CN114785906A - Aerial different-speed image motion compensation circuit and method - Google Patents

Aerial different-speed image motion compensation circuit and method Download PDF

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CN114785906A
CN114785906A CN202210323439.2A CN202210323439A CN114785906A CN 114785906 A CN114785906 A CN 114785906A CN 202210323439 A CN202210323439 A CN 202210323439A CN 114785906 A CN114785906 A CN 114785906A
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任航
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Changchun Institute of Optics Fine Mechanics and Physics of CAS
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/50—Control of the SSIS exposure
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
    • H04N25/50—Control of the SSIS exposure
    • H04N25/53—Control of the integration time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
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    • H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
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Abstract

The application belongs to the technical field of aerospace and relates to an aviation different-speed image motion compensation circuit and method, wherein the aviation different-speed image motion compensation circuit comprises a different-speed image motion parameter coupling calculation module, the input end of the different-speed image motion parameter coupling calculation module is respectively connected with an aviation camera parameter acquisition submodule, an aircraft parameter acquisition submodule and a detector parameter acquisition submodule, and the output end of the different-speed image motion parameter coupling calculation module is respectively connected with a different-speed image motion time sequence control module, a camera shutter exposure time control module, a camera shutter motion speed control module and a camera shutter width control module; the system also comprises a system control module and a time sequence control module connected with the system control module, wherein the time sequence control module is responsible for generating various time sequence pulse signals required by the system; the system control module is used for carrying out initialization configuration on the time sequence control module and controlling the exposure time, the frame frequency and the like of the CCD. The compensation circuit and the compensation method not only realize the control of the time sequence drive of the aviation area array CCD, but also realize the aviation different-speed image motion compensation.

Description

Aerial different-speed image motion compensation circuit and method
Technical Field
The application relates to the technical field of aerospace, in particular to an aviation different-speed image motion compensation circuit and method.
Background
In the reconnaissance process, the reconnaissance aircraft needs to fly at a high speed and low altitude to avoid monitoring of enemy radars. The low-altitude high-speed flight greatly improves the battlefield viability and the depth reconnaissance monitoring capability of the aircraft, but at the moment, serious image shift can occur on the target surface of aerial imaging, so that the aerial imaging is fuzzy, and the effect of aerial reconnaissance is influenced. In forward flight, the aerial camera is in the oblique working state shown in fig. 1(a) due to the attitude adjustment (such as side flight) of the aircraft or the adjustment of the pitching angle of the aerial camera lens. The schematic diagram on the target surface is shown in fig. 1(b), and it is characterized in that the image shift directions of the pixel points on the target surface are the same, but the image shifts of different pixel areas are different in size, and such image shifts are called different-speed image shifts. The aerial camera has important technical and tactical significance in strabismus work, so that the image motion at different speeds occupies an important position in aerial image motion.
Under the promotion of a large digitalization environment, the digitalization of photogrammetry is rapidly developing, and the aerial photography digitalization has the advantages of a digital aerial camera due to the development of a large-scale CCD device and a high dynamic positioning and attitude determination technology, so that the high-resolution digital aerial camera can undoubtedly replace an aerial camera taking a film as a carrier step by step. The aviation digital camera has important application and wide application prospect in both military and civil fields. In the aspect of national economy, China is rapidly developing high-altitude earth observation technology, and the high-resolution area array CCD aerial camera plays an important role in map aviation, resource general survey, disaster assessment and the like, and has obvious advantages compared with a film aerial camera. In the field of national defense safety, the high-resolution area array CCD aerial camera has important strategic significance in the aspects of attack effect reconnaissance, battlefield reconnaissance, target dynamic monitoring, reconnaissance information guarantee for troops and the like. Therefore, the aviation imaging image motion compensation technology has an urgent need for the development of electronization and digitization.
The existing method for compensating the abnormal image shift mainly starts from three angles: firstly, a CCD device with a Time Delay Integration (TDI) function is developed by adopting an electronic means, different-speed image motion compensation is carried out by combining TDICCD splicing, and the image motion compensation can be carried out by adopting a charge transfer driving technology to control the charge transfer speed of the CCD in the Integration Time aiming at each group of TDICCD; secondly, an image processing algorithm is researched, the blurring of the blurred image or the correction of image rotation are realized through post image processing, but image information is lost; and thirdly, a motion control technology is adopted, different-speed image motion compensation is carried out by utilizing an optical type or a mechanical type or a combination of the optical type and the mechanical type, and image motion caused by motion imaging is compensated by controlling an inertia stable platform, a scanning reflector, a quick reflector and the like. The method has very high requirements on structural precision, reliability and stability.
Disclosure of Invention
Based on this, this application provides an aviation different speed image motion compensation circuit and method.
In order to solve the technical problem, the technical scheme adopted by the application is as follows:
on one hand, the embodiment of the application provides an aviation different-speed image motion compensation circuit, which comprises an aviation camera parameter acquisition sub-module, an aircraft parameter acquisition sub-module, a detector parameter acquisition sub-module, a different-speed image motion parameter coupling calculation module, a different-speed image motion time sequence control module, a camera shutter exposure time control module, a camera shutter motion speed control module and a camera shutter width control module;
the input end of the different-speed image motion parameter coupling calculation module is respectively connected with the aviation camera parameter acquisition submodule, the aircraft parameter acquisition submodule and the detector parameter acquisition submodule;
the different-speed image motion parameter coupling calculation module is used for coupling and calculating the relevant parameters of the aerial camera acquired by the aerial camera acquisition submodule, the aircraft parameter acquisition submodule and the detector parameter acquisition submodule to generate different-speed image motion compensation relevant parameters;
the output end of the different-speed image motion parameter coupling calculation module is respectively connected with the different-speed image motion time sequence control module, the camera shutter exposure time control module, the camera shutter motion speed control module and the camera shutter width control module;
the aerial different-speed image motion compensation circuit also comprises a system control module and a time sequence control module connected with the system control module, wherein the time sequence control module is responsible for generating various time sequence pulse signals required by the system; the system control module is used for carrying out initialization configuration on the time sequence control module and controlling the exposure time, the frame frequency and the like of the CCD.
Further, the parameter acquisition submodule of the aerial camera is used for acquiring relevant parameters of the aerial camera in the process of different-speed image motion compensation;
the aircraft parameter acquisition submodule is used for acquiring relevant aircraft parameters in the process of different-speed image motion compensation;
the detector parameter acquisition submodule is used for acquiring related parameters of a detector in the process of different-speed image motion compensation;
the different-speed image motion time sequence control module is used for receiving the time sequence control parameters calculated by the different-speed image motion parameter coupling calculation submodule and controlling the charges to carry out different-speed transfer;
the camera shutter exposure time control module is used for receiving the camera exposure time calculated by the different-speed image motion parameter coupling calculation sub-module and controlling the camera shutter to expose according to the calculated time;
the camera shutter motion speed control module is used for receiving the camera exposure speed calculated by the different-speed image motion parameter coupling calculation submodule and controlling the camera shutter to move according to the calculated speed;
the camera shutter width control module is used for receiving the camera exposure width calculated by the different-speed image motion parameter coupling calculation submodule to control the camera shutter to adjust the width.
Further, the aviation camera related parameters include: resolution, sampling frequency, camera focal length, exposure time and imaging frame frequency; the aircraft-related parameters include: flight speed, flight altitude, inclination angle, half field angle and slant distance; the related parameters of the detector comprise charge transfer efficiency, line frequency, target surface size, pixel size, block number and integration time; the parameters related to the different-speed image motion compensation comprise charge transfer speed and charge transfer frequency.
Further, the timing control module includes:
the high-speed pulse generating module is used for generating reset pulses, an A/D conversion clock and a frame frequency synchronous clock;
the vertical time sequence control module is used for generating a CCD vertical transfer clock; the horizontal transfer clock time sequence control module is responsible for generating a CCD horizontal transfer clock;
the clock processing generation module is used for generating reset pulses, front-end signal processing, clamping control signals and CCD transfer driving clocks;
the synchronous signal generating module is used for receiving an external synchronous frame and a line signal or generating an image frame and a line synchronous signal;
and the bus interface and control module is used for communicating with an external controller, receiving various control instructions and configuration data and providing a communication interface with a lower chip.
Furthermore, the system control module is connected with the clock processing module, the synchronous signal generation module and the bus interface and control module through a Snart bus, and is connected with the high-speed pulse generation module, the vertical transfer timing control module and the horizontal transfer timing control module through a 3-Wire bus.
Furthermore, the different-speed image motion compensation circuit adopts Virtex-II Pro series FPGA-XC 2VP20 of Xilinx company, uses a hardware description language (VHDL) FPGA internal function module to describe under ISE8.2 development software of the Xilinx company, adopts a top-down development method to develop, and realizes the design of high-level complex logic.
In another aspect, an embodiment of the present application provides an aerial different-speed image motion compensation method, which is applied to the aerial different-speed image motion compensation circuit, and includes the following steps:
s1, the aerial camera parameter acquisition module is responsible for acquiring relevant parameters of an aerial camera in the process of different-speed image motion compensation, the aircraft parameter acquisition submodule acquires relevant parameters of an aircraft in the process of different-speed image motion compensation, and the detector parameter acquisition submodule acquires relevant parameters of a detector in the process of different-speed image motion compensation;
s2, the different-speed image motion parameter coupling calculation sub-module couples, analyzes and calculates the aviation camera related parameters, the aircraft related parameters and the detector related parameters collected in the step S1 to generate different-speed image motion compensation related parameters, and inputs the calculated charge transfer rate and charge transfer frequency to the different-speed image motion time sequence control module; controlling the grouped vertical charge motion of the area array CCD; inputting the calculated exposure time into the camera shutter exposure time control module to control the shutter exposure time, inputting the calculated shutter motion speed into the camera shutter motion speed control module to control the shutter speed, and inputting the calculated shutter width into the camera shutter width control module to control the shutter width;
s3, the system control module sends signals through the bus, changes each module in real time in the working process to realize the modification of the pulses, sets vertical and horizontal transfer pulses according to the CCD array structure, sets a high-frequency time sequence, a signal processing time sequence and a synchronous time sequence, generates an external trigger signal to send light integration time, each module generates a driving time sequence required by charge transfer, and after the transfer is finished, the CCD detector enters an idle state to wait for the next trigger.
The beneficial effect of this application: according to the method, the FPGA is utilized to carry out modular design, so that the sequential driving control of the aviation area array CCD is realized, and the aviation different-speed image motion compensation is realized. On the premise of not additionally increasing system hardware equipment, the quality, the volume, the power consumption and the cost of the imaging system can be reduced.
Drawings
FIG. 1(a) is a schematic diagram of oblique imaging provided by an embodiment of the present application;
FIG. 1(b) is a schematic view of a target surface provided in an embodiment of the present application;
fig. 2 is a schematic composition diagram of an aerial different-speed image motion compensation circuit provided in an embodiment of the present application;
fig. 3 is a schematic view of an aerial different-speed image motion compensation method provided in an embodiment of the present application.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present application are shown in the drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
The reason for the generation of the different-speed image shift is as follows:
in the process of reconnaissance, the reconnaissance plane needs to fly at high speed and low altitude for avoiding the monitoring of an enemy radar. The high-speed low-altitude flight greatly improves the battlefield viability and the depth reconnaissance monitoring capability of the airplane, but at the moment, serious image shift can occur on the target surface of aerial imaging, so that the aerial imaging is blurred, and the effect of aerial reconnaissance is influenced.
In forward flight, the aerial camera is in a squint working state shown in fig. 1(a) due to the attitude adjustment (such as side flight) of the aircraft or the adjustment of the pitching angle of the aerial camera lens. The schematic diagram on the target surface is shown in fig. 1(b), when the area array CCD camera is tilted for photography, since the plane is tilted, the forward image shift speed of the near point target on the image surface is the same in direction and different in size compared with the forward image shift speed of the far point in a single ground area. The forward image motion speeds with equal directions and different sizes are defined as different-speed image motion.
Example 1:
referring to fig. 2, an embodiment of the present application provides an aviation different-speed image motion compensation circuit, which includes a different-speed image motion parameter coupling calculation module, an input end of the different-speed image motion parameter coupling calculation module is respectively connected to an aviation camera parameter acquisition submodule, an aircraft parameter acquisition submodule and a detector parameter acquisition submodule, the different-speed image motion parameter coupling calculation module is configured to couple and calculate parameters acquired by the aviation camera acquisition submodule, the aircraft parameter acquisition submodule and the detector parameter acquisition submodule to generate different-speed image motion compensation related parameters, and an output end of the different-speed image motion parameter coupling calculation module is connected to a different-speed image motion timing control module, a camera shutter exposure time control module, a camera shutter motion speed control module and a camera shutter width control module; the system also comprises a system control module and a time sequence control module connected with the system control module, wherein the time sequence control module is responsible for generating various time sequence pulse signals required by the system; the system control module is responsible for carrying out initialization configuration on the timing control module and controlling the exposure time, the frame frequency and the like of the CCD.
The parameter acquisition module of the aerial camera is responsible for acquiring relevant parameters of the aerial camera in the different-speed image motion compensation process: resolution, sampling frequency, camera focal length, exposure time and imaging frame frequency;
the aircraft parameter acquisition sub-module is responsible for acquiring relevant parameters of an aircraft in the process of different-speed image motion compensation, such as flight speed, flight altitude, inclination angle, half field angle and slant distance;
the detector parameter acquisition submodule is responsible for acquiring relevant parameters of the detector, such as charge transfer efficiency, line frequency, target surface size, pixel size, block number and integration time in the different-speed image motion compensation process.
The different-speed image motion parameter coupling calculation submodule is responsible for coupling and calculating the parameters acquired by the three submodules to generate different-speed image motion compensation related parameters;
the degree of blurring M of an image is L according to a Modulation Transfer Function (MTF)1Function of (c):
Figure BDA0003572594840000071
the image shift speed in the focal plane array with respect to any point y on its edge is:
Figure BDA0003572594840000072
wherein, by the formula (2), theta changes with the difference of y positions; Φ is a step function defined as: phi (y is more than or equal to 0) is 1, and phi (y is less than or equal to 0) is 0. (3) The equation gives that the distance L from any point to any point y of any image shift compensation region k1：
Figure BDA0003572594840000081
Wherein, fNFor the nyquist spatial frequency, f is the focal length of the lens, Y is the width of the focal plane, k is the number of FMC regions, and the value of the integer i determines which region's center point is used in the function to subtract the value of Y.
Divide the image plane into equal blocks, each block having a width of
Figure BDA0003572594840000082
Where d is the number of divided blocks.
The forward image moving speed is only related to a longitudinal field angle, and the image moving speeds of different field angle points on an image plane are independent of a transverse field angle as follows:
Figure BDA0003572594840000083
Figure BDA0003572594840000084
l is the size of the target surface, and the speeds of adjacent points are sequentially
Figure BDA0003572594840000085
Figure BDA0003572594840000086
Compensating according to the intermediate value of the moving speed of two adjacent images, then VN-VN-1＝VN-1-VN-2＝......＝V2-V1，
According to the pixel calculation that the compensation image motion residual does not exceed 1/3, then
Figure BDA0003572594840000087
Figure BDA0003572594840000088
Get it solved
Figure BDA0003572594840000089
Wherein L is the size of a target surface, tau is exposure time, H is flight height, w is the size of a pixel, epsilon is half of the angle of field, delta is the depression angle of a camera, and f is the focal length of a lens; and V is the flight speed of the airplane.
If the value of L (y, k) is known, the Modulation Transfer Function (MTF) of the corresponding array and the parameter coupling relation such as the corresponding block number can be obtained by combining the formulas, and finally, an overall iterative model under the multi-coupling action of the three sub-modules is formed.
The different-speed image motion time sequence control module receives the time sequence control parameter line frequency calculated by the different-speed image motion parameter coupling calculation submodule, and the focal plane is divided into a plurality of rows, and each row has different speeds, so that the line frequency of different rows is controlled to control the electric charges to carry out different-speed transfer.
The camera shutter exposure time control module receives the camera exposure time calculated by the different-speed image motion parameter coupling calculation sub-module and controls the camera shutter to expose according to the calculated time;
the camera shutter exposure speed control module receives the camera exposure speed calculated by the different-speed image motion parameter coupling calculation submodule and controls the camera shutter to move according to the calculated speed;
the camera shutter width control module receives the camera exposure width calculated by the different-speed image motion parameter coupling calculation submodule to control the camera shutter to adjust the width;
the timing control module includes: the system comprises a high-speed pulse generation module, a vertical transfer time sequence control module, a horizontal transfer time sequence control module, a clock processing generation module, a synchronous signal generation module, a bus interface and a control module.
The high-speed pulse generation module, the vertical transfer time sequence control module, the horizontal transfer time sequence control module, the clock processing module, the synchronous signal generation module, the bus interface and control module are connected with the system control module.
The high-speed pulse generating module is used for generating reset pulses, an A/D conversion clock, a frame frequency synchronous clock and the like; the vertical time sequence control module is used for generating a CCD vertical transfer clock; the horizontal transfer clock time sequence control module is used for generating a CCD horizontal transfer clock; the clock processing generation module is used for generating reset pulses, front end signal processing, clamping control signals, CCD transfer driving clocks and the like; the synchronous signal generating module is used for receiving external synchronous frames and line signals or generating image frame and line synchronous signals; the bus interface and control module is used for communicating with an external controller, receiving various control instructions and configuration data and providing a communication interface with a lower chip.
The system control module is connected with the clock processing module, the synchronous signal generating module and the bus interface and control module through a Snart bus, and is connected with the high-speed pulse generating module, the vertical transfer time sequence control module and the horizontal transfer time sequence control module through a 3-Wire bus.
The different-speed image motion compensation circuit adopts Virtex-II Pro series FPGA-XC 2VP20 of Xilinx company, uses a hardware description language (VHDL) FPGA internal function module to describe under ISE8.2 development software of the Xilinx company, adopts a top-down development method to develop, realizes the design of high-level complex logic, ensures that the logic relation is very clear, reduces the complexity of logic design, and realizes the software of hardware design.
Example 2:
referring to fig. 1(a), the image shift rate of the focal plane in the flight direction of the aircraft is not constant throughout the array. It is determined by the range of tilt and the slant range R (i.e. the distance of the lens from the corresponding point of the ground scene). The larger the range, the smaller the image shift rate at the focal plane. Specifically, in the vertical flight direction, the image shift V precedes the image shift rate at some point P2P2Comprises the following steps:
Figure BDA0003572594840000101
where ε is half the angle of view, δ is the angle of depression of the camera, and f is the lens focal length; v is the aircraft flight speed; r is the slant range, i.e. the distance of the lens to a point on the ground corresponding to the focal plane. From fig. 1(a), the focal plane array FPA can be further geometrically described as follows:
Figure BDA0003572594840000102
here, y is the distance from the center line at a point on the ground area taken perpendicular to the direction of flight, for any given θ. As follows:
Figure BDA0003572594840000103
wherein δ is a depression angle, i.e., an included angle between the center of the field of view and the horizontal line; h is the altitude of the aircraft.
Thus:
Figure BDA0003572594840000111
the effect of image movement in the direction normal to the focal plane on image quality can be derived from calculating the focal plane array image movement modulation transfer function MTF. From the equation (8), for a given focal length f of the lens, a depression angle delta, an angle of view epsilon, and a velocity-height ratio V/H of the airplane, in a direction perpendicular to the focal planeVelocity v at point xxCan be expressed as:
Figure BDA0003572594840000112
the asynchronous image speed is only related to the transverse visual angle and the inclination angle of the camera and is not related to the longitudinal visual angle of the airplane through calculation and analysis.
And (3) analyzing the block selection calculation principle: according to the requirement of image motion compensation precision, a plurality of columns of pixels of the area array CCD are divided through a formula, and the appropriate number of blocks and image motion compensation speed are calculated through the formula. The principle is shown in fig. 3.
The transverse pitch angle of the lens is delta, the focal length of the lens is f, the half field angle of the lens is theta, and the ground distant view point speed is theta
Figure BDA0003572594840000113
The image moving speed of the ground near sight spot at the N points on the CCD array surface is as follows:
Figure BDA0003572594840000114
ratio of image moving speed between near and far sight spots
Figure BDA0003572594840000115
When ε takes a fixed value VN/VFThe value increases with decreasing pitch angle delta, and when delta ranges from 90 DEG theta, VN/VFThe value range [1, + ∞) indicates that the transverse pitch angle of the lens has a great influence on the difference of the image shift speed of the corresponding image point of the ground far and near object points on the CCD plane, and the difference of the image shift speed cannot be approximately ignored along with the reduction of delta.
Divide the image plane of the CCD into equal blocks, each block having a width of
Figure BDA0003572594840000116
Where d is the number of divided blocks.
The forward image moving speed is only related to a longitudinal field angle and is not related to a transverse field angle, and the image moving speed at a field angle N on an image surface is as follows:
Figure BDA0003572594840000117
therefore, an embodiment of the present invention provides an aviation different-speed image motion compensation method, referring to fig. 3, applying the aviation different-speed image motion compensation circuit includes the following specific steps:
s1, the aerial camera parameter acquisition module is responsible for acquiring relevant parameters of an aerial camera in the process of different-speed image motion compensation, the aircraft parameter acquisition sub-module acquires relevant parameters of an aircraft in the process of different-speed image motion compensation, and the detector parameter acquisition sub-module acquires relevant parameters of a detector in the process of different-speed image motion compensation;
s2, the different-speed image motion parameter coupling calculation sub-module couples, analyzes and calculates the aviation camera related parameters, the aircraft related parameters and the detector related parameters collected in the step S1 to generate different-speed image motion compensation related parameters, and inputs the calculated charge transfer rate and charge transfer frequency to the different-speed image motion time sequence control module; controlling the grouped vertical charge motion of the area array CCD; inputting the calculated exposure time into the camera shutter exposure time control module to control the shutter exposure time, inputting the calculated shutter motion speed into the camera shutter motion speed control module to control the shutter speed, and inputting the calculated shutter width into the camera shutter width control module to control the shutter width;
s3, the system control module sends signals through the bus, changes each module in real time in the working process to realize the modification of the pulses, sets vertical and horizontal transfer pulses according to the CCD array structure, sets a high-frequency time sequence, a signal processing time sequence and a synchronous time sequence, generates an external trigger signal to send light integration time, each module generates a driving time sequence required by charge transfer, and after the transfer is finished, the CCD detector enters an idle state to wait for the next trigger.
According to the method, the FPGA is utilized to carry out modular design, so that the sequential driving control of the aviation area array CCD is realized, and the aviation different-speed image motion compensation is realized. On the premise of not additionally increasing system hardware equipment, the quality, the volume, the power consumption and the cost of the imaging system can be reduced.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express the preferred embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (7)

1. An aviation different-speed image motion compensation circuit is characterized by comprising an aviation camera parameter acquisition sub-module, an aircraft parameter acquisition sub-module, a detector parameter acquisition sub-module, a different-speed image motion parameter coupling calculation module, a different-speed image motion time sequence control module, a camera shutter exposure time control module, a camera shutter motion speed control module and a camera shutter width control module;
the input end of the different-speed image motion parameter coupling calculation module is respectively connected with the aerial camera parameter acquisition submodule, the aircraft parameter acquisition submodule and the detector parameter acquisition submodule;
the different-speed image motion parameter coupling calculation module is used for coupling and calculating the relevant parameters of the aerial camera acquired by the aerial camera acquisition submodule, the aircraft parameter acquisition submodule and the detector parameter acquisition submodule to generate different-speed image motion compensation relevant parameters;
the output end of the different-speed image motion parameter coupling calculation module is respectively connected with the different-speed image motion time sequence control module, the camera shutter exposure time control module, the camera shutter motion speed control module and the camera shutter width control module;
the aerial different-speed image motion compensation circuit also comprises a system control module and a time sequence control module connected with the system control module, wherein the time sequence control module is responsible for generating various time sequence pulse signals required by the system; the system control module is used for carrying out initialization configuration on the time sequence control module and controlling the exposure time, the frame frequency and the like of the CCD.
2. The aerial different-speed image motion compensation circuit according to claim 1,
the aerial camera parameter acquisition submodule is used for acquiring relevant parameters of an aerial camera in the process of different-speed image motion compensation;
the aircraft parameter acquisition submodule is used for acquiring relevant aircraft parameters in the process of different-speed image motion compensation;
the detector parameter acquisition submodule is used for acquiring related parameters of a detector in the process of different-speed image motion compensation;
the different-speed image motion time sequence control module is used for receiving the time sequence control parameters calculated by the different-speed image motion parameter coupling calculation submodule and controlling the electric charges to carry out different-speed transfer;
the camera shutter exposure time control module is used for receiving the camera exposure time calculated by the different-speed image motion parameter coupling calculation sub-module and controlling the camera shutter to expose according to the calculated time;
the camera shutter motion speed control module is used for receiving the camera exposure speed calculated by the different-speed image motion parameter coupling calculation submodule and controlling the camera shutter to move according to the calculated speed;
the camera shutter width control module is used for receiving the camera exposure width calculated by the different-speed image motion parameter coupling calculation submodule to control the camera shutter to adjust the width.
3. The aerial differential velocity image motion compensation circuit according to claim 2, wherein the aerial camera related parameters include: resolution, sampling frequency, camera focal length, exposure time and imaging frame frequency; the aircraft-related parameters include: flight speed, flight height, inclination angle, half field angle and inclination distance; the related parameters of the detector comprise charge transfer efficiency, line frequency, target surface size, pixel size, block number and integration time; the parameters related to the different-speed image motion compensation comprise charge transfer speed and charge transfer frequency.
4. The aerial differential velocity image motion compensation circuit according to claim 1, wherein the timing control module comprises:
the high-speed pulse generating module is used for generating reset pulses, an A/D conversion clock and a frame frequency synchronous clock;
the vertical time sequence control module is used for generating a CCD vertical transfer clock;
the horizontal transfer clock time sequence control module is responsible for generating a CCD horizontal transfer clock;
the clock processing generation module is used for generating reset pulses, front-end signal processing, clamping control signals and CCD transfer driving clocks;
the synchronous signal generating module is used for receiving an external synchronous frame and a line signal or generating an image frame and a line synchronous signal;
and the bus interface and control module is used for communicating with an external controller, receiving various control instructions and configuration data and providing a communication interface with a lower chip.
5. The aerial different-speed image motion compensation circuit according to claim 4, wherein the system control module is connected with the clock processing module, the synchronous signal generation module and the bus interface and control module through a Snert bus, and the system control module is connected with the high-speed pulse generation module, the vertical transfer timing control module and the horizontal transfer timing control module through a 3-Wire bus.
6. The aerial different-speed image motion compensation circuit according to claim 1, wherein the different-speed image motion compensation circuit adopts Virtex-II Pro series FPGA-XC 2VP20 of Xilinx company, uses hardware description language (VHDL) FPGA internal function module for description under ISE8.2 development software of Xilinx company, and adopts a top-down development method for development, so that the design of high-level complex logic is realized.
7. An aviation different-speed image motion compensation method is applied to the aviation different-speed image motion compensation circuit of any one of claims 1 to 6, and is characterized by comprising the following steps of:
s1, the aerial camera parameter acquisition module is responsible for acquiring relevant parameters of an aerial camera in the process of different-speed image motion compensation, the aircraft parameter acquisition sub-module acquires relevant parameters of an aircraft in the process of different-speed image motion compensation, and the detector parameter acquisition sub-module acquires relevant parameters of a detector in the process of different-speed image motion compensation;
s2, the different-speed image motion parameter coupling calculation submodule couples, analyzes and calculates the aviation camera related parameters, the aircraft related parameters and the detector related parameters collected in the step S1 to generate different-speed image motion compensation related parameters, and inputs the calculated charge transfer rate and charge transfer frequency to the different-speed image motion time sequence control module; controlling the grouped vertical charge motion of the area array CCD; inputting the calculated exposure time into the camera shutter exposure time control module to control the shutter exposure time, inputting the calculated shutter motion speed into the camera shutter motion speed control module to control the shutter speed, and inputting the calculated shutter width into the camera shutter width control module to control the shutter width;
s3, the system control module sends signals through the bus, changes each module in real time in the working process to realize the modification of the pulses, sets vertical and horizontal transfer pulses according to the CCD array structure, sets a high-frequency time sequence, a signal processing time sequence and a synchronous time sequence, generates an external trigger signal to send light integration time, each module generates a driving time sequence required by charge transfer, and after the transfer is finished, the CCD detector enters an idle state to wait for the next trigger.
CN202210323439.2A 2022-03-30 2022-03-30 Aerial different-speed image motion compensation circuit and method Pending CN114785906A (en)

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