CN114820301A - Ground remote sensing system based on rotating reflector conical scanning imaging and imaging method thereof - Google Patents
Ground remote sensing system based on rotating reflector conical scanning imaging and imaging method thereof Download PDFInfo
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Abstract
The invention relates to a ground remote sensing system based on conical scanning imaging of a rotating reflector and an imaging method thereof. The invention relates to the technical field of remote sensing imaging, and the system comprises: a satellite platform and an imaging system; the imaging system is arranged on a satellite platform and used for imaging the earth surface, and the image splicing computer is used for splicing and fusing the acquired images. The imaging system comprises a motor, a reflector, a lens barrel and a connecting structure, wherein the motor is directly connected with the reflector to drive the reflector to rotate, and the connecting structure is connected with the motor and a load platform; the lens is fixed inside the lens barrel, the lens barrel is fixed on the satellite platform body, the lens remotely senses the ground through the reflector, and the motor enables the reflector to rotate at different specific angles according to the control circuit instruction.
Description
Technical Field
The invention relates to the technical field of remote sensing imaging, in particular to a ground remote sensing system based on rotary reflector conical scanning imaging and an imaging method thereof.
Background
In recent years, the development speed of the satellite remote sensing technology is very rapid, related theories and technologies tend to be mature, and the satellite remote sensing technology is widely applied to the fields of city management, engineering construction, disaster prevention and control, agricultural production, military reconnaissance and the like at home and abroad.
With the continuous development of the microsatellite technology, more and more applications of ground remote sensing are realized by formation flying and networking of a plurality of microsatellites. In order to obtain the optimal remote sensing observation effect of the satellite, the resolution and the field range of the satellite remote sensing image need to be improved simultaneously, but the resolution and the field range are in a negative correlation relationship and are difficult to be considered simultaneously. The remote sensing camera meeting the resolution requirement has the defects of high cost, high design and manufacturing difficulty, high equipment quality and the like, and the application prospect of the satellite remote sensing technology on the microsatellite is greatly limited. Therefore, the development of a remote sensing system with small volume, light weight, high resolution and wide field range to meet the use requirement of the microsatellite is a major research problem.
Disclosure of Invention
The invention meets the requirements of miniaturization and light weight of the microsatellite without losing resolution and field range, therefore, the invention provides a ground remote sensing system based on the conical scanning imaging of a rotating reflector and an imaging method thereof, and the invention provides the following technical scheme:
a remote ground sensing system based on rotating mirror cone scan imaging, the system comprising: a satellite platform and an imaging system;
the imaging system is arranged on a satellite platform and used for imaging the earth surface, and the image splicing computer is used for splicing and fusing the acquired images.
Preferably, the imaging system comprises a motor, a reflector, a lens barrel and a connecting structure, wherein the motor is directly connected with the reflector to drive the reflector to rotate, and the connecting structure is connected with the motor and the load platform; the lens is fixed inside the lens barrel, the lens barrel is fixed on the satellite platform body, the lens remotely senses the ground through the reflector, and the motor enables the reflector to rotate at different specific angles according to the control circuit instruction.
Preferably, the imaging system adopts a conical scanning imaging mode of a rotating reflector, and the motor rotates to enable the reflector to rotate around a rotating shaft which passes through the center of the reflector but is not perpendicular to the mirror surface to form conical scanning.
Preferably, the ground coverage width will be determined by the field half cone angle, increasing linearly with increasing track height, and increasing faster as the field half cone angle increases, and when the track height is known, determining the mirror pitch angle, resulting in a determined field half cone angle, and thus a determined breadth; the exposure time interval of the camera is determined according to the rotation speed and the pitch angle of the plane mirror, so that a plurality of images with mutual overlapping can be obtained.
Preferably, the image stitching computer is capable of performing image stitching and fusion on a plurality of mutually overlapped images acquired by the imaging system.
Preferably, the image stitching process comprises: image preprocessing, image registration, image fusion and boundary smoothing, wherein the image preprocessing is used for carrying out geometric distortion correction and noise reduction on an image; performing image registration to extract matching information of the reference image and the image to be spliced to complete image alignment; image fusion stitches images and smoothes stitched boundaries.
A ground remote sensing imaging method based on rotating reflector conical scanning imaging comprises the following steps:
step 1: the controller receives a ground instruction, collects position sensor data and determines that the satellite runs to a specified position on a specified orbit; after the controller receives the correct position information, the controller triggers the imaging system to work, a motor in the imaging system controls the reflector to rotate, and a visual sensor in the imaging system starts to acquire images;
step 2: the imaging system transmits the image to the image processor through the satellite communication system, the image processor receives the image and then transmits an instruction to the controller, and the controller controls the imaging system to continue to acquire the image;
and step 3: the motor in the imaging system rotates the reflector to another angle, the processes are repeated, and finally the image processor splices and fuses the images to obtain a wide-field high-resolution remote sensing image;
and 4, step 4: the satellite platform moves to a designated imaging position, so that the required image area is positioned in a shooting range; the camera in the imaging system is used for reflecting and imaging through the reflector and obtaining a plurality of images with overlapped areas through continuous rotating and scanning of the reflector until the camera acquires the required number of pictures.
Preferably, the imaging system transmits the image to an image splicing computer through a satellite communication system, and the image splicing computer performs preprocessing, feature point extraction, feature matching, boundary smoothing, splicing fusion and storage operations on a plurality of images with overlapped regions to obtain a final wide-field high-resolution image; and if the ideal image cannot be obtained, acquiring the image again.
Preferably, the method comprises the following steps:
the orbit height of the satellite platform is between 150-:
ω s ＝K×(1+η)×360×V s ÷r (1)
the calculation formula of the track speed is shown as formula (2):
wherein, V s Is the satellite orbital velocity; omega s Is the satellite rotational angular velocity; r has r according to the actual condition 1 、r 2 Two options, r 1 Represents the arc length from far field point to sub-satellite point in the initial state of the satellite, r 2 Representing the arc length from a near field point to a sub-satellite point in the initial state of the satellite; k is the critical coefficient of the cyclic scan, and K is selected in relation to r (r ═ r) 1 )>K(r＝r 1 ) In the case of selected r, ω s When determining, the smaller K is, the larger the ground coverage overlapping rate is; eta is the track forward interframe overlapping rate, and the ground remote sensing system is selected to be 10%.
Preferably, the satellite orbit velocity Vs and the satellite rotation angular velocity Ws are calculated according to the requirements of the orbit altitude of the task and the like, and the ground remote sensing system can meet the imaging task requirement of the orbit altitude of 150-.
The invention has the following beneficial effects:
in order to reduce the quality of an imaging system and obtain a remote sensing image with high resolution and wide view field, the local remote sensing system adopts a conical scanning imaging device based on a rotating reflector, can obtain a plurality of images by rotating the reflector, and obtains the high resolution image with wide view field after image splicing.
For a microsatellite, a camera is usually the main load, and compared with a mode of rotating the camera to increase the field of view, the inertia change caused by rotating a reflector is smaller, so that the load of a satellite platform attitude control system is less.
The invention provides a rotary reflector conical scanning imaging-based ground remote sensing system, which comprises a satellite platform, an imaging system, an image splicing computer and a wide-field high-resolution remote sensing image acquisition system. The local remote sensing system can solve the practical problem that the low-mass load wide view field range and the high-resolution imaging of the microsatellite are difficult to be considered based on the scanning imaging of the rotating reflector.
Drawings
FIG. 1 is a schematic structural diagram of a remote ground sensing system based on conical scanning imaging of a rotating reflector;
FIG. 2 is a schematic structural diagram of an optical imaging system of the remote ground sensing system based on conical scanning imaging of a rotating reflector;
FIG. 3 is a schematic diagram of an optical imaging system of the remote ground sensing system based on conical scanning imaging of a rotating reflector;
FIG. 4 is an image stitching schematic diagram of a remote sensing system to the ground based on the conical scanning imaging of a rotating reflector;
FIG. 5 is a topological diagram of a remote ground sensing system based on conical scanning imaging of a rotating reflector;
FIG. 6 is a flow chart of the use of the remote ground sensing system based on the conical scanning imaging of the rotating reflector.
Detailed Description
The present invention will be described in detail with reference to specific examples.
The first embodiment is as follows:
as shown in fig. 1 to 6, the specific optimized technical solution adopted to solve the above technical problems of the present invention is: the invention relates to a ground remote sensing system based on conical scanning imaging of a rotating reflector and an imaging method thereof.
A remote ground sensing system based on rotating mirror cone scan imaging, the system comprising: a satellite platform 1 and an imaging system 2; a satellite platform 1 in the earth remote sensing system based on the rotating reflector conical scanning imaging runs on a specific orbit, an imaging system 2 is installed on the satellite platform 1, the imaging system 2 images the earth surface, and an image splicing computer splices and fuses acquired images.
The imaging system comprises a motor, a reflector, a lens barrel and a connecting structure, wherein the motor is directly connected with the reflector to drive the reflector to rotate, and the connecting structure is connected with the motor and a load platform; the lens is fixed inside the lens barrel, the lens barrel is fixed on the satellite platform body, the lens remotely senses the ground through the reflector, and the motor enables the reflector to rotate at different specific angles according to the control circuit instruction.
The imaging system adopts a mode of rotating the reflector for conical scanning imaging, and the motor rotates to enable the reflector to rotate around a rotating shaft which passes through the circle center of the reflector but is not vertical to the mirror surface, so that conical scanning is realized. The optical system for the mirror cone scanning imaging utilizes the characteristics of small volume and light weight, and can effectively solve the contradiction between high resolution and wide view field of the satellite remote sensing image under the condition of basically not changing the mass of the micro-satellite and not increasing the difficulty of satellite attitude control. The image splicing computer can carry out operations such as preprocessing, feature point extraction, matching alignment, projection transformation, image fusion and the like on the image through an image splicing algorithm.
The coverage width of the ground is determined by the field half-cone angle, the coverage width linearly increases along with the increase of the track height, the increasing speed is increased when the field half-cone angle is increased, and when the track height is known, the determined reflector pitch angle is obtained to obtain the determined field half-cone angle, so that the determined breadth is obtained; the exposure time interval of the camera is determined according to the rotation speed and the pitch angle of the plane mirror, so that a plurality of images with mutual overlapping can be obtained.
Referring to fig. 2, the image stitching computer operates according to the designated code, performs preprocessing such as noise point suppression on the reference image and the image to be registered, and then performs feature extraction and matching on the images; and after the optimal matching points are extracted, image matching is carried out by solving the homography matrix, and then the images are spliced and fused.
Referring to fig. 3, a controller on the satellite receives a ground command, collects position sensor data, and triggers the imaging system when information is obtained that the satellite moves to a specified position. And then, an internal vision sensor of the imaging system acquires images through a reflector, the images are transmitted to an image processor through a satellite communication system, and the images are spliced and fused by the image processor to obtain a wide-field-of-view high-resolution remote sensing image.
Firstly, a controller receives a ground instruction, collects position sensor data and determines that a satellite runs to a specified position on a specified orbit; after the controller receives the correct position information, the controller triggers the imaging system to work, a motor in the imaging system controls the reflector to rotate, and a visual sensor in the imaging system starts to acquire images; the imaging system transmits the image to the image processor through the satellite communication system, the image processor receives the image and then transmits an instruction to the controller, the controller controls the imaging system to continue to collect the image, the motor in the imaging system enables the reflector to rotate to another angle, the processes are repeated, and finally the image processor splices and fuses the image to obtain the wide-view-field high-resolution remote sensing image.
Referring to fig. 4, the satellite platform 1 is moved to a designated imaging position so that a desired image area is located within a photographable range. The camera in the imaging system 2 is used for imaging through reflection of the reflector, and a plurality of images with overlapped areas are obtained through continuous rotating scanning of the reflector until the camera acquires the required number of pictures. The imaging system transmits the images to an image splicing computer through a satellite communication system, and the image splicing computer performs operations such as preprocessing, feature point extraction, feature matching, boundary smoothing, splicing fusion, storage and the like on a plurality of images with overlapped areas to obtain a final wide-field high-resolution image; and if the ideal image cannot be obtained, acquiring the image again.
The second embodiment is as follows:
the invention provides a ground remote sensing imaging method based on conical scanning imaging of a rotating reflector, which comprises the following steps:
step 1: the controller receives a ground instruction, collects position sensor data and determines that the satellite runs to a specified position on a specified orbit; after the controller receives the correct position information, the controller triggers the imaging system to work, a motor in the imaging system controls the reflector to rotate, and a visual sensor in the imaging system starts to acquire images;
step 2: the imaging system transmits the image to the image processor through a satellite from the satellite communication system, the image processor receives the image and then transmits an instruction to the controller, and the controller controls the imaging system to continuously acquire the image;
and step 3: the motor in the imaging system rotates the reflector to another angle, the processes are repeated, and finally the image processor splices and fuses the images to obtain a wide-field high-resolution remote sensing image;
and 4, step 4: the satellite platform moves to a designated imaging position, so that the required image area is positioned in a shooting range; the camera in the imaging system is used for reflecting and imaging through the reflector and obtaining a plurality of images with overlapped areas through continuous rotating and scanning of the reflector until the camera acquires the required number of pictures.
The imaging system transmits the images to an image splicing computer through a satellite communication system, and the image splicing computer performs preprocessing, feature point extraction, feature matching, boundary smoothing, splicing fusion and storage operations on a plurality of images with overlapped regions to obtain a final wide-field high-resolution image; and if the ideal image cannot be obtained, acquiring the image again.
The orbit height of the satellite platform is between 150-:
ω s ＝K×(1+η)×360×V s ÷r (1)
the calculation formula of the track speed is shown as formula (2):
wherein, V s Is the satellite orbital velocity; omega s Is the satellite rotational angular velocity; r has r according to the actual condition 1 、r 2 Two options, r 1 Represents the arc length from far field point to sub-satellite point in the initial state of the satellite, r 2 Representing the arc length from a near field point to a sub-satellite point in the initial state of the satellite; k is the critical coefficient of the cyclic scan, and K is selected in relation to r (r ═ r) 1 )>K(r＝r 1 ) In the case of selected r, ω s When determining, the smaller K is, the larger the ground coverage overlapping rate is; eta is the track forward interframe overlapping rate, and the ground remote sensing system is selected to be 10%.
And calculating a satellite orbit velocity Vs and a satellite rotation angular velocity Ws according to requirements such as the orbit height of a task, wherein the ground remote sensing system can meet the imaging task requirement of the orbit height of 150-36000 km.
The above description is only a preferred embodiment of the remote sensing system and the imaging method thereof based on the rotating reflector conical scanning imaging, and the protection scope of the remote sensing system and the imaging method thereof based on the rotating reflector conical scanning imaging is not limited to the above embodiments, and all technical solutions belonging to the idea belong to the protection scope of the present invention. It should be noted that modifications and variations which do not depart from the gist of the invention will be those skilled in the art to which the invention pertains and which are intended to be within the scope of the invention.
Claims (10)
1. A kind of remote sensing system to the ground based on the conical scanning imaging of the rotating reflector, its characteristic is: the system comprises: a satellite platform and an imaging system;
the imaging system is arranged on a satellite platform and used for imaging the earth surface, and the image splicing computer is used for splicing and fusing the acquired images.
2. The remote sensing system of claim 1, wherein the remote sensing system comprises: the imaging system comprises a motor, a reflector, a lens barrel and a connecting structure, wherein the motor is directly connected with the reflector to drive the reflector to rotate, and the connecting structure is connected with the motor and a load platform; the lens is fixed inside the lens barrel, the lens barrel is fixed on the satellite platform body, the lens remotely senses the ground through the reflector, and the motor enables the reflector to rotate at different specific angles according to the control circuit instruction.
3. The remote sensing system of claim 2, wherein the remote sensing system comprises:
the imaging system adopts a mode of rotating the reflector for conical scanning imaging, and the motor rotates to enable the reflector to rotate around a rotating shaft which passes through the circle center of the reflector but is not vertical to the mirror surface, so that conical scanning is realized.
4. The remote sensing system of claim 3, wherein the remote sensing system comprises: the coverage width of the ground is determined by the field half-cone angle, the coverage width linearly increases along with the increase of the track height, the increasing speed is increased when the field half-cone angle is increased, and when the track height is known, the determined reflector pitch angle is obtained to obtain the determined field half-cone angle, so that the determined breadth is obtained; the exposure time interval of the camera is determined according to the rotation speed and the pitch angle of the plane mirror, so that a plurality of images with mutual overlapping can be obtained.
5. The remote sensing system of claim 4, wherein the remote sensing system comprises:
the image splicing computer can splice and fuse a plurality of mutually overlapped images acquired by the imaging system.
6. The remote sensing system of claim 5, wherein the remote sensing system comprises:
the image stitching process comprises the following steps: image preprocessing, image registration, image fusion and boundary smoothing, wherein the image preprocessing is used for carrying out geometric distortion correction and noise reduction on an image; performing image registration to extract matching information of the reference image and the image to be spliced to complete image alignment; image fusion stitches images and smoothes stitched boundaries.
7. A ground remote sensing imaging method based on rotating reflector conical scanning imaging is characterized in that: the method comprises the following steps:
step 1: the controller receives a ground instruction, collects position sensor data and determines that the satellite runs to a specified position on a specified orbit; after the controller receives the correct position information, the controller triggers the imaging system to work, a motor in the imaging system controls the reflector to rotate, and a visual sensor in the imaging system starts to acquire images;
step 2: the imaging system transmits the image to the image processor through a satellite from the satellite communication system, the image processor receives the image and then transmits an instruction to the controller, and the controller controls the imaging system to continuously acquire the image;
and step 3: the motor in the imaging system rotates the reflector to another angle, the processes are repeated, and finally the image processor splices and fuses the images to obtain a wide-field high-resolution remote sensing image;
and 4, step 4: the satellite platform moves to a designated imaging position, so that the required image area is positioned in a shooting range; the camera in the imaging system is used for reflecting and imaging through the reflector and obtaining a plurality of images with overlapped areas through continuous rotating and scanning of the reflector until the camera acquires the required number of pictures.
8. The remote sensing imaging method to the ground based on the rotating reflector conical scanning imaging as claimed in claim 7, wherein: the imaging system transmits the images to an image splicing computer through a satellite communication system, and the image splicing computer performs preprocessing, feature point extraction, feature matching, boundary smoothing, splicing fusion and storage operations on a plurality of images with overlapped regions to obtain a final wide-field high-resolution image; and if the ideal image cannot be obtained, acquiring the image again.
9. The remote sensing imaging method to the ground based on the rotating reflector conical scanning imaging as claimed in claim 8, wherein:
the satellite platform orbit height is between 150-:
ω s ＝K×(1+η)×360×V s ÷r (1)
the calculation formula of the track speed is shown as formula (2):
wherein, V s Is the satellite orbital velocity; omega s Is the satellite rotational angular velocity; r has r according to the actual condition 1 、r 2 Two options, r 1 Represents the arc length from far field point to sub-satellite point in the initial state of the satellite, r 2 Representing the arc length from a near field point to a sub-satellite point in the initial state of the satellite; k is the critical coefficient of the cyclic scan, and K is selected in relation to r (r ═ r) 1 )>K(r＝r 1 ) In the case of selected r, ω s When determining, the smaller K is, the larger the ground coverage overlapping rate is; eta is the track forward interframe overlapping rate, and the remote sensing system to the ground selects 10 percent.
10. The remote sensing imaging method to the ground based on the rotating reflector conical scanning imaging as claimed in claim 9, wherein:
and calculating a satellite orbit velocity Vs and a satellite rotation angular velocity Ws according to requirements such as the orbit height of a task, wherein the ground remote sensing system can meet the imaging task requirement of the orbit height of 150-36000 km.
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