CN114326097B - High resolution imaging system and method for large field of view of near-earth targets - Google Patents
High resolution imaging system and method for large field of view of near-earth targets Download PDFInfo
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Abstract
A high-resolution imaging system and method for a near-earth target large field of view utilizes a linear array image sensor, wherein a first pixel direction with more pixels covers an object field of view in a vertical direction, a second pixel direction with less pixels covers an object field of view in a horizontal direction, and the second pixel direction also expands the horizontal field of view through rotation of a rotary scanning mechanism, so that the coverage of any horizontal field of view angle of 0-360 degrees is realized. Determining an overlapping area among a plurality of target image frames acquired by single scanning, eliminating the overlapping area in the process of splicing each target image frame according to the time sequence to acquire a frame of high-resolution target image, and acquiring the high-resolution image of the target after multiple scanning. The invention has simple structure, convenient operation and low cost, can obtain a target image with high resolution while realizing the coverage of any view field within 0-360 degrees, and has great application prospect in the field of live image acquisition of a target range.
Description
Technical Field
The invention relates to the technical field of optical measurement, in particular to a high-resolution imaging system and method for a near-earth target large field of view.
Background
The live image of the target can provide real-time and visual task data for field commanders and provide first-hand data for judging success or failure of the task. Acquiring live images of targets has wide application requirements in the range. With the development of technology, there is a higher demand for obtaining real-state images, and it is required to obtain high-resolution target images that can not only obtain target images, especially for some key feature points, but also obtain detailed information of the target clearly.
At present, an area array CCD camera is adopted as a sensor in a measuring system for acquiring a near-ground target live image in a target range, the field of view of the system is fixed, and once the optical direction of the system is determined, the field of view of an object space does not change any more. When the target passes through the effective object space field range, the reflected light or scattered light of the sun on the target forms a target image on the area array CCD, and finally the target landing process image of the target is obtained. The measuring mode has simple structure and moderate cost and is widely applied to a target range. The biggest deficiency of this method is that both the system field of view and the imaging resolution are limited by the area array CCD size. To ensure the coverage of the system to the object, there are two general ways: the first method is to use the minimum object field as the primary input condition in the design process, and to meet the requirement of the field of view by reducing the focal length of the optical system, reducing the detection capability and reducing the resolution of the target image. And when the requirement of the object space field is too large, the design of the optical system is too complex and even cannot be realized. The second method is to adopt a plurality of area array CCD devices to splice and enlarge the view field, but the method has complex system, inconvenient operation in an external field and high cost.
The related patent documents in the prior art are: CN212181029U, CN109187396A and CN 106596420A.
Disclosure of Invention
The invention mainly solves the technical problem of how to acquire a high-resolution target image.
According to a first aspect, an embodiment provides a high resolution imaging system for a large field of view of a near target, comprising:
the base is positioned in a first coordinate system, the origin O of the first coordinate system is the center of the base, the X axis and the Y axis of the first coordinate system are parallel to the upper plane of the base, and the Z axis of the first coordinate system is vertical to the upper plane of the base;
the rotary scanning mechanism is arranged on the upper plane of the base and is used for rotating in an XOY plane by taking an OZ axis as a rotating shaft;
the linear array detector is arranged on the rotary scanning mechanism and used for acquiring a target image within a field range of view of the rotary scanning mechanism in the process of rotating along with the rotary scanning mechanism; the target image is an image containing a target;
and the optical system is arranged on the rotary scanning mechanism and is used for providing an optical path for reflected light or scattered light formed on the target by the sun so as to guide the reflected light or the scattered light formed on the target to the linear array detector.
In one embodiment, a linear array image plane of the linear array detector comprises a first pixel direction and a second pixel direction, and the number of pixels in the first pixel direction is greater than that in the second pixel direction; the first pixel direction covers an object space view field in the vertical direction, and the second pixel direction covers an object space view field in the horizontal direction;
the linear array field angle in the first pixel direction is
The linear array field angle in the second pixel direction is
(ii) a And f is the focal length of the optical system, z is the size of the linear array image surface in the first pixel direction, and y is the size of the linear array image surface in the second pixel direction.
In one embodiment, the rotational scanning mechanism is rotated through an angle in the range of 0 ° to 360 °.
In one embodiment, the horizontal scanning speed of the rotary scanning mechanism satisfies the following condition:
when the moving direction of the target is consistent with the scanning direction, the horizontal scanning speed is greater than a first preset speed;
and when the moving direction of the target is inconsistent with the scanning direction, the horizontal scanning speed is greater than a second preset speed.
In one embodiment, the first predetermined speed is
(ii) a The second preset speed is
；
Wherein N is the minimum number of target images desired to be acquired,
the angular velocity of the target in the horizontal direction,
the angular velocity of the target in the vertical direction,
for a high resolution imaging system field of view in the elevation direction,
is the field of view of the high resolution imaging system in the horizontal direction.
In one embodiment, the linear array detector is used for acquiring a target image within a field of view of the rotary scanning mechanism during rotation of the rotary scanning mechanism, and includes:
when a target enters the field of view range of the linear array detector, reflected light or scattered light formed by the sun on the target forms a plurality of target image frames on the linear array detector; when the linear array detector scans the target in sequence, all parts of the target form images one by one on different image frames to form a plurality of target image frames;
and splicing the target image frames according to the forming time of each target image frame to obtain a frame of target image.
In an embodiment, the splicing each target image frame includes;
determining an overlap region between adjacent target image frames of the plurality of target image frames;
and in the process of splicing each target image frame, overlapping areas between adjacent target image frames are overlapped.
In one embodiment, the determining the overlapping region between adjacent target image frames in the plurality of target image frames comprises:
the overlapping region includes: a horizontal overlap component in the target image frame and a vertical overlap component in the target image frame;
wherein the horizontal overlap component and the vertical overlap component are calculated by the following formulas:
where f is the focal length of the optical system, R is the distance from the target to the high resolution imaging system,
the angular velocity of the target in the horizontal direction,
the angular velocity of the target in the vertical direction,
for the horizontal scanning speed of the rotary scanning mechanism,
for the frame integration time between two adjacent target image frames,
is the light-off time between two adjacent target image frames.
According to a second aspect, an embodiment provides a high resolution imaging method for a large field of view of a near target, comprising:
mounting a linear array detector and an optical system on the rotary scanning mechanism;
driving the linear array detector to perform rotary scanning in an XOY plane by taking an OZ axis as a rotating shaft;
when a target enters the field of view range of the linear array detector, reflected light or scattered light formed by the sun on the target forms a plurality of target image frames on the linear array detector; when the linear array detector scans the target in sequence, all parts of the target are imaged one by one on different image frames to form a plurality of target image frames;
and splicing the target image frames according to the forming time of each target image frame to obtain a frame of target image.
In an embodiment, the splicing each target image frame includes;
determining an overlap region between adjacent target image frames of the plurality of target image frames;
and overlapping and covering the overlapping areas between the adjacent target image frames in the process of splicing the target image frames.
According to the high-resolution imaging system/method for the near-earth target large field of view of the embodiment, the linear array image sensor is utilized, the first pixel direction with more pixels covers the object field of view in the vertical direction, the second pixel direction with less pixels covers the object field of view in the horizontal direction, and the horizontal field of view is further expanded in the second pixel direction through the rotation of the rotary scanning mechanism, so that the coverage of any horizontal field of view angle of 0-360 degrees is realized. Determining an overlapping area between a plurality of target image frames acquired by single scanning, eliminating the overlapping area in the process of splicing each target image frame according to a time sequence to acquire a frame of high-resolution target image, and acquiring the high-resolution target image after multiple scanning.
Drawings
FIG. 1 is a schematic block diagram of a high resolution imaging system for large field of view of a near target;
FIG. 2 is a schematic view of a motion model of an object and a high resolution imaging system according to an embodiment;
FIG. 3 is a schematic view of an embodiment of target imaging;
FIG. 4 is a flow chart of a high resolution imaging method for a large field of view of a near target.
Detailed Description
The present invention will be described in further detail with reference to the following detailed description and accompanying drawings. Wherein like elements in different embodiments have been given like element numbers associated therewith. In the following description, numerous details are set forth in order to provide a better understanding of the present application. However, those skilled in the art will readily recognize that some of the features may be omitted or replaced with other elements, materials, methods in different instances. In some instances, certain operations related to the present application have not been shown or described in this specification in order not to obscure the core of the present application with unnecessary detail, and it is not necessary for those skilled in the art to describe these operations in detail, so that they may be fully understood from the description in the specification and the general knowledge in the art.
Furthermore, the features, operations, or characteristics described in the specification may be combined in any suitable manner to form various embodiments. Also, the various steps or actions in the method descriptions may be transposed or transposed in order, as will be apparent to one of ordinary skill in the art. Thus, the various sequences in the specification and drawings are for the purpose of describing certain embodiments only and are not intended to imply a required sequence unless otherwise indicated where such sequence must be followed.
The numbering of the components as such, e.g., "first", "second", etc., is used herein only to distinguish the objects as described, and does not have any sequential or technical meaning. The term "connected" and "coupled" when used in this application, unless otherwise indicated, includes both direct and indirect connections (couplings).
Referring to fig. 1-2, fig. 1 is a schematic structural diagram of a high resolution imaging system for a large field of view of a near-field target, hereinafter referred to as a high resolution imaging system, the high resolution imaging system including: a base, a rotary scanning mechanism 10, a line detector 20 and an optical system 30.
First, a first coordinate system of the high-resolution imaging system provided in this embodiment is defined, where an origin O of the first coordinate system is a center of the base, an X axis and a Y axis of the first coordinate system are parallel to an upper plane of the base, and a Z axis of the first coordinate system is perpendicular to the upper plane of the base.
The rotary scanning mechanism 10 is disposed on the upper plane of the base, and the rotary scanning mechanism 10 is configured to rotate on the XOY plane of the first coordinate system with the OZ axis of the first coordinate system as a rotation axis. In this embodiment, the rotation angle of the rotary scanning mechanism 10 is in the range of 0 ° to 360 °.
The linear array detector 20 is arranged on the rotary scanning mechanism 10, and the linear array detector 20 is used for acquiring a target image within a field range of the rotary scanning mechanism 10 in the process of rotating along with the rotary scanning mechanism 10; wherein the target image is an image containing a target. The linear array detector 20 in this embodiment is a linear array CCD, which has the advantages of high unidirectional resolution, high shooting frequency, and good image quality, however, the field of view of the linear array CCD is too small, so in this embodiment, the rotation of the rotary scanning mechanism 10 is used to expand the horizontal field angle of the linear array CCD, and since the rotation angle range of the rotary scanning mechanism 10 is 0 ° to 360 °, the horizontal field angle of the expanded linear array CCD may also be 0 ° to 360 ° at its maximum.
An optical system 30 is disposed on the rotary scanning mechanism 10, and the optical system 30 is used for providing an optical path for the reflected light or the scattered light formed on the target by the sun, so as to guide the reflected light or the scattered light formed on the target to the linear array detector 20. The optical system 30 in the present embodiment includes an objective lens and a mirror.
In an embodiment, in a static state, an available field of view of a single frame of image is only a linear array field of view, and a linear array image plane of the linear array detector 20 includes a first pixel direction and a second pixel direction, where the first pixel direction is a direction with more pixels, and the second pixel direction is a direction with less pixels, that is, the number of pixels in the first pixel direction is greater than the number of pixels in the second pixel direction; the first pixel direction is vertical to the XOY plane, namely the first pixel direction covers the object space view field in the vertical direction, and the second pixel direction is parallel to the XOY plane, namely the second pixel direction covers the object space view field in the horizontal direction.
Wherein the linear array field angle in the first pixel direction is
The linear array field angle in the second pixel direction is
(ii) a And f is the focal length of the optical system, z is the size of the linear array image surface in the first pixel direction, and y is the size of the linear array image surface in the second pixel direction. In this embodiment, the size of the linear array image plane in the first pixel direction or the second pixel direction refers to a product of the number of pixels in the first pixel direction or the second pixel direction and the size of a single pixel.
Because the resolution of the pixels in the linear array detector 20 in a single direction is very high, the field angle in the first pixel direction (z direction) with many pixels can also be very large, and the imaging resolution is also very high, which can completely meet the task requirements.
In this embodiment, the total vertical field of view of the high resolution imaging system is always constant, which is
. The total field of view in the horizontal direction of the high resolution imaging system depends on the scan range, given the desired scan angle
Then the total field of view of the high resolution imaging system in the horizontal direction is
. When the rotation angle of the rotary scanning mechanism 10 is 360 °, the horizontal full field of view is a cylindrical surface of a cylinder with the XOY plane as the bottom.
As shown in fig. 2, assuming that the initial position of the line detector 20 is an azimuth zero position, the scanning direction is positive to the right. Set the angular velocity of the object to
The azimuth rotational velocity of the rotary scanning mechanism 10 is
. According to the principle of relative motion, the linear array detector 20 can be considered as stationary and the target is
Across the field of view of the linear array detector. Predicting data from received target speed
And the minimum number of image frames N desired to be acquired, the scanning speed of the rotary scanning mechanism 10 is calculated
。
When in use
When the directions are consistent:
when the temperature is higher than the set temperature
When the directions are opposite:
in the formula (I), the compound is shown in the specification,
pitching direction for high resolution imaging systemAngle of field of view.
In one embodiment, the line detector 20 is used for acquiring an image of a target within a field of view of the rotary scanning mechanism 10 during rotation, and includes:
when the target enters the field of view range of the linear array detector 20, the reflected light or scattered light formed by the sun on the target forms a plurality of target image frames on the linear array detector; when the linear array detector 20 scans the target in sequence, all parts of the target are imaged on different image frames one by one to form a plurality of target image frames; as shown in fig. 3, each target image frame is spliced according to the forming time of each target image frame to obtain a frame of target image.
Each time the target enters the field range of the linear array detector 20, that is, each time the target is scanned, a frame of target image is obtained according to the method, so that a series of multi-frame target images can be obtained after the target is scanned for many times.
Because the target and the linear array detector have relative motion, when the target passes through the field of view of the linear array detector, some parts may be imaged repeatedly, therefore, before each target image frame obtained by scanning each time is spliced, the overlapping area of each target image frame is firstly positioned, and the overlapping area between adjacent frames is overlapped during image splicing, so as to eliminate target deformation caused by repeated imaging.
Assuming that the time interval between every two shooting of the linear array detector 20 is t, the frame integration time is ts, and the light-blocking time between two adjacent target image frames is tn, when ts > tn, a certain part of the target will be repeatedly imaged between the adjacent target image frames, and the imaging sizes of the horizontal overlapping component and the vertical overlapping component in the overlapping area on the image plane are respectively:
horizontal overlap component:
；
vertical overlap component:
；
wherein f is the focal length of the optical system, and R is the distance from the target to the measuring system.
In summary, based on the horizontal overlap component
Vertical overlap component of
The overlapping area between each adjacent target image frame is determined on the image plane.
Referring to fig. 4, fig. 4 is a flowchart of a high resolution imaging method for a large field of view of a near-earth target according to an embodiment, and the high resolution imaging method is hereinafter referred to as a high resolution imaging method.
Step 100: and installing the linear array detector and the optical system on the rotary scanning mechanism.
Step 200: and driving the linear array detector to perform rotary scanning in an XOY plane by taking the OZ axis as a rotating axis.
Step 300: when a target enters the field of view range of the linear array detector, reflected light or scattered light formed by the sun on the target forms a plurality of target image frames on the linear array detector; when the linear array detector scans the target in sequence, all parts of the target form images one by one on different image frames to form a plurality of target image frames.
Step 400: and splicing the target image frames according to the forming time of each target image frame to obtain a frame of target image.
In one embodiment, the step 400 of stitching the target image frames includes;
determining an overlap region between adjacent target image frames of the plurality of target image frames; and overlapping and covering the overlapping areas between the adjacent target image frames in the process of splicing the target image frames.
It should be noted that, the specific implementation of the steps of the high-resolution imaging method provided in the embodiment of the present invention is described in detail in the above embodiments, and is not described herein again.
The present invention has been described in terms of specific examples, which are provided to aid understanding of the invention and are not intended to be limiting. For a person skilled in the art to which the invention pertains, several simple deductions, modifications or substitutions may be made according to the idea of the invention.
Claims (3)
1. A high resolution imaging system for large field of view of a near target, comprising:
the base is positioned in a first coordinate system, the origin O of the first coordinate system is the center of the base, the X axis and the Y axis of the first coordinate system are parallel to the upper plane of the base, and the Z axis of the first coordinate system is vertical to the upper plane of the base;
the rotary scanning mechanism is arranged on the upper plane of the base and is used for rotating in an XOY plane by taking an OZ axis as a rotating shaft;
the linear array detector is arranged on the rotary scanning mechanism and used for acquiring a target image within a field range of view of the rotary scanning mechanism in the process of rotating along with the rotary scanning mechanism; the target image is an image containing a target;
the optical system is arranged on the rotary scanning mechanism and used for providing an optical path for reflected light or scattered light formed on the target by the sun so as to guide the reflected light or the scattered light formed on the target to the linear array detector;
the linear array image surface of the linear array detector comprises a first pixel direction and a second pixel direction, and the number of pixels in the first pixel direction is greater than that in the second pixel direction; the first pixel direction covers an object space view field in the vertical direction, and the second pixel direction covers an object space view field in the horizontal direction;
the linear array field angle in the first pixel direction is
The linear array field angle in the second pixel direction is
(ii) a Wherein f is the focal length of the optical system, z is the size of the linear array image surface in the first pixel direction, and y is the size of the linear array image surface in the second pixel direction;
the horizontal scanning speed of the rotary scanning mechanism meets the following conditions:
when the moving direction of the target is consistent with the scanning direction, the horizontal scanning speed is greater than a first preset speed;
when the moving direction of the target is inconsistent with the scanning direction, the horizontal scanning speed is greater than a second preset speed;
the first preset speed is
(ii) a The second preset speed is
；
Wherein N is the minimum number of target images desired to be acquired,
the angular velocity of the target in the horizontal direction,
the angular velocity of the target in the vertical direction,
for a high resolution imaging system field of view in the elevation direction,
a field of view in a horizontal direction for the high resolution imaging system;
the linear array detector is used for acquiring a target image within a field range of the rotary scanning mechanism in the process of rotating along with the rotary scanning mechanism, and comprises:
when a target enters a field range of a linear array detector, reflected light or scattered light formed by the sun on the target forms a plurality of target image frames on the linear array detector; when the linear array detector scans the target in sequence, all parts of the target form images one by one on different image frames to form a plurality of target image frames;
splicing each target image frame according to the forming time of each target image frame to obtain a frame of target image;
splicing all the target image frames, including;
determining an overlap region between adjacent target image frames of the plurality of target image frames;
overlapping and covering an overlapping area between adjacent target image frames in the process of splicing all the target image frames;
the determining an overlap region between adjacent target image frames in the plurality of target image frames comprises:
the overlapping region includes: a horizontal overlap component in the target image frame and a vertical overlap component in the target image frame;
wherein the horizontal overlap component and the vertical overlap component are calculated by the following formulas:
where f is the focal length of the optical system, R is the distance from the target to the high resolution imaging system,
the angular velocity of the target in the horizontal direction,
the angular velocity of the target in the vertical direction,
for the horizontal scanning speed of the rotary scanning mechanism,
for the frame integration time between two adjacent target image frames,
is the light-off time between two adjacent target image frames.
2. The high resolution imaging system of claim 1, wherein the rotational scanning mechanism is rotated through an angle in a range of 0 ° -360 °.
3. A high resolution imaging method for large field of view of a near target, comprising:
mounting the linear array detector and the optical system on a rotary scanning mechanism;
driving the linear array detector to perform rotary scanning in an XOY plane by taking an OZ axis as a rotating shaft;
when a target enters the field of view range of the linear array detector, reflected light or scattered light formed by the sun on the target forms a plurality of target image frames on the linear array detector; when the linear array detector scans the target in sequence, all parts of the target are imaged one by one on different image frames to form a plurality of target image frames;
splicing each target image frame according to the forming time of each target image frame to obtain a frame of target image;
splicing all the target image frames, including;
determining an overlap region between adjacent target image frames of the plurality of target image frames;
overlapping and covering an overlapping area between adjacent target image frames in the process of splicing all the target image frames;
the determining an overlap region between adjacent target image frames in the plurality of target image frames comprises:
the overlapping region includes: a horizontal overlap component in the target image frame and a vertical overlap component in the target image frame;
wherein the horizontal overlap component and the vertical overlap component are calculated by the following formulas:
where f is the focal length of the optical system, R is the distance from the target to the high resolution imaging system,
the angular velocity of the target in the horizontal direction,
the angular velocity of the target in the vertical direction,
to be the horizontal scanning speed of the rotary scanning mechanism,
for the frame integration time between two adjacent target image frames,
the light-off time between two adjacent target image frames is calculated;
wherein the horizontal scanning speed of the rotary scanning mechanism satisfies the following conditions:
when the moving direction of the target is consistent with the scanning direction, the horizontal scanning speed is greater than a first preset speed;
when the moving direction of the target is inconsistent with the scanning direction, the horizontal scanning speed is greater than a second preset speed;
the first preset speed is
(ii) a The second preset speed is
；
Wherein N is the minimum number of target images desired to be acquired,
the angular velocity of the target in the horizontal direction,
the angular velocity of the target in the vertical direction,
for a high resolution imaging system field of view in the elevation direction,
is the field of view of the high resolution imaging system in the horizontal direction.
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