CN114565664B - Centering method and system based on modulation - Google Patents
Centering method and system based on modulation Download PDFInfo
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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-degree-of-freedom displacement platform, and imaging the point light source on the image surface of the detector; 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; wherein the detector moves along with the movement of the multi-degree-of-freedom displacement platform; acquiring a plurality of frames of images in the motion process of the multi-degree-of-freedom displacement platform; according to the acquired frames of frame images, calculating to obtain the average neutral positions of the light spots; performing circumference fitting on the average neutral positions of the plurality of light spots obtained by the calculation to obtain a circumference fitting result; and obtaining the center position of the circle according to the circumferential fitting result, namely the static center position of the light spot on the image surface under the non-modulation state of the detector. The invention reduces random errors and systematic errors and improves centering accuracy.
Description
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
The scientific optical image detector, such as CCD or CMOS APS, is widely used in astronomy, biology, ultraviolet imaging, power line detection, night vision imaging, low light safety and other scientific researches as the equipment for converting the mainstream optical image into the electronic signal. In the current space task, for the purpose of self-attitude determination and control of aerospace vehicles such as satellites, intercontinental strategic missiles, aerospace vehicles and the like and the optical axis pointing or target pointing of a specific task, most of the aerospace vehicles adopt attitude sensors such as star sensors and the like which use optical image detectors.
Centering refers to high-precision positioning of the center of an image spot under the condition of defined center definition, which is a basic problem in fields such as celestial body measurement, microscopic imaging, deep space exploration and the like. The light spot centering method in the imaging process is researched, and is a basis for realizing the calibration of a high-precision detector and improving the measurement precision of a posture sensor. The prior art mainly comprises a centroid method, a threshold centroid method, a parameter estimation method and the like, wherein the methods are based on the research of a static light spot centering method, and the centering precision is limited by random errors and systematic errors.
Disclosure of Invention
The technical solution of the invention is as follows: the defects of the prior art are overcome, and the centering method and system based on modulation are provided, so that random errors and systematic errors are reduced, and centering accuracy is improved.
In order to solve the technical problems, the invention discloses a centering method based on modulation, which comprises the following steps:
fixing the detector on a multi-degree-of-freedom displacement platform, and imaging the point light source on the image surface of the detector;
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; wherein the detector moves along with the movement of the multi-degree-of-freedom displacement platform;
acquiring a plurality of frames of images in the motion process of the multi-degree-of-freedom displacement platform;
according to the acquired frames of frame images, calculating to obtain the average neutral positions of the light spots;
performing circumference fitting on the average neutral positions of the plurality of light spots obtained by the calculation to obtain a circumference fitting result;
and obtaining the center position of the circle according to the circumferential fitting result, namely the static center position of the light spot on the image surface under the non-modulation state of the detector.
In the above-mentioned centering method based on modulation, a plurality of frame images in the motion process of the multi-degree-of-freedom displacement platform are obtained, including:
in the process of n+1 step sizes of the movement of the multi-degree-of-freedom displacement platform, exposing the detector for m times when the multi-degree-of-freedom displacement platform moves for one step size; a total of (n+1) m frames of images is obtained.
In the above-mentioned centering method based on modulation, according to a plurality of frame images obtained, a plurality of average neutral positions of light spots are obtained by calculation, including:
for m frame images in step 1: resolving to obtain the central position (x 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Pair (x) 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Averaging to obtain the 1 st spot average neutral position (x 1 ,y 1 )；
For m frame images in step 2: resolving to obtain the central position (x 12 ,y 12 )、(x 22 ,y 22 )、…、(x m2 ,y m2 ) Pair (x) 12 ,y 12 )、(x 22 ,y 22 )、…、(x m2 ,y m2 ) Averaging to obtain the average neutral position (x 2 ,y 2 )；
.. by analogy,
for m frame images in the n+1th step: resolving to obtain the central position (x 1(n+1) ,y 1(n+1) )、(x 2(n+1) ,y 2(n+1) )、...、(x m(n+1) ,y m(n+1) ) Pair (x) 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Averaging to obtain the average neutral position (x n+1 ,y n+1 )。
In the above-mentioned centering method based on modulation, performing a circle fitting on the average neutral positions of the plurality of light spots obtained by the calculation to obtain a circle fitting result, including:
couple (x) 1 ,y 1 )、(x 2 ,y 2 )、...、(x n+1 ,y n+1 ) And performing circumference fitting to obtain a circumference fitting result.
In the above-mentioned centering method based on modulation, further comprising: the multi-degree-of-freedom displacement platform fixed with the detector is placed in the darkroom cabin to isolate stray light of the external environment and improve measurement accuracy.
In the above-described centering method based on modulation, the displacement modulation in the x-direction and the y-direction applied to the multi-degree-of-freedom displacement platform is a displacement modulation in the form of sine and cosine.
In the above-described modulation-based centering method, the displacement modulations in the x-direction and the y-direction are respectively:
wherein SX is i Representing the displacement modulation in the x-direction of the ith application, SY i The displacement modulation in the y direction for the i-th application is indicated, i=0, 1, 2.
In the above-mentioned centering method based on modulation, the step length of the multi-degree-of-freedom displacement platform is
In the above-described modulation-based centering method, the detector is an optical image detector.
Correspondingly, the invention also discloses a centering system based on modulation, 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 so as 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 frames of images in the motion process;
the computer controller is also used for calculating to obtain the average neutral position of the plurality of light spots according to the plurality of frame images acquired by the detector; performing circumference fitting on the average neutral positions of the plurality of light spots obtained by the calculation to obtain a circumference fitting result; and obtaining the center position of the circle according to the circumferential fitting result, namely the static center position of the light spot on the image surface under the non-modulation state of the detector.
The invention has the following advantages:
(1) The invention discloses a centering scheme based on modulation, which reduces random errors and systematic errors in the traditional single-point centering method, improves centering precision, and can realize higher-precision centering and detector calibration.
(2) The invention discloses a centering scheme based on modulation, 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 the evaluation and ingestion research of scientific imaging capability of an image detector by researchers, can provide detector calibration requirements for scientific applications such as optical measurement, astronomical measurement and the like, is suitable for practical engineering application, and has wide prospect.
Drawings
FIG. 1 is a flow chart of steps of a method for centering based on modulation in an embodiment of the invention;
fig. 2 is a block diagram of a modulation-based centering system in an embodiment of the invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention disclosed herein will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, in the present embodiment, the modulation-based centering method includes:
step 101, fixing the detector on a multi-degree-of-freedom displacement platform, and imaging the point light source on the detector image surface.
In this embodiment, the multi-degree-of-freedom displacement platform with the detector fixed thereon may be placed in the darkroom cabin to isolate stray light from the external environment and improve measurement accuracy. The detector may specifically be an optical image detector.
And 102, 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.
In this embodiment, the detector is moved with the movement of the multi-degree of freedom displacement platform. Wherein the step length of the multi-degree-of-freedom displacement platform is
Preferably, the displacement modulation applied to the multi-degree of freedom displacement platform in the x direction and the y direction is a displacement modulation in the form of sine and cosine.
Specifically, the displacement modulations in the x-direction and the y-direction are as follows:
wherein SX is i Representing the displacement modulation in the x-direction of the ith application, SY i The displacement modulation in the y direction for the i-th application is indicated, i=0, 1, 2.
Step 103, obtaining a plurality of frames of images in the motion process of the multi-degree-of-freedom displacement platform.
In the embodiment, in the process of n+1 step sizes of the movement of the multi-degree-of-freedom displacement platform, the detector exposes m times when the multi-degree-of-freedom displacement platform moves for each step size; a total of (n+1) m frames of images is obtained.
And 104, according to the acquired frame images, calculating to obtain the average neutral positions of the light spots.
In this embodiment, the specific procedure of calculating the average neutral position of each light spot may be as follows:
for m frame images in step 1: resolving to obtain the central position (x 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Pair (x) 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Averaging to obtain the 1 st spot average neutral position (x 1 ,y 1 )。
For m frame images in step 2: resolving to obtain the central position (x 12 ,y 12 )、(x 22 ,y 22 )、...、(x m2 ,y m2 ) Pair (x) 12 ,y 12 )、(x 22 ,y 22 )、...、(x m2 ,y m2 ) Averaging to obtain the average neutral position (x 2 ,y 2 )。
.. by analogy,
for m frame images in the n+1th step: resolving to obtain the central position (x 1(n+1) ,y 1(n+1) )、(x 2(n+1) ,y 2(n+1) )、...、(x m(n+1) ,y m(n+1) ) Pair (x) 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Averaging to obtain the average neutral position (x n+1 ,y n+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 this embodiment, the result (x 1 ,y 1 )、(x 2 ,y 2 )、...、(x n+1 ,y n+1 ) Connecting to form a contour similar to circumference, fitting the contour by using a circumference equation to obtain a circumference fitting result。
And 106, obtaining the center position of the circle according to the circumferential fitting result, namely the static center position of the light spot on the image surface under the non-modulation state of the detector.
On the basis of the above embodiment, as shown in fig. 2, the present invention also discloses a centering system based on modulation, 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 images 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 to the multiple degree of freedom displacement platform, so as to move the multiple degree of freedom displacement platform in the x-direction and the y-direction. The multi-degree-of-freedom displacement platform 102 is used for driving the detector to move along with the multi-degree-of-freedom displacement platform. A detector 101 for acquiring several frames of images during the motion. The computer controller 103 is further configured to calculate, according to the plurality of frame images acquired by the detector, an average neutral position of the plurality of light spots; performing circumference fitting on the average neutral positions of the plurality of light spots obtained by the calculation to obtain a circumference fitting result; and obtaining the center position of the circle according to the circumferential fitting result, namely the static center position of the light spot on the image surface under the non-modulation state of the detector.
For the system embodiment, since it corresponds to the method embodiment, the description is relatively simple, and the relevant points are referred to the description of the method embodiment section.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (8)
1. A modulation-based centering method, comprising:
fixing the detector on a multi-degree-of-freedom displacement platform, and imaging the point light source on the image surface of the detector;
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; wherein the detector moves along with the movement of the multi-degree-of-freedom displacement platform;
acquiring a plurality of frames of images in the motion process of the multi-degree-of-freedom displacement platform; comprising the following steps: in the process of n+1 step sizes of the movement of the multi-degree-of-freedom displacement platform, exposing the detector for m times when the multi-degree-of-freedom displacement platform moves for one step size; then (n+1) m frames of images are obtained in total;
according to the acquired frames of frame images, calculating to obtain the average neutral positions of the light spots;
performing circumference fitting on the average neutral positions of the plurality of light spots obtained by the calculation to obtain a circumference fitting result;
according to the circumferential fitting result, obtaining the center position of the circle, namely the static center position of the light spot on the image surface under the non-modulation state of the detector;
wherein:
according to the acquired frames of frame images, calculating to obtain a plurality of average neutral positions of light spots, wherein the method comprises the following steps:
for m frame images in step 1: resolving to obtain the central position (x 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Pair (x) 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Averaging to obtain the 1 st spot average neutral position (x 1 ,y 1 )；
For m frame images in step 2: resolving to obtain the central position (x 12 ,y 12 )、(x 22 ,y 22 )、...、(x m2 ,y m2 ) Pair (x) 12 ,y 12 )、(x 22 ,y 22 )、...、(x m2 ,y m2 ) Averaging to obtain the average neutral position (x 2 ,y 2 )；
By analogy with the sequence of,
for m frame images in the n+1th step: resolving to obtain the central position (x 1(n+1) ,y 1(n+1) )、(x 2(n+1) ,y 2(n+1) )、...、(x m(n+1) ,y m(n+1) ) Pair (x) 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Averaging to obtain the average neutral position (x n+1 ,y n+1 )。
2. The method for centering based on modulation according to claim 1, wherein performing a circle fit on the average neutral position of the plurality of spots obtained by the calculation to obtain a circle fit result comprises:
couple (x) 1 ,y 1 )、(x 2 ,y 2 )、...、(x n+1 ,y n+1 ) And performing circumference fitting to obtain a circumference fitting result.
3. The modulation-based centering method of claim 1, further comprising: the multi-degree-of-freedom displacement platform fixed with the detector is placed in the darkroom cabin to isolate stray light of the external environment and improve measurement accuracy.
4. The method of claim 1, wherein the x-direction and y-direction displacement modulations applied to the multi-degree of freedom displacement platform are in the form of sine-cosine displacement modulations.
5. The method of centering based on modulation of claim 4, wherein the displacement modulations in the x-direction and the y-direction are respectively:
wherein SX is i Representing the displacement modulation in the x-direction of the ith application, SY i The displacement modulation in the y direction for the i-th application is indicated, i=0, 1, 2.
6. The method of claim 1, wherein the step size of the multi-degree-of-freedom displacement stage is
7. The modulation-based centering method of claim 1, wherein the detector is an optical image detector.
8. 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 so as 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 frames of images in the motion process; comprising the following steps: in the process of n+1 step sizes of the movement of the multi-degree-of-freedom displacement platform, exposing the detector for m times when the multi-degree-of-freedom displacement platform moves for one step size; then (n+1) m frames of images are obtained in total;
the computer controller is also used for calculating to obtain the average neutral position of the plurality of light spots according to the plurality of frame images acquired by the detector; performing circumference fitting on the average neutral positions of the plurality of light spots obtained by the calculation to obtain a circumference fitting result; according to the circumferential fitting result, obtaining the center position of the circle, namely the static center position of the light spot on the image surface under the non-modulation state of the detector;
wherein:
when the computer controller obtains the average neutral position of a plurality of light spots according to a plurality of frame images acquired by the detector, the computer controller comprises the following steps:
according to the acquired frames of frame images, calculating to obtain a plurality of average neutral positions of light spots, wherein the method comprises the following steps:
for m frame images in step 1: resolving to obtain the central position (x 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Pair (x) 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Averaging to obtain the 1 st spot average neutral position (x 1 ,y 1 )；
For m frame images in step 2: resolving to obtain the central position (x 12 ,y 12 )、(x 22 ,y 22 )、...、(x m2 ,y m2 ) Pair (x) 12 ,y 12 )、(x 22 ,y 22 )、...、(x m2 ,y m2 ) Averaging to obtain the average neutral position (x 2 ,y 2 )；
By analogy with the sequence of,
for m frame images in the n+1th step: resolving to obtain the central position (x 1(n+1) ,y 1(n+1) )、(x 2(n+1) ,y 2(n+1) )、...、(x m(n+1) ,y m(n+1) ) Pair (x) 11 ,y 11 )、(x 21 ,y 21 )、...、(x m1 ,y m1 ) Averaging to obtain the average neutral position (x n+1 ,y n+1 )。
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