CN114565664A - Modulation-based centering method and system - Google Patents

Modulation-based centering method and system Download PDF

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CN114565664A
CN114565664A CN202111616208.2A CN202111616208A CN114565664A CN 114565664 A CN114565664 A CN 114565664A CN 202111616208 A CN202111616208 A CN 202111616208A CN 114565664 A CN114565664 A CN 114565664A
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modulation
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displacement platform
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赵琴
王立
袁利
武延鹏
郑然�
程会艳
张承钰
孟小迪
齐静雅
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Beijing Institute of Control Engineering
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Abstract

The invention discloses a centering method and a centering system based on modulation, wherein the method comprises the following steps: fixing the detector on a multi-freedom-degree displacement platform to enable the point light source to form an image on the image surface of the detector; applying displacement modulation in the x direction and the y direction on the multi-freedom-degree displacement platform to enable the multi-freedom-degree displacement platform to move in the x direction and the y direction; the detector moves along with the movement of the multi-freedom-degree displacement platform; acquiring a plurality of frames of images in the motion process of the multi-degree-of-freedom displacement platform; calculating to obtain a plurality of light spot average neutral positions according to the obtained plurality of frame images; performing circumference fitting on the average neutral positions of the plurality of light spots obtained by resolving to obtain a circumference fitting result; and obtaining the circle center position, namely the static center position of the light spot on the image plane under the non-modulation state of the detector, according to the circumference fitting result. The invention reduces random error and system error, and improves centering precision.

Description

Modulation-based centering method and system
Technical Field
The invention belongs to the technical field of image processing, and particularly relates to a centering method and system based on modulation.
Background
Scientific-grade optical image detectors such as CCD or CMOS APS, etc. are widely used in scientific research such as astronomy, biology, ultraviolet imaging, power line detection, night vision imaging, low-light security, etc. as devices for converting mainstream optical images into electronic signals. In current space missions, aerospace vehicles such as satellites, intercontinental strategic missiles, space shuttles and the like mostly adopt star sensors and other attitude sensors using optical image detectors for determining and controlling self attitude and directing an optical axis or a target of a specific mission.
Centering refers to high-precision positioning of a spot center under an agreed center definition condition, and is a basic problem in multiple fields such as celestial body measurement, microscopic imaging, deep space exploration and the like. A method for centering light spots in the process of research imaging is a basis for realizing the calibration of a high-precision detector and improving the measurement precision of an attitude sensor. The prior art mainly comprises methods such as a centroid method, a threshold centroid method and parameter estimation, wherein the methods are based on the centering method research of static light spots, and random errors and system errors restrict the centering precision.
Disclosure of Invention
The technical problem of the invention is solved: the defects in the prior art are overcome, and a centering method and a centering system based on modulation are provided, so that random errors and system errors are reduced, and the centering precision is improved.
In order to solve the technical problem, the invention discloses a modulation-based centering method, which comprises the following steps:
fixing the detector on a multi-freedom-degree displacement platform to enable the point light source to form an image on the image surface of the detector;
applying displacement modulation in the x direction and the y direction on the multi-freedom-degree displacement platform to enable the multi-freedom-degree displacement platform to move in the x direction and the y direction; the detector moves along with the movement of the multi-freedom-degree displacement platform;
acquiring a plurality of frames of images in the motion process of the multi-degree-of-freedom displacement platform;
calculating to obtain a plurality of light spot average neutral positions according to the obtained plurality of frame images;
performing circumference fitting on the average neutral positions of the plurality of light spots obtained by resolving to obtain a circumference fitting result;
and obtaining the circle center position, namely the static center position of the light spot on the image plane under the non-modulation state of the detector, according to the circumference fitting result.
In the above centering method based on modulation, obtaining a plurality of frames of images during the movement of the multi-degree-of-freedom displacement platform includes:
in the process of n +1 step lengths of the movement of the multi-freedom-degree displacement platform, the detector is exposed for m times when the multi-freedom-degree displacement platform moves one step length; a total of (n +1) × m frames of images is obtained.
In the above centering method based on modulation, calculating to obtain an average neutral position of a plurality of light spots according to a plurality of acquired frame images, includes:
for m frame images in step 1: calculating to obtain the central position (x) of the light spot on each frame of image11,y11)、(x21,y21)、...、(xm1,ym1) Pair of (x)11,y11)、(x21,y21)、...、(xm1,ym1) Averaging to obtain the 1 st average neutral position (x)1,y1)；
For m frame images in step 2: calculating to obtain the central position (x) of the light spot on each frame of image12,y12)、(x22,y22)、…、(xm2,ym2) Pair of (x)12,y12)、(x22,y22)、…、(xm2,ym2) Averaging to obtain the average neutral position (x) of the 2 nd light spot2,y2)；
.., and so on,
for m frame images in the (n +1) th step: calculating to obtain the central position (x) of the light spot on each frame of image1(n+1),y1(n+1))、(x2(n+1),y2(n+1))、...、(xm(n+1),ym(n+1)) Pair of (x)11,y11)、(x21,y21)、...、(xm1,ym1) Averaging to obtain the average neutral position (x) of the (n +1) th light spotn+1,yn+1)。
In the centering method based on modulation, performing circumference fitting on the average neutral positions of the plurality of light spots obtained by calculation to obtain a circumference fitting result, including:
to (x)1,y1)、(x2,y2)、...、(xn+1,yn+1) And performing circumference fitting to obtain a circumference fitting result.
In the above modulation-based centering method, the method further includes: the multi-degree-of-freedom displacement platform fixed with the detector is placed in a darkroom cabin to isolate stray light of an external environment and improve measurement accuracy.
In the above-described modulation-based centering method, the displacement modulation in the x direction and the y direction applied to the displacement stage having multiple degrees of freedom is a sine-cosine form of the displacement modulation.
In the above centering method based on modulation, the displacement modulation in the x direction and the y direction are respectively:
Figure BDA0003436441390000031
Figure BDA0003436441390000032
wherein, SXiIndicating the displacement modulation in the x-direction, SY, applied the ith timeiDenotes the y-direction displacement modulation applied the ith time, i ═ 0,1, 2.
Based on modulation as described aboveIn the centering method, the step length of the multi-degree-of-freedom displacement platform is
Figure BDA0003436441390000033
In the above-described modulation-based centering method, the detector is an optical image detector.
Correspondingly, the invention also discloses a modulation-based centering system, which comprises: the device comprises a detector, a multi-degree-of-freedom displacement platform and a computer controller; the detector is fixed on the multi-degree-of-freedom displacement platform, and the point light source images on the image surface of the detector; the computer controller is respectively connected with the detector and the multi-degree-of-freedom displacement platform through data lines;
the computer controller is used for applying displacement modulation in the x direction and the y direction on the multi-degree-of-freedom displacement platform to enable the multi-degree-of-freedom displacement platform to move in the x direction and the y direction;
the multi-degree-of-freedom displacement platform is used for driving the detector to move along with the multi-degree-of-freedom displacement platform;
the detector is used for acquiring a plurality of frame images in the motion process;
the computer controller is used for resolving a plurality of light spot average neutral positions according to a plurality of frame images acquired by the detector; performing circumference fitting on the average neutral positions of the plurality of light spots obtained by resolving to obtain a circumference fitting result; and obtaining the circle center position, namely the static center position of the light spot on the image plane under the non-modulation state of the detector, according to the circumference fitting result.
The invention has the following advantages:
(1) the invention discloses a modulation-based centering scheme, which reduces random errors and system errors in the traditional single-point centering method, improves the centering precision and can realize higher-precision centering and detector calibration.
(2) The invention discloses a modulation-based centering scheme, which is simple in calculation, high in efficiency and convenient to operate and can be applied to high-precision centering in various fields.
(3) The invention discloses a centering scheme based on modulation, which is beneficial to researchers to evaluate and take in the scientific imaging capability of an image detector, can provide the detector calibration requirements for scientific applications such as optical measurement, astronomical measurement and the like, is suitable for practical engineering application and has a very wide prospect.
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FIG. 1 is a flow chart illustrating steps of a method for modulation-based centering in accordance with an embodiment of the present invention;
fig. 2 is a block diagram of a modulation-based centering system in an embodiment of the invention.
Detailed Description
To make the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the modulation-based centering method includes:
step 101, fixing the detector on a multi-freedom-degree displacement platform, and enabling the point light source to form an image on an image surface of the detector.
In this embodiment, the multi-degree-of-freedom displacement platform fixed with the detector can be placed in the darkroom cabin to isolate stray light of the external environment and improve the measurement accuracy. The detector may be an optical image detector.
And 102, applying displacement modulation in the x direction and the y direction on the multi-freedom-degree displacement platform to enable the multi-freedom-degree displacement platform to move in the x direction and the y direction.
In this embodiment, the detector moves along with the movement of the multi-degree-of-freedom displacement platform. Wherein the step length of the multi-freedom-degree displacement platform is as follows
Figure BDA0003436441390000041
Preferably, the displacement modulation applied to the displacement platform with multiple degrees of freedom in the x direction and the y direction is in the form of sine and cosine.
Specifically, the displacement modulation in the x-direction and the y-direction is as follows:
Figure BDA0003436441390000042
Figure BDA0003436441390000043
wherein, SXiIndicating the displacement modulation in the x-direction, SY, applied the ith timeiDenotes the y-direction displacement modulation applied the ith time, i ═ 0,1, 2.
And 103, acquiring a plurality of frames of images in the motion process of the multi-freedom-degree displacement platform.
In the embodiment, in the process of n +1 step lengths of the movement of the multi-degree-of-freedom displacement platform, the detector is exposed for m times when the multi-degree-of-freedom displacement platform moves by one step length; a total of (n +1) × m frames of images is obtained.
And 104, calculating to obtain average neutral positions of a plurality of light spots according to the obtained frame images.
In this embodiment, a specific flow of calculating the average neutral position of each spot may be as follows:
for m frame images in step 1: calculating to obtain the central position (x) of the light spot on each frame of image11,y11)、(x21,y21)、...、(xm1,ym1) Pair of (x)11,y11)、(x21,y21)、...、(xm1,ym1) Averaging to obtain the 1 st average neutral position (x)1,y1)。
For m frame images in step 2: calculating to obtain the central position (x) of the light spot on each frame of image12,y12)、(x22,y22)、...、(xm2,ym2) Pair of (x)12,y12)、(x22,y22)、...、(xm2,ym2) Averaging to obtain the average neutral position (x) of the 2 nd light spot2,y2)。
.., and so on,
for m frame images in the (n +1) th step: each frame is obtained by calculationCenter position (x) of light spot on image1(n+1),y1(n+1))、(x2(n+1),y2(n+1))、...、(xm(n+1),ym(n+1)) Pair of (x)11,y11)、(x21,y21)、...、(xm1,ym1) Averaging to obtain the average neutral position (x) of the (n +1) th light spotn+1,yn+1)。
And 105, performing circumference fitting on the average neutral positions of the plurality of light spots obtained by the calculation to obtain a circumference fitting result.
In the present embodiment, (x) obtained by the solution of step 104 can be obtained1,y1)、(x2,y2)、...、(xn+1,yn+1) And connecting to form a contour approximate to a circumference, and fitting the contour by using a circumference equation to obtain a circumference fitting result.
And 106, obtaining the position of the circle center, namely the static center position of the light spot on the image plane under the condition that the detector is not modulated, according to the circumference fitting result.
On the basis of the above embodiment, as shown in fig. 2, the present invention also discloses a modulation-based centering system, comprising: a detector 101, a multi-degree-of-freedom displacement platform 102, and a computer controller 103. The detector 101 is fixed on the multi-degree-of-freedom displacement platform 102, and the point light source forms an image on the image surface of the detector 101; the computer controller 103 is respectively connected with the detector 101 and the multi-degree-of-freedom displacement platform 102 through data lines.
Preferably, the computer controller 103 is configured to apply displacement modulation in the x-direction and the y-direction on the multi-degree-of-freedom displacement platform to move the multi-degree-of-freedom displacement platform in the x-direction and the y-direction. And the multi-freedom-degree displacement platform 102 is used for driving the detector to move along with the displacement platform. A detector 101 for acquiring several frames of images during the motion. The computer controller 103 is further configured to calculate to obtain average neutral positions of a plurality of light spots according to a plurality of frame images acquired by the detector; performing circumference fitting on the average neutral positions of the plurality of light spots obtained by resolving to obtain a circumference fitting result; and obtaining the circle center position, namely the static center position of the light spot on the image plane under the non-modulation state of the detector, according to the circumference fitting result.
For the system embodiment, since it corresponds to the method embodiment, the description is relatively simple, and for the relevant points, refer to the description of the method embodiment section.
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Those skilled in the art will appreciate that the invention may be practiced without these specific details.

Claims (10)

1. A method of modulation-based centering, comprising:
fixing the detector on a multi-freedom-degree displacement platform to enable the point light source to form an image on the image surface of the detector;
applying displacement modulation in the x direction and the y direction on the multi-freedom-degree displacement platform to enable the multi-freedom-degree displacement platform to move in the x direction and the y direction; the detector moves along with the movement of the multi-freedom-degree displacement platform;
acquiring a plurality of frames of images in the motion process of the multi-degree-of-freedom displacement platform;
calculating to obtain a plurality of light spot average neutral positions according to the obtained plurality of frame images;
performing circumference fitting on the average neutral positions of the plurality of light spots obtained by resolving to obtain a circumference fitting result;
and obtaining the circle center position, namely the static center position of the light spot on the image plane under the non-modulation state of the detector, according to the circumference fitting result.
2. The modulation-based centering method of claim 1, wherein acquiring a plurality of frames of images during the motion of the multiple degree of freedom displacement platform comprises:
in the process of n +1 step lengths of the movement of the multi-freedom-degree displacement platform, the detector is exposed for m times when the multi-freedom-degree displacement platform moves one step length; a total of (n +1) × m frames of images is obtained.
3. The modulation-based centering method of claim 2, wherein the calculating of the average neutral position of the plurality of light spots according to the obtained plurality of frame images comprises:
for m frame images in step 1: calculating to obtain the central position (x) of the light spot on each frame of image11,y11)、(x21,y21)、…、(xm1,ym1) Pair of (x)11,y11)、(x21,y21)、…、(xm1,ym1) Averaging to obtain the 1 st average neutral position (x)1,y1)；
For m frame images in step 2: calculating to obtain the central position (x) of the light spot on each frame of image12,y12)、(x22,y22)、…、(xm2,ym2) Pair of (x)12,y12)、(x22,y22)、…、(xm2,ym2) Averaging to obtain the average neutral position (x) of the 2 nd light spot2,y2)；
… and so on, the method comprises the following steps,
for m frame images in the (n +1) th step: calculating to obtain the central position (x) of the light spot on each frame of image1(n+1),y1(n+1))、(x2(n+1),y2(n+1))、…、(xm(n+1),ym(n+1)) Pair of (x)11,y11)、(x21,y21)、...、(xm1,ym1) Averaging to obtain the average neutral position (x) of the (n +1) th light spotn+1,yn+1)。
4. The modulation-based centering method of claim 3, wherein performing a circle fitting on the calculated average neutral positions of the plurality of light spots to obtain a circle fitting result comprises:
to (x)1,y1)、(x2,y2)、...、(xn+1,yn+1) And performing circumference fitting to obtain a circumference fitting result.
5. The modulation-based centering method of claim 1, further comprising: the multi-degree-of-freedom displacement platform fixed with the detector is placed in a darkroom cabin to isolate stray light of an external environment and improve measurement accuracy.
6. The modulation-based centering method of claim 1, wherein the x-direction and y-direction displacement modulations imposed on the multiple degree of freedom displacement platform are sine and cosine form displacement modulations.
7. The modulation-based centering method of claim 6, wherein the displacement modulation in the x-direction and the y-direction is:
Figure FDA0003436441380000021
Figure FDA0003436441380000022
wherein, SXiIndicating the displacement modulation in the x-direction, SY, applied the ith timeiDenotes the y-direction displacement modulation applied the ith time, i ═ 0,1, 2.
8. The modulation-based centering method of claim 1, wherein the step size of the multiple degree of freedom displacement stage is
Figure FDA0003436441380000023
9. The modulation-based centering method of claim 1, wherein the detector is an optical image detector.
10. A modulation-based centering system, comprising: the device comprises a detector, a multi-degree-of-freedom displacement platform and a computer controller; the detector is fixed on the multi-degree-of-freedom displacement platform, and the point light source images on the image surface of the detector; the computer controller is respectively connected with the detector and the multi-degree-of-freedom displacement platform through data lines;
the computer controller is used for applying displacement modulation in the x direction and the y direction on the multi-degree-of-freedom displacement platform to enable the multi-degree-of-freedom displacement platform to move in the x direction and the y direction;
the multi-degree-of-freedom displacement platform is used for driving the detector to move along with the displacement platform;
the detector is used for acquiring a plurality of frame images in the motion process;
the computer controller is used for resolving a plurality of light spot average neutral positions according to a plurality of frame images acquired by the detector; performing circumference fitting on the average neutral positions of the plurality of light spots obtained by resolving to obtain a circumference fitting result; and obtaining the circle center position, namely the static center position of the light spot on the image plane under the non-modulation state of the detector, according to the circumference fitting result.
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