system for dual-high-resolution camera Download PDFInfo
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Abstract
The invention relates to a method and a system for double-high-resolution camera conical sweep imaging, which comprises the following steps: acquiring an imaging task, and selecting a starting mode and an imaging mode of a load camera according to the imaging task; adjusting the attitude of the carrying satellite platform and planning the initial position and the motion range of the load camera on the swing orbit according to the imaging task, the starting mode and the imaging mode, and completing the initial state adjustment of the carrying satellite platform and the load camera; calculating satellite motion control parameters according to the imaging task and the motion range; calculating imaging parameters of the load camera according to the initial position and the motion range of the load camera on the swing orbit and the satellite motion control parameters; and controlling the movement and imaging of the carrying satellite platform and the load camera according to the satellite movement control parameters and the imaging parameters to complete the imaging task. The invention can solve the contradiction that the resolution, the breadth and the load quality of the traditional imaging mode are mutually restricted, and meet the requirements of three indexes of high resolution, large breadth and small volume of the remote sensing satellite.
Description
Technical Field
The invention relates to the technical field of space remote sensing camera imaging, in particular to a method and a system for double-high-resolution camera conical sweep imaging.
Background
The volume, the resolution and the breadth of an optical imaging system in the field of space remote sensing are all key indexes for evaluating a remote sensing satellite, the image acquisition capability of the remote sensing satellite is directly reflected, and the three are always mutually restricted. To ensure that any two improvements are made, it is necessary to sacrifice some other capability. In the past, in order to ensure the breadth and the resolution of a remote sensing satellite, the original imaging mode research always adopts a multi-orbit cooperation imaging method, and the defect of the method is that the cost is increased. At present, the wide area search is increasingly needed, and in the past, a wide area search is realized by using a large-view-field camera, but the manufacture of the large-view-field camera is usually complex and cannot realize high resolution, so that the load of the high-resolution camera is increased, and higher requirements are provided for the satellite.
The existing space remote sensing imaging modes comprise an imaging mode aiming at a satellite point of a space platform, a large-angle side swing imaging mode, a multi-track strip imaging mode, a single-track stereo imaging mode, a push-broom imaging mode, a sweep imaging mode, a ring-broom imaging mode and the like, and all the modes adopt one-dimensional or two-dimensional motion such as high-precision coordination posture coordination and the like between the remote sensing platform and a camera system to achieve a special imaging purpose.
The invention patent CNCN108965708A discloses an imaging system and method for realizing wide-area search of a large field of view by using a small-field-of-view camera. The imaging system designed in the patent adopts a plurality of detectors for imaging, reduces the load volume weight to a certain extent under the condition of high resolution and wide width, but adopts two-dimensional motion control, and in the actual engineering, the condition that the collected images leak along the direction can occur, which cannot be avoided by adopting a plurality of detector arrays for imaging.
The invention patent CN109803091A discloses a pendulum type spiral scanning imaging system and method for a single small field of view camera. This patent has proposed the novel imaging mode of neotype three-dimensional motion control, has realized the high branch broad width little volume. However, through analog simulation, the method generates a large moment of inertia during the sweep of the pendulum, which puts high demands on the attitude control of the satellite, and in order to realize the splicing, the sweep angular velocity of the pendulum is large, which results in a small exposure time and reduced image quality.
Disclosure of Invention
In order to meet the imaging requirements of high resolution, large breadth and small volume and improve the defects of the existing method, the invention provides a method and a system for cone-sweep imaging of a double-high-resolution camera.
In order to achieve the purpose, the invention adopts the following technical scheme:
a dual high resolution camera cone-sweep imaging method, the method comprising the steps of:
step 1: acquiring an imaging task, and selecting a starting mode and an imaging mode of a load camera according to the imaging task;
step 2: adjusting the attitude of the satellite carrying platform and planning the initial position and the motion range of the load camera on a swing orbit according to the imaging task and the starting mode and the imaging mode of the load camera, and completing the initial state adjustment of the satellite carrying platform and the load camera;
and step 3: calculating satellite motion control parameters according to the imaging task and the motion range of the load camera, wherein the satellite motion control parameters comprise satellite platform motion control parameters and load camera swing motion control parameters;
and 4, step 4: calculating imaging parameters of the load camera according to the initial position and the movement range of the load camera on the swing orbit and the satellite movement control parameters;
and 5: and controlling the carrying satellite platform and the load camera to move and image according to the satellite motion control parameters and the imaging parameters to finish the imaging task.
The invention further provides a double-high-resolution camera conical sweep imaging system which comprises a control module, a carrying satellite platform and a load module, wherein the control module and the load module are both installed on the carrying satellite platform, and the control module controls the carrying satellite platform and the load module to move and image by adopting the double-high-resolution camera conical sweep imaging method, so that an imaging task is completed.
Compared with the prior art, the invention has the beneficial effects that:
(1) the method and the system for imaging the double high-resolution camera by the conical swinging can be used for the development and research process of high-resolution ultra-wide coverage satellites in China;
(2) the method and the system for the double-high-resolution camera conical-pendulum scanning imaging can solve the problem that the resolution, the breadth and the load quality of the traditional imaging mode are restricted, and meet the requirements of three indexes of a remote sensing satellite, such as high resolution, large breadth and small volume;
(3) the double-high-resolution camera cone-sweep imaging method and system can further reduce the load volume weight and can solve the problem of seam leakage which cannot be avoided in the annular-sweep imaging mode;
(4) the double-high-resolution camera conical-pendulum scanning imaging method and system provided by the invention can solve the problem of large moment of inertia generated by a single small-field-of-view camera pendulum type spiral scanning imaging method, and reduce the attitude control requirement on a satellite platform;
(5) the cone sweep imaging method and system for the double high-resolution cameras can solve the problem that the exposure time of a single small-field-of-view camera pendulum type spiral scanning imaging method is too short, reduce the sweep speed and obviously improve the exposure time.
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Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a flow chart of an imaging method of the present invention;
FIG. 2 is a schematic diagram of an imaging system according to the present invention;
FIG. 3 is a schematic view of the load module of the present invention;
FIG. 4 is a schematic diagram of the locus of the axis of the present invention.
Detailed Description
Aiming at the requirements of a remote sensing satellite on high resolution, large breadth and small volume, the design of a double-high-resolution-ratio camera cone sweep imaging mode is provided, the requirements of three indexes are met, and some problems of a single-high-resolution camera cone sweep imaging mode are solved. The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
In one embodiment, as shown in fig. 1, the present invention provides a method for cone-sweep imaging of a dual high-resolution camera, comprising the steps of:
step 1: acquiring an imaging task, and selecting a starting mode and an imaging mode of a load camera according to the imaging task; in this step, according to different imaging tasks, the start mode of the load camera may select a single-camera imaging start mode or a dual-camera imaging start mode, and the imaging mode of the load camera may select a push-broom imaging mode, a sweep imaging mode, or a cone-sweep imaging mode.
Step 2: and adjusting the attitude of the carrying satellite platform and planning the initial position and the motion range of the load camera on the swing orbit according to the imaging task and the starting mode and the imaging mode of the load camera, and finishing the initial state adjustment of the carrying satellite platform and the load camera.
Further, step 2 specifically includes the following steps:
step 2-1: calculating an attitude adjustment angle required by attitude adjustment of the carrying satellite platform according to the imaging task and the starting mode and the imaging mode of the load camera, and performing initial attitude adjustment on the carrying satellite platform according to the attitude adjustment angle to complete initial state adjustment of the carrying satellite platform;
step 2-2: calculating the initial yaw angle alpha of the load camera0And the maximum yaw angle alphanDetermining the load camera is on the swing railInitial position and range of motion on the track;
step 2-3: and adjusting the initial position of the load camera according to the initial side swing angle to finish the initial state adjustment of the load camera.
And step 3: and calculating satellite motion control parameters according to the imaging task and the motion range of the load camera, wherein the satellite motion control parameters specifically comprise satellite platform motion control parameters and load camera swing motion control parameters.
When the imaging mode is a push-broom imaging mode or a sweep imaging mode, the satellite-carried platform does not move; when the imaging mode is the cone sweep imaging mode, the satellite-carried platform moves clockwise around the axes of the principal point and the geocentric of the double-load camera. When the imaging mode is a push-broom imaging mode, the satellite platform motion control parameter and the load camera swing motion control parameter are set to be zero; when the imaging mode is the sweep imaging mode, the satellite platform motion control parameter is set to be zero, and the load camera sweep motion control parameter comprises a sweep speed omegac(ii) a When the imaging mode is a cone sweep imaging mode, the satellite platform motion control parameters comprise a cone sweep speed omegasThe control parameter of the load camera swing motion comprises a swing speed omegacAt this time, the cone sweep speed ωsSum sweep speed ωcAnd performing corresponding calculation according to the task requirement.
For example, when the start mode of the loading camera is a dual-camera imaging start mode and the imaging mode is a cone sweep imaging mode, the width wid of the coverage zone of the swing imaging is firstly calculated and is calculated from the initial side swing angle alpha0And the maximum yaw angle alphanAnd obtaining a conversion matrix M according to the mapping relation between the image surface and the target, wherein the conversion matrix M is as follows:
in the formula, H is the track height, f is the focal length of the load camera, and alpha is the sidesway angle. Respectively substituted into the initial side swing angle alpha0And the maximum yaw angle alphanSubtracting to obtain the width wi of the swinging imaging covering ring bandd. From this, the cone sweep velocity ω can be calculatedsThe calculation formula is as follows:
in the formula, VsThe orbit speed of the satellite platform is carried.
From this, the sweep velocity ω is calculatedc：
Where η is the overlap ratio (generally 0.1), Fov is the detector field angle, and N is the number of sweep frames.
And 4, step 4: calculating imaging parameters of the load camera according to the initial position and the motion range of the load camera on the swing orbit and the satellite motion control parameters; the imaging parameters include exposure time, exposure imaging interval, on-off time, image resolution, image width and the like.
First, the exposure time [0, t ] of the load camera is calculatedem]Wherein t isemFor the upper limit of the exposure time, the calculation formula is as follows:
wherein a is the pixel size, Vpx、VpyThe vertical and along-rail direction image shift speeds, respectively.
The exposure imaging interval t is then calculated:
and setting the on-off time according to the exposure imaging interval t, and imaging once every t.
Finally, the resolution GSD is calculated:
calculating the width SW:
SW＝2Htanαn
and 5: and finally, controlling coordinated movement and imaging of the satellite platform and the load camera according to the satellite movement control parameters obtained in the step 3 and the imaging parameters obtained in the step 4, and completing an imaging task.
In another embodiment, the invention further provides a double-high-resolution camera cone-sweep imaging system, as shown in fig. 2, the system mainly includes a control module 1, a satellite-mounted platform 2 and a load module 3, both the control module 1 and the load module 3 are installed on the satellite-mounted platform 2, and the control module 1 mainly has functions of performing mode selection on task information acquired by a satellite-mounted computer, calculating motion parameters and imaging parameters, and controlling the satellite-mounted platform 2 and the load module 3 to move and image; the function of carrying the satellite platform 2 mainly comprises that the satellite platform can rotate in any direction under the control of the control module 1, rotate clockwise around a central axis and provide an installation foundation for the control module 1 and the load module 3; the function of the load module 3 mainly comprises imaging under the control of the control module 1 to complete the imaging task. In this embodiment, the control module 1 controls the satellite-mounted platform 2 and the load module 3 to move and image by using the double-high-resolution camera cone-sweep imaging method described in the foregoing embodiment, and finally completes an imaging task, where specific steps of the double-high-resolution camera cone-sweep imaging method may refer to the contents of the foregoing embodiment, and details are not described here.
Further, as shown in fig. 3, the load module 3 includes a load camera sweeping track M1, a load camera M2, a traction chain M3 and a sweeping device control gear set M4, wherein the load camera M2 is mounted on the load camera sweeping track M1 and the load camera M is slidably engaged with the load camera sweeping track M1, the load camera M2 is further connected with the traction chain M3, the traction chain M3 is engaged with the sweeping device control gear set M4, and the sweeping device control gear set M4 drives the load camera M2 to move along the load camera sweeping track M1 through the traction chain M3. The load camera sweeping track M1 has the function of fixedly limiting the motion range of the load camera M2, and belongs to mechanical limit; the load camera M2 has the function of being responsible for imaging, is arranged on the load camera sweeping track M1 and is connected with the traction chain M3; the function of the traction chain M3 is to drive the load camera M2 to move on the load camera sweeping track M1; the sweep device control gear set M4 is engaged with the drag chain M3, which functions to control the rotational speed and range of the load camera M2.
Still referring to fig. 3, for the dual camera imaging start mode, the sweep apparatus control gear set M4 includes a master control gear M4-1 and two swing control gears M4-2, each swing control gear M4-2 is engaged with a corresponding traction chain M3, the master control gear M4-1 is simultaneously engaged with the two swing control gears M4-2 and controls the two swing control gears M4-2 to move inward or outward simultaneously, thereby controlling the two load cameras M2 to move in the same direction or in the opposite direction simultaneously.
The imaging system of the embodiment has 3 specific motion modes in the cone sweep imaging mode:
(1) the carrying satellite platform 2 does orbital motion with unchanged posture relative to the ground on the circular ground orbit;
(2) the satellite carrying platform 2 rotates clockwise around an axis connecting the sub-satellite point and the centroid, as shown by an arrow of a central axis in fig. 2;
(3) the main control gear M4-1 rotates clockwise or counterclockwise (clockwise rotation, two load cameras M2 swing outwards at the same time and are opposite to each other) by taking a left-to-right view as a reference plane, the left and right swing control gears M4-2 are controlled to rotate inwards at the same time through meshed gear teeth, a traction chain M3 wound on the swing control gear M4-2 is driven to move, so that a load camera M2 connected to the traction chain M3 is controlled to move simultaneously, the load camera M2 is installed on an imaging load swinging sliding track M1, an optical axis is perpendicular to the imaging load swinging sliding track M1, and the imaging load swinging sliding track M1 limits the load camera M2 to do circular motion with a focus as a circle center and limits the motion range of the load camera M2. And a control instruction is sent by the control module 1 to respectively control the carrying satellite platform 2, the master control gear M4-1 and the load camera M2 to move, and finally, the imaging task is finished.
To illustrate the specific ground scanning trajectory of the dual high resolution camera cone sweep imaging method of the present invention, fig. 4 shows a schematic diagram of the axis locus of the present invention. The locus of the axis is the intersection point of the optical axis of the camera and the ground, and fig. 4 shows the movement locus of the optical axis of the cone-sweep imaging mode of the dual high resolution camera, where the point is the axis point at the imaging time and the line is the movement locus of the axis point. The middle part is the shaft locus of one of the load cameras, the peripheral part is the shaft locus of the other load camera, and the arrows indicate that the motion directions of the two load cameras are relative swinging.
The double-high-resolution camera cone-sweep imaging system provided by the invention utilizes three-dimensional motion to replace a multi-camera spliced view field and a large-caliber short focal length, realizes single-rail ultra-wide coverage and meets the requirements of high resolution and small volume. In wide area search, the system and the cone sweep imaging mode can be utilized to realize multiple functions, improve time resolution and reduce load mass, thereby reducing emission cost and manufacturing cost and improving cost performance. Under the limitation of the prior art, the invention can reduce the sweep speed, improve the exposure time limitation, counteract the rotational inertia generated by the sweep and reduce the pressure on the attitude control capability of a mechanical module, an imaging unit and a satellite platform.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (8)
1. A double high-resolution camera cone sweep imaging method is characterized by comprising the following steps:
step 1: acquiring an imaging task, and selecting a starting mode and an imaging mode of a load camera according to the imaging task;
step 2: adjusting the attitude of the satellite carrying platform and planning the initial position and the motion range of the load camera on a swing orbit according to the imaging task and the starting mode and the imaging mode of the load camera, and completing the initial state adjustment of the satellite carrying platform and the load camera;
and step 3: calculating satellite motion control parameters according to the imaging task and the motion range of the load camera, wherein the satellite motion control parameters comprise satellite platform motion control parameters and load camera swing motion control parameters;
and 4, step 4: calculating imaging parameters of the load camera according to the initial position and the movement range of the load camera on the swing orbit and the satellite movement control parameters;
and 5: and controlling the carrying satellite platform and the load camera to move and image according to the satellite motion control parameters and the imaging parameters to finish the imaging task.
2. The method according to claim 1, wherein the start mode is a single-camera imaging start mode or a dual-camera imaging start mode, and the imaging mode is a push-broom imaging mode, a sweep imaging mode or a cone-sweep imaging mode.
3. The dual high resolution camera cone sweep imaging method of claim 2 wherein when the imaging mode is a push sweep imaging mode, the satellite platform motion control parameter and the load camera pan motion control parameter are set to zero;
when the imaging mode is a sweep imaging mode, the satellite platform motion control parameter is set to be zero, and the load camera sweep motion control parameter comprises a sweep speed;
when the imaging mode is a cone sweep imaging mode, the satellite platform motion control parameter comprises a cone sweep speed, and the load camera swing motion control parameter comprises a sweep speed.
4. The cone sweep imaging method of the double high resolution camera according to claim 1, characterized in that the step 2 comprises the following steps:
step 2-1: calculating an attitude adjustment angle required by attitude adjustment of the carrier satellite platform according to the imaging task and the starting mode and the imaging mode of the load camera, and performing initial attitude adjustment on the carrier satellite platform according to the attitude adjustment angle;
step 2-2: calculating an initial sidesway angle and a maximum sidesway angle of the load camera, and determining an initial position and a motion range of the load camera on a swing track;
step 2-3: and adjusting the initial position of the load camera according to the initial side sway angle.
5. The method according to claim 1, wherein the imaging parameters include exposure time, exposure imaging interval, on-off time, image resolution and image width.
6. A double-high-resolution camera cone sweep imaging system is characterized by comprising a control module (1), a satellite carrying platform (2) and a load module (3), wherein the control module (1) and the load module (3) are both installed on the satellite carrying platform (2), and the control module (1) adopts the double-high-resolution camera cone sweep imaging method as claimed in any one of claims 1 to 5 to control the satellite carrying platform (2) and the load module (3) to move and image so as to complete imaging tasks.
7. The dual high resolution camera cone swipe imaging system of claim 6, wherein the load module (3) comprises a load camera swipe track (M1), a load camera (M2), a traction chain (M3), and a swipe device control gear set (M4);
load camera (M2) is installed on the track is swept to load camera pendulum (M1) and with track (M1) sliding fit is swept to load camera pendulum, load camera (M2) still with traction chain (M3) are connected, traction chain (M3) with the meshing of pendulum device control gear group (M4), pendulum device control gear group (M4) passes through traction chain (M3) drives load camera (M2) is followed load camera pendulum sweeps track (M1) motion.
8. The dual high resolution camera cone scanning imaging system according to claim 7, wherein the scanning device control gear set (M4) comprises a master control gear (M4-1) and two scanning control gears (M4-2), each scanning control gear (M4-2) is engaged with a corresponding traction chain (M3), the master control gear (M4-1) is engaged with the two scanning control gears (M4-2) at the same time and controls the two scanning control gears (M4-2) to move inward or outward at the same time.
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