CN114663480A - Synchronous image rotation elimination and channel registration method and system for 45-degree rotary scanning space camera - Google Patents
Synchronous image rotation elimination and channel registration method and system for 45-degree rotary scanning space camera Download PDFInfo
- Publication number
- CN114663480A CN114663480A CN202210126125.3A CN202210126125A CN114663480A CN 114663480 A CN114663480 A CN 114663480A CN 202210126125 A CN202210126125 A CN 202210126125A CN 114663480 A CN114663480 A CN 114663480A
- Authority
- CN
- China
- Prior art keywords
- eci
- calculating
- satellite
- rotation
- module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000001360 synchronised effect Effects 0.000 title claims abstract description 18
- 230000008030 elimination Effects 0.000 title abstract description 7
- 238000003379 elimination reaction Methods 0.000 title abstract description 7
- 230000000007 visual effect Effects 0.000 claims abstract description 53
- 238000003384 imaging method Methods 0.000 claims abstract description 19
- 230000001052 transient effect Effects 0.000 claims abstract description 13
- 238000004364 calculation method Methods 0.000 claims abstract description 10
- 239000011159 matrix material Substances 0.000 claims description 20
- 238000006243 chemical reaction Methods 0.000 claims description 10
- 230000009466 transformation Effects 0.000 claims description 10
- 238000012952 Resampling Methods 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000007246 mechanism Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000003595 spectral effect Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- PXFBZOLANLWPMH-UHFFFAOYSA-N 16-Epiaffinine Natural products C1C(C2=CC=CC=C2N2)=C2C(=O)CC2C(=CC)CN(C)C1C2CO PXFBZOLANLWPMH-UHFFFAOYSA-N 0.000 description 1
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000747 cardiac effect Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008520 organization Effects 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000013519 translation Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T7/00—Image analysis
- G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N5/00—Details of television systems
- H04N5/04—Synchronising
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2207/00—Indexing scheme for image analysis or image enhancement
- G06T2207/10—Image acquisition modality
- G06T2207/10032—Satellite or aerial image; Remote sensing
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Image Processing (AREA)
Abstract
The invention provides a synchronous image rotation elimination and channel registration method and system for a 45-degree rotary scanning space camera, which comprises the following steps: step S1: and acquiring an original remote sensing image, an imaging reference time code, a satellite three-axis attitude angle and a satellite orbit transient root of each channel. Step S2: and calculating the time corresponding to each exposure time of the space camera. Step S3: and calculating to obtain the satellite triaxial attitude angle corresponding to each exposure time. Step S4: and calculating the position and the speed of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate system. Step S5: and calculating the intersection point of the pixel visual axis and the earth ellipsoid model. Step S6: and calculating the intersection point of the ideal visual axis and the earth ellipsoid model. Step S7: and re-sampling to obtain image data with image rotation eliminated and channel registration. The method is reasonable, simple in calculation and easy to implement, and can effectively eliminate image rotation and realize the registration of the multi-channel image.
Description
Technical Field
The invention relates to the field of remote sensing application, in particular to a synchronous image rotation elimination and channel registration method and system for a 45-degree rotary scanning space camera.
Background
The method for acquiring large-width imaging data by adopting the 45-degree reflector for rotary scanning is a method for acquiring large-width imaging data, and the 45-degree reflector has the advantages of small size and light weight, so that the method is generally applied to a large-width space camera for imaging to the ground.
Since the image is rotated by the 45-degree rotation scanning, a measure for eliminating the image rotation is required. For a space camera, in order to cancel the influence of image rotation, a K mirror is generally added to the imaging system.
Patent document CN101630007B discloses a method for correcting a navigation result of a satellite remote sensing image in a K-mirror fault state, which is used when a satellite performs multi-element parallel scanning. In the correction method, firstly, a satellite remote sensing image and image navigation information are obtained; then, obtaining the mapping relation between the pixel row and column coordinates and the corrected image navigation result by using the uncorrected image navigation result; and finally, correcting the navigation result of the satellite remote sensing image by using the mapping relation.
From the viewpoint of reliability of providing a satellite instrument, the fewer the rotating parts, the higher the reliability, so that the K-mirror rotation eliminating mechanism is not always provided using the 45-degree rotary scanning space camera. Meanwhile, with the requirement of the application field for multispectral channels, a space camera is often provided with a plurality of spectral channels, and different spectral channels need to be registered for use. Because detectors of different spectral channels may be assembled at different positions of a focal plane and different rear optical path systems are adopted, images acquired by different channels do not correspond to pixels one by one and need to be registered during subsequent processing.
For a spatial camera image rotation and channel registration method adopting 45-degree rotation scanning without a rotation-eliminating mechanism, no published document or patent is found. The existing method for eliminating the rotation of the image under the fault of the K mirror is not suitable for a space camera without a rotation eliminating mechanism. In addition, the existing channel registration methods are all established on the basis of affine transformation such as global scaling, rotation or translation among channels, and for images with image rotation, the degree of image rotation of pixels at different positions in the images is different, so the existing channel registration methods cannot be applied.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a synchronous image elimination rotation and channel registration method and system for a 45-degree rotation scanning space camera;
the invention provides a synchronous image rotation and channel registration method for a 45-degree rotation scanning space camera, which comprises the following steps:
step S1: analyzing a 0-level remote sensing data packet downloaded by a space camera to obtain an original remote sensing image, an imaging reference time code, a satellite three-axis attitude angle and a satellite orbit transient root of each channel;
step S2: calculating the time corresponding to each exposure time of the space camera according to the imaging reference time code;
step S3: according to the time corresponding to each exposure time and the satellite triaxial attitude angle at the known time, carrying out interpolation calculation to obtain the satellite triaxial attitude angle corresponding to each exposure time;
step S4: calculating the position and the speed of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate system according to the time corresponding to each exposure time and the known satellite orbit transient root at the approach time;
step S5: calculating the intersection point of the pixel visual axis and the earth ellipsoid model for each channel and each exposure time;
step S6: calculating the intersection point of the ideal visual axis and the earth ellipsoid model at each exposure moment;
step S7: resampling the original remote sensing image of each channel and intersection point coordinates corresponding to each pixel according to the intersection point coordinates of the ideal visual axis to obtain image data with image rotation eliminated and channel registration of each channel;
preferably, the step S5 includes:
step S5.1, calculating the visual axis vector u in the instrument body coordinate systeminst；
Step S5.2, calculating a conversion matrix T from the instrument body system to the satellite body system according to the installation parameters of the instrument on the satelliteinst2sc；
Preferably, the step S5 further includes:
step S5.3, calculating a conversion matrix T from the satellite body system to the satellite orbit system according to the satellite triaxial attitude angle (yaw angle yaw, roll angle, pitch angle pitch, unit: radian) corresponding to each exposure timesc2orb；
Step S5.4, according to the position p of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate systemeciAnd velocity veciCalculating a transformation matrix T from the satellite orbit system to the J2000 geocentric inertial coordinate systemorb2eci；
Torb2eci＝[peci×veci×peci/|peci×veci×peci|,-peci×veci/|peci×veci|,-peci/|peci|]；
Wherein x represents cross multiplication;
preferably, the step S5 further includes:
step S5.5, calculating a conversion matrix T from the J2000 geocentric inertial coordinate system to the geocentric rotation coordinate system according to the parameters of time difference, nutation, earth rotation and polar shifteci2ecr；
Step S5.6, calculating the geocentric rotation according to the results of the step S5.2 to the step S5.5Visual axis vector u in a rotating coordinate systemecrAnd a starting point p of the visual axisecr；
uecr＝Teci2ecrTorb2eciTsc2orbTinst2scuinst；
pecr＝Teci2ecrpeci；
S5.7, calculating the intersection point x of the visual axis and the ellipsoid model according to the parameters of the earth ellipsoid modelori(column vector, unit: m);
preferably, the step S6 further includes:
step S6.1: calculating an ideal boresight vector w in a satellite orbit coordinate systemorb；
Step S6.2: calculating an ideal visual axis vector w in a geocentric rotation coordinate systemecr；
wecr＝Teci2ecrTorb2eciwinst；
Step S6.3: calculating the intersection point x of the ideal visual axis and the ellipsoid modelnew。
The invention provides a synchronous image rotation and channel registration system of a 45-degree rotation scanning space camera, which comprises:
module M1: analyzing a 0-level remote sensing data packet downloaded by a space camera to obtain an original remote sensing image, an imaging reference time code, a satellite three-axis attitude angle and a satellite orbit transient root of each channel;
module M2: calculating the time corresponding to each exposure time of the space camera according to the imaging reference time code;
module M3: according to the time corresponding to each exposure time and the satellite triaxial attitude angle at the known time, carrying out interpolation calculation to obtain the satellite triaxial attitude angle corresponding to each exposure time;
module M4: calculating the position and the speed of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate system according to the time corresponding to each exposure time and the known satellite orbit transient root at the approach time;
module M5: calculating the intersection point of the pixel visual axis and the earth ellipsoid model for each channel and each exposure time;
module M6: calculating the intersection point of the ideal visual axis and the earth ellipsoid model at each exposure moment;
module M7: resampling the original remote sensing image of each channel and intersection point coordinates corresponding to each pixel according to the intersection point coordinates of the ideal visual axis to obtain image data with image rotation eliminated and channel registration of each channel;
preferably, said module M5 comprises:
module M5.1, calculating the boresight vector u in the coordinate System of the Instrument bodyinst；
Module M5.2, calculating the transformation matrix T from the instrument body system to the satellite body system according to the installation parameters of the instrument on the satelliteinst2sc；
Preferably, the module M5 further includes:
the module M5.3 calculates the transformation matrix T from the satellite body system to the satellite orbit system according to the satellite three-axis attitude angle (yaw angle, roll angle, pitch angle pitch, unit: radian) corresponding to each exposure timesc2orb；
Module M5.4, according to the position p of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate systemeciAnd velocity veciCalculating a transformation matrix T from the satellite orbit system to the J2000 geocentric inertial coordinate systemorb2eci；
Torb2eci＝[peci×veci×peci/|peci×veci×peci|,-peci×veci/|peci×veci|,-peci/|peci|]；
Wherein x represents cross multiplication;
preferably, the module M5 further includes:
module M5.5, calculating the J2000 geocentric inertial coordinate system toTransformation matrix T of geocentric rotation coordinate systemeci2ecr；
The module M5.6 calculates the visual axis vector u in the geocentric rotation coordinate system according to the results of the modules M5.2-M5.5ecrAnd a starting point p of the visual axisecr；
uecr＝Teci2ecrTorb2eciTsc2orbTinst2scuinst；
pecr＝Teci2ecrpeci；
Module M5.7, calculating the intersection x of the visual axis and the ellipsoid model according to the parameters of the earth ellipsoid modelori(column vector, unit: m);
preferably, the module M6 further includes:
module M6.1: calculating ideal visual axis vector w in satellite orbit coordinate systemorb；
Module M6.2: calculating an ideal visual axis vector w in a geocentric rotation coordinate systemecr；
wecr＝Teci2ecrTorb2eciwinst；
Module M6.3: calculating the intersection point x of the ideal visual axis and the ellipsoid modelnew。
Compared with the prior art, the invention has the following beneficial effects:
1. the invention provides a method for simultaneously carrying out image rotation elimination and channel registration, which is suitable for a space camera adopting 45-degree rotation scanning without a rotation-eliminating mechanism;
2. the method is reasonable, simple in calculation and easy to implement, and can effectively eliminate image rotation and realize the registration of multi-channel images;
3. the present invention overcomes the deficiencies of the prior art.
Drawings
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 general schematic view of the process of the present invention.
Fig. 2 is a schematic diagram of an original image acquired by a certain channel of the space camera according to the present invention.
FIG. 3 is a schematic diagram of the intersection of the original pixino visual axis and the earth ellipsoid model and the intersection of the ideal visual axis and the earth ellipsoid model.
Fig. 4 is a schematic diagram of an image obtained by resampling a channel of an original image acquired by a certain channel of the space camera according to the present invention.
Fig. 5 is a schematic diagram of the superimposed display image of the original two channel images of the space camera according to the present invention.
Fig. 6 is a schematic diagram of an image displayed by overlapping after resampling processing is performed on both channels corresponding to fig. 5 according to the present invention.
Detailed Description
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 of which are intended to be within the scope of the present invention;
referring to fig. 1-6, a synchronous stigmation and channel registration method for a 45-degree rotation scanning space camera includes: step S1: and acquiring an original remote sensing image, an imaging reference time code, a satellite triaxial attitude angle and a satellite orbit transient root of each channel. Step S2: and calculating the time corresponding to each exposure time of the space camera. Step S3: and calculating to obtain the satellite triaxial attitude angle corresponding to each exposure time. Step S4: and calculating the position and the speed of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate system. Step S5: and calculating the intersection point of the pixel visual axis and the earth ellipsoid model. Step S6: and calculating the intersection point of the ideal visual axis and the earth ellipsoid model. Step S7: and re-sampling to obtain image data with image rotation eliminated and channel registration.
In order to realize the image rotation of each channel image of the 45-degree rotation scanning space camera and the registration between the channel images, the current spatial position corresponding to each pixel in each channel needs to be calculated. By determining the spatial position, the image data of each channel can be mapped to a new coordinate system without image rotation, so that image rotation elimination and registration are realized.
In order to achieve the purpose, a 0-level remote sensing data packet downloaded by a space camera needs to be analyzed, and an original remote sensing image, an imaging reference time code, a satellite three-axis attitude angle and a satellite orbit transient root of each channel are obtained.
And calculating the time corresponding to each exposure time of the space camera according to the imaging reference time code.
And carrying out interpolation calculation according to the time corresponding to each exposure time and the satellite triaxial attitude angle at the known time to obtain the satellite triaxial attitude angle corresponding to each exposure time.
And calculating the position and the speed of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate system according to the time corresponding to each exposure time and the known transient root of the satellite orbit at the approach time. If the known instantaneous roots of the satellite orbits at the near time are: (1) track semi-major axis: a, unit: rice; (2) track eccentricity ratio: e, no unit; (3) track inclination angle: i, unit: radian; (4) ascending crossing right ascension: Ω, unit: radian; (5) perigee angular distance: ω, unit: radian; (6) flattening the proximal angle: m, unit: radian, difference delta t between the time corresponding to the exposure time and the known orbit transient root, and the satellite corresponding to the exposure time is in p of J2000 geocentric inertial coordinate systemeci(column vector, unit m) and velocity veciThe (column vector, unit m/s) calculation method is:
wherein G is universal gravitationConstant, MeIs the earth mass.
And calculating the intersection point of the pixel visual axis and the earth ellipsoid model for each channel and each exposure time. Firstly, calculating a visual axis vector u in a coordinate system of an instrument bodyinst(column vector).
uinst＝2(u45·ufp)u45-ufp(formula 4)
Where, denotes a vector inner product operation. u. u45Representing the unit normal vector direction of the current 45-degree mirror in the instrument system. u. offpThe position of the image element on the focal plane in the system of the instrument is shown.
Calculating a conversion matrix T from the instrument body system to the satellite body system according to the installation parameters of the instrument on the satelliteinst2sc。
Calculating a conversion matrix T from the satellite body system to the satellite orbit system according to the three-axis attitude angle (yaw angle, roll angle, pitch angle, unit: radian) of the satellite corresponding to each exposure timesc2orb。
According to the position p of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate systemeciAnd velocity veciCalculating a transformation matrix T from the satellite orbit system to the J2000 geocentric inertial coordinate systemorb2eci。
Torb2eci＝[peci×veci×peci/|peci×veci×peci|,-peci×veci/|peci×veci|,-peci/|peci|](formula 6)
Where x represents a cross product.
Calculating a conversion matrix T from a J2000 geocentric inertia coordinate system to a geocentric rotation coordinate system according to the time offset, nutation, autorotation and polar shift parameters published by the International Earth rotation and reference System organization (IERS)eci2ecr。
Place of calculationVisual axis vector u in a cardiac rotation coordinate systemecrAnd the origin p of the visual axisecr。
uecr＝Teci2ecrTorb2eciTsc2orbTinst2scuinst(equation 7)
pecr＝Teci2ecrpeci(formula 8)
According to the parameters of the earth ellipsoid model, the intersection point x of the visual axis and the ellipsoid model can be calculatedori(column vector, unit: m). After the intersection point calculation of all the pixels of all the channels is traversed, the corresponding spatial position of the original image is obtained, and the data of all the channels need to be unified into a new coordinate without image rotation. To achieve this, an ideal viewing axis is defined in the orbital coordinate system.
Ideal visual axis vector w in satellite orbit coordinate system at each imaging momentorbIs composed of
Wherein alpha is the angle of the pixels on the ideal line deviating from the optical axis of the telescope, and theta is the angle of the optical axis deviating from the point under the satellite.
The ideal visual axis vector w in the geocentric rotation coordinate system is also calculatedecr。
wecr＝Teci2ecrTorb2eciwinst(formula 10)
Calculating the intersection point x of the ideal visual axis and the ellipsoid modelnew(column vector, unit: m).
And resampling the original remote sensing image of each channel and the intersection point coordinates corresponding to each pixel according to the intersection point coordinates of the ideal visual axis to obtain image data of each channel with image rotation eliminated and channel registration.
The implementation of the present invention will be described with reference to data of a certain space camera, and fig. 2 shows an original image (local) acquired by a certain channel of the space camera, and the effect of image rotation can be seen in the figure. And (5) executing the steps 1 to 6, and obtaining the intersection point of the original pixel visual axis and the earth ellipsoid model and the intersection point of the ideal visual axis and the earth ellipsoid model as shown in figure 3.
The resampled image corresponding to the channel of fig. 2 is shown in fig. 4, from which it can be seen that the effects of the de-rotation have been eliminated in the resampled image.
The other channels adopt the same resampling process, and in order to verify the result of channel registration, images of two different channels are displayed in an overlapping manner, and the contrast effect is shown in fig. 5 and 6. Fig. 5 is an image of the original two channels superimposed, and it can be seen that the channels do not match perfectly, especially in the areas where contours are present. Fig. 6 shows that the two channels are overlapped after being resampled, and it can be seen from fig. 6 that the registration between the two channels is good.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on those shown in the drawings, are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, should not be construed as limiting the present application;
the foregoing describes specific embodiments of the present invention; it is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention; the embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. A synchronous de-imaging rotation and channel registration method for a 45-degree rotation scanning space camera is characterized by comprising the following steps:
step S1: analyzing a 0-level remote sensing data packet downloaded by a space camera to obtain an original remote sensing image, an imaging reference time code, a satellite three-axis attitude angle and a satellite orbit transient root of each channel;
step S2: calculating the time corresponding to each exposure time of the space camera according to the imaging reference time code;
step S3: according to the time corresponding to each exposure time and the satellite triaxial attitude angle at the known time, carrying out interpolation calculation to obtain the satellite triaxial attitude angle corresponding to each exposure time;
step S4: calculating the position and the speed of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate system according to the time corresponding to each exposure time and the known satellite orbit transient root at the approach time;
step S5: calculating the intersection point of the pixel visual axis and the earth ellipsoid model for each channel and each exposure time;
step S6: calculating the intersection point of the ideal visual axis and the earth ellipsoid model at each exposure moment;
step S7: and resampling the original remote sensing image of each channel and the intersection point coordinates corresponding to each pixel according to the intersection point coordinates of the ideal visual axis to obtain image data of each channel with image rotation eliminated and channel registration.
2. The 45-degree rotation scanning space camera synchronous de-rotation and channel registration method according to claim 1, wherein the step S5 comprises:
step S5.1, calculating visual axis vector u in the instrument body coordinate systeminst；
Step S5.2, calculating a conversion matrix T from the instrument body system to the satellite body system according to the installation parameters of the instrument on the satelliteinst2sc。
3. The 45-degree rotation scanning space camera synchronous de-rotation and channel registration method according to claim 2, wherein the step S5 further comprises:
step S5.3, calculating a conversion matrix T from the satellite body system to the satellite orbit system according to the satellite triaxial attitude angle, the yaw angle yaw, the roll angle, the pitch angle pitch and the unit of the satellite triaxial attitude angle corresponding to each exposure time as radiansc2orb；
Step S5.4, according to the position p of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate systemeciAnd velocity veciCalculating a transformation matrix T from the satellite orbit system to the J2000 geocentric inertial coordinate systemorb2eci；
Torb2eci＝[peci×veci×peci/|peci×veci×peci|,-peci×veci/|peci×veci|,-peci/|peci|]；
Where x represents cross multiplication.
4. The 45-degree rotation scanning space camera synchronous de-rotation and channel registration method according to claim 3, wherein the step S5 further comprises:
s5.5, calculating a conversion matrix T from the J2000 geocentric inertial coordinate system to the geocentric rotation coordinate system according to the parameters of the time offset, the nutation, the earth rotation and the polar shifteci2ecr；
Step S5.6, calculating the visual axis vector u in the geocentric rotation coordinate system according to the results of the step S5.2-the step S5.5ecrAnd a starting point p of the visual axisecr；
uecr＝Teci2ecrTorb2eciTsc2orbTinst2scuinst；
pecr＝Teci2ecrpeci；
S5.7, calculating the intersection point x of the visual axis and the ellipsoid model according to the parameters of the earth ellipsoid modelor。
5. The 45-degree rotation scanning space camera synchronous de-rotation and channel registration method according to claim 1, wherein the step S6 further comprises:
step S6.1: in the calculation of satellite orbital coordinate systemIdeal visual axis vector worb；
Step S6.2: calculating an ideal visual axis vector w in a geocentric rotation coordinate systemecr；
wecr＝Teci2ecrTorb2eciwinst；
Step S6.3: calculating the intersection point x of the ideal visual axis and the ellipsoid modelnew。
6. A 45 degree rotation scanning space camera synchronous de-imaging rotation and channel registration system, comprising:
module M1: analyzing a 0-level remote sensing data packet downloaded by a space camera to obtain an original remote sensing image, an imaging reference time code, a satellite three-axis attitude angle and a satellite orbit transient root of each channel;
module M2: calculating the time corresponding to each exposure time of the space camera according to the imaging reference time code;
module M3: according to the time corresponding to each exposure time and the satellite triaxial attitude angle at the known time, carrying out interpolation calculation to obtain the satellite triaxial attitude angle corresponding to each exposure time;
module M4: calculating the position and the speed of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate system according to the time corresponding to each exposure time and the known satellite orbit transient root at the approach time;
module M5: calculating the intersection point of the pixel visual axis and the earth ellipsoid model for each channel and each exposure time;
module M6: for each exposure moment, calculating the intersection point of the ideal visual axis and the earth ellipsoid model;
module M7: and resampling the original remote sensing image of each channel and the intersection point coordinates corresponding to each pixel according to the intersection point coordinates of the ideal visual axis to obtain image data of each channel with image rotation eliminated and channel registration.
7. The 45-degree rotational scanning space camera synchronous de-rotation and channel registration system of claim 6, wherein the module M5 comprises:
module M5.1, calculating the visual axis vector u in the coordinate System of the Instrument bodyinst；
Module M5.2, calculating the transformation matrix T from the instrument body system to the satellite body system according to the installation parameters of the instrument on the satelliteinst2sc。
8. The 45-degree rotational scanning space camera synchronous de-rotation and channel registration system of claim 7, wherein the module M5 further comprises:
the module M5.3 calculates the transformation matrix T from the satellite body system to the satellite orbit system according to the satellite three-axis attitude angle (yaw angle, roll angle, pitch angle pitch, unit: radian) corresponding to each exposure timesc2orb；
The module M5.4, according to the position p of the satellite corresponding to each exposure time in the J2000 geocentric inertial coordinate systemeciAnd velocity veciCalculating a transformation matrix T from the satellite orbit system to the J2000 geocentric inertial coordinate systemorb2eci；
Torb2eci＝[peci×veci×peci/|peci×veci×peci|,-peci×veci/|peci×veci|,-peci/|peci|]；
Where x represents a cross product.
9. The 45 degree rotational scanning space camera synchronous de-rotation and channel registration system of claim 8, wherein the module M5 further comprises:
the module M5.5 calculates a conversion matrix T from the J2000 geocentric inertial coordinate system to the geocentric rotation coordinate system according to the parameters of time offset, nutation, earth rotation and polar shifteci2ecr；
Module M5.6, junction according to Module M5.2-Module M5.5Calculating the visual axis vector u in the earth's center rotation coordinate systemecrAnd a starting point p of the visual axisecr；
uecr＝Teci2ecrTorb2eciTsc2orbTinst2scuinst；
pecr＝Teci2ecrpeci；
Module M5.7, calculating the intersection x of the visual axis and the ellipsoid model according to the parameters of the earth ellipsoid modelor。
10. The 45-degree rotational scanning space camera synchronous de-rotation and channel registration system of claim 6, wherein the module M6 further comprises:
module M6.1: calculating ideal visual axis vector w in satellite orbit coordinate systemorb；
Module M6.2: calculating an ideal visual axis vector w in a geocentric rotation coordinate systemecr；
wecr＝Teci2ecrTorb2eciwinst；
Module M6.3: calculating the intersection point x of the ideal visual axis and the ellipsoid modelnew。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210126125.3A CN114663480A (en) | 2022-02-10 | 2022-02-10 | Synchronous image rotation elimination and channel registration method and system for 45-degree rotary scanning space camera |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210126125.3A CN114663480A (en) | 2022-02-10 | 2022-02-10 | Synchronous image rotation elimination and channel registration method and system for 45-degree rotary scanning space camera |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114663480A true CN114663480A (en) | 2022-06-24 |
Family
ID=82027301
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210126125.3A Pending CN114663480A (en) | 2022-02-10 | 2022-02-10 | Synchronous image rotation elimination and channel registration method and system for 45-degree rotary scanning space camera |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114663480A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1426022A (en) * | 2002-12-31 | 2003-06-25 | 中国科学院上海技术物理研究所 | Method for eliminating image rotation caused by 45 degree scanning lens |
| CN107392951A (en) * | 2017-06-06 | 2017-11-24 | 上海卫星工程研究所 | Remote sensing images high accuracy rapid registering method |
| CN108710379A (en) * | 2018-06-14 | 2018-10-26 | 上海卫星工程研究所 | Fixed statellite is imaged Yaw steering angle computational methods |
| CN110874593A (en) * | 2019-11-06 | 2020-03-10 | 西安电子科技大学 | Mask-based remote sensing image rotating target detection method |
| CN111598784A (en) * | 2020-04-23 | 2020-08-28 | 中国科学院上海技术物理研究所 | Image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging |
| CN111667413A (en) * | 2020-05-27 | 2020-09-15 | 江苏和正特种装备有限公司 | Image despinning method and system based on multi-source sensing data fusion processing |
-
2022
- 2022-02-10 CN CN202210126125.3A patent/CN114663480A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1426022A (en) * | 2002-12-31 | 2003-06-25 | 中国科学院上海技术物理研究所 | Method for eliminating image rotation caused by 45 degree scanning lens |
| CN107392951A (en) * | 2017-06-06 | 2017-11-24 | 上海卫星工程研究所 | Remote sensing images high accuracy rapid registering method |
| CN108710379A (en) * | 2018-06-14 | 2018-10-26 | 上海卫星工程研究所 | Fixed statellite is imaged Yaw steering angle computational methods |
| CN110874593A (en) * | 2019-11-06 | 2020-03-10 | 西安电子科技大学 | Mask-based remote sensing image rotating target detection method |
| CN111598784A (en) * | 2020-04-23 | 2020-08-28 | 中国科学院上海技术物理研究所 | Image rotation correction method based on 45-degree mirror wide-width multi-element parallel scanning imaging |
| CN111667413A (en) * | 2020-05-27 | 2020-09-15 | 江苏和正特种装备有限公司 | Image despinning method and system based on multi-source sensing data fusion processing |
Non-Patent Citations (2)
| Title |
|---|
| 于春风;丁亚林;惠守文;张景国;陈伟;: "三反射系统航空遥感器像旋转分析", 光学学报, no. 08, 10 August 2011 (2011-08-10) * |
| 张锷, 龚惠兴: "消除45°旋转扫描反射镜像旋转系统的研究及应用", 红外与毫米波学报, no. 02, 25 April 1999 (1999-04-25) * |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106124170B (en) | A kind of camera optical axis direction computational methods based on high-precision attitude information | |
| Grodecki | IKONOS stereo feature extraction-RPC approach | |
| CN104897175B (en) | Polyphaser optics, which is pushed away, sweeps the in-orbit geometric calibration method and system of satellite | |
| CN104764443B (en) | A kind of tight imaging geometry model building method of Optical remote satellite | |
| WO2004113836A1 (en) | Picked-up image display method | |
| CN107144293A (en) | A kind of geometric calibration method of video satellite area array cameras | |
| CN107689064A (en) | Take the strict geometry imaging model construction method of satellite optical of aberration correction into account | |
| CN110211054A (en) | A kind of undistorted making video method of spaceborne push-broom type optical sensor | |
| CN108734685B (en) | Splicing method for unmanned aerial vehicle-mounted hyperspectral line array remote sensing images | |
| CN102410831A (en) | Design and positioning method of multi-stripe scan imaging model | |
| CN111612693A (en) | Method for correcting rotary large-width optical satellite sensor | |
| CN1693851A (en) | Aviation linear array CCD image geometric rough correct algorithm | |
| CN109407696B (en) | Course angle dynamic calibration method for unmanned aerial vehicle | |
| Speyerer et al. | In-flight geometric calibration of the lunar reconnaissance orbiter camera | |
| CN104976991A (en) | Satellite attitude change considering three linear array image side deviation acquisition method | |
| Duxbury et al. | Phobos and Deimos astrometric observations from Viking | |
| CN114663480A (en) | Synchronous image rotation elimination and channel registration method and system for 45-degree rotary scanning space camera | |
| CN114509071B (en) | Attitude measurement method for wind tunnel test model | |
| CN104019800B (en) | The method of big side-sway line array CCD remote sensing images positioning for ground | |
| Jacobsen | Calibration of optical satellite sensors | |
| CN115908569A (en) | High-orbit large-area-array camera on-orbit geometric positioning method and system based on earth contour | |
| JPS5910109B2 (en) | Image geometric distortion correction device | |
| Jacobsen | Calibration of imaging satellite sensors | |
| CN110608724B (en) | Direct solving method for drift-free attitude in satellite maneuvering imaging process | |
| Haala et al. | On the preformance of digital airborne pushbroom cameras for photogrammetric data processing-a case study |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |