CN115908554A - High-precision sub-pixel simulation star map and sub-pixel extraction method - Google Patents
High-precision sub-pixel simulation star map and sub-pixel extraction method Download PDFInfo
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Abstract
The invention discloses a high-precision sub-pixel simulation star atlas and a sub-pixel extraction method, which comprises the following steps: inputting internal parameters of a star sensor CCD camera and the position of a visual axis of the camera; traversing the SAO star catalogue, and storing and screening the obtained star related data; constructing a projection mathematical model, and converting the projection mathematical model into a pixel coordinate system recognized by a computer; carrying out image digital processing; adding Gaussian noise and salt and pepper noise points to the simulated star map; carrying out gray threshold segmentation on the star map, and carrying out star point extraction; performing fitting calculation to obtain a star spot centroid coordinate, performing error analysis on the mapping coordinate and the real coordinate, and realizing sub-pixel extraction; and calculating the angular distance error between the stars to meet the precision requirement of star map simulation extraction. The invention realizes the error compensation method, achieves sub-pixel level processing, and enables the inter-satellite angular distance error to meet the requirement of 1 arc second.
Description
Technical Field
The invention relates to image processing, in particular to a high-precision sub-pixel simulation star map and a sub-pixel extraction method.
Background
The star sensor technology appears in the middle of the 20 th century at the earliest time, and the development process of the star sensor technology can be divided into four stages, namely an early-stage star sensor, a first-generation CCD (charge coupled device) star sensor, a second-generation CCD star sensor and a third-generation APS-CMOS (active pixel sensor-complementary metal oxide semiconductor) star sensor. With the continuous development of the aerospace technology, research contents of the aerospace technology relate to the aspects of star sensor optical system design, a star map simulation method, a star point centroid extraction algorithm, a star map identification method, parameter calibration and the like, and a star sensor theory and method system are formed preliminarily. Astronomical navigation applications determine the spatial position of an aircraft by observing the matching of the position of celestial bodies to simulated star maps. The simulated star map is used as an important component of astronomical navigation, and the right ascension and the declination coordinates of a star body under a celestial coordinate system simulate the imaging of a star point captured by a star sensor CCD camera through coordinate transformation and projection, so that the imaging of the star point captured by the star sensor CCD camera is accurately matched with the imaging of the star point actually captured by the star sensor CCD camera. Aiming at the requirement, a star map imaging simulated according to internal parameters of the star sensor CCD camera is designed, a navigation star catalogue is traversed, and star point imaging under a celestial globe equatorial coordinate system where a visual axis of the star sensor CCD camera is located is simulated according to the internal parameters of the star sensor CCD camera and the resolution of an imaging screen.
In the prior art, star map simulation based on a star sensor is realized through a mathematical model of a CCD camera, and corresponding star map imaging is realized through different design schemes. However, in this way, the actual position error of the imaging star point is large, and it is difficult to associate the star and the star with the gray scale, and the degree of visualization is low, so a more accurate method is needed to display the imaging star point of the analog star sensor CCD camera. Noise, such as thermal noise and photon noise caused by resistance, is generated due to interference of random signals in the image acquisition or transmission process, the star sensor CCD camera is imaged by a camera, image transmission and decoding processing generate black and white bright and dark point noise, which is called salt and pepper noise, interference star influence is generated in subsequent image processing, the existing star map does not perform pseudo interference star simulation, the authenticity of the star map is reduced, and rapid simulation cannot be performed according to internal parameters of different star sensor CCD cameras. Meanwhile, in the existing simulated star map, the error between the theoretical star point centroid and the actually extracted centroid is large, even the theoretical star point centroid and the actually extracted centroid are still in the pixel level extraction, the sub-pixel processing is not realized, even if the sub-pixel extraction precision is realized, the inter-star angular distance error can not meet the requirement of 1 arc second.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a high-precision sub-pixel simulation star atlas and a sub-pixel extraction method, so that sub-pixel level processing is achieved, and the inter-satellite angular distance error meets the requirement of 1 arc second.
The technical scheme is as follows: the invention relates to a high-precision sub-pixel simulation star atlas and a sub-pixel extraction method, which comprise the following steps:
(1) Inputting internal parameters of the star sensor CCD camera and the position of the visual axis of the camera.
(2) Reading the SAO star catalogue file, traversing the SAO star catalogue, screening fixed stars in the visual field from the SAO star catalogue according to the size of the visual field in which the visual axis is positioned, and storing relevant data of the screened fixed stars, including right ascension, declination, stars and the like.
(3) According to the imaging principle of a CCD pinhole camera model, a projection mathematical model is constructed, a three-dimensional point target in a world coordinate system is projected to a two-dimensional point, a common celestial sphere equatorial coordinate system in astronomy is converted to a space rectangular coordinate system, the space rectangular coordinate system is projected to a star-sensitive CCD camera imaging coordinate system, and finally the space rectangular coordinate system is converted to a pixel coordinate system recognized by a computer.
(4) And carrying out image digital processing, simulating star spot imaging according to a two-dimensional Gaussian mathematical model in order to realize the sub-pixel display of star spots, combining errors in the axial direction of each pixel with the two-dimensional Gaussian model in order to express the deviation degree of the mass center, and finally carrying out linear correlation on the gray value of the pixel in the spot and the star equivalent value.
(5) In order to simulate the imaging of a real CCD star sensor, gaussian noise is added to a simulated star map, the interference of environments such as external illumination is simulated, salt and pepper noise points are added, and the noise generated by the interference of random signals, including thermal noise and photon noise caused by resistance, is simulated.
(6) Random visual axis testing imaging results are extracted through the centroid of the pixel level, and angular distance errors between any two fixed stars in the visual field and planets are analyzed; the calculation formula of the angular distance error analysis is as follows:
in the formula (x) 1 ,y 1 ),(x 2 ,y 2 ) The image coordinates of two star points are respectively, f is a focal length, and s is a unit pixel value;
if the angle theta is approximately equal to theta', the correct projection of the star in the phase plane of the star sensor CCD camera can be obtained.
(7) And establishing a double-star angular distance calculation objective function, changing the resolution, iteratively calculating the double-star angular distance error, and selecting the most suitable resolution of the CCD camera of the star sensor.
(8) And (3) self-adaptive gray threshold segmentation, namely acquiring the gray value of the edge pixel, acquiring a self-adaptive gray threshold, and removing pseudo-stars and random errors caused by noise.
(9) The star map is subjected to gray threshold segmentation, star point extraction is carried out, the star map subjected to threshold segmentation is self-adaptive, the signal to noise ratio is low, and the pixel coordinates of star point light spots can be more accurately extracted by using a connected domain method.
(10) And performing fitting calculation on the extracted pixel coordinates and gray values of the star spot to obtain the primary star spot centroid coordinates with low errors.
(11) And (3) extracting a coordinate calculation value obtained by the centroid, carrying out error analysis on the mapping coordinate and the real coordinate, and displaying that the error precision between the compensated centroid coordinate and the actual coordinate is less than 1/20Pixel so as to realize sub-Pixel extraction. And calculating the calculated centroid coordinates according to a double-star angular distance calculation formula, wherein the result of the obtained inter-star angular distance error is less than 1', and the precision requirement of star map simulation extraction is met.
A computer storage medium having stored thereon a computer program which, when executed by a processor, implements a high precision sub-pixel simulation star map and sub-pixel extraction method as described above.
A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement a high-precision sub-pixel simulation star map and a sub-pixel extraction method as described above.
Has the beneficial effects that: compared with the prior art, the invention has the following advantages:
1. the star point positioning standard deviation is within 0.05 pixel, the maximum star point positioning error is not more than 0.1 pixel, the simulated star map has higher accuracy, and the simulated star point position is accurate;
2. through simulating a star map, the result of the angular distance error between the two stars is less than 1', and the positioning precision requirement of star map simulation extraction is met;
3. self-adaptive threshold segmentation can be performed, so that star points in the star map can be rapidly segmented under the condition of containing noise according to edge information of the star map, and the integrity of the segmented star points is ensured;
4. in the graph simulation process, the resolution of the star sensor CCD is analyzed as a factor influencing the star point positioning precision, and the proper resolution can be quickly selected according to actual requirements.
Drawings
FIG. 1 is a flow chart of the steps of the method of the present invention;
FIG. 2 is a schematic diagram of a star map without star information and noise added;
FIG. 3 is a schematic diagram of a star map with star information and Gauss noise added;
FIG. 4 is a star chart illustrating the addition of salt and pepper noise.
Detailed Description
The technical scheme of the invention is further explained by combining the attached drawings.
As shown in fig. 1, a high-precision sub-pixel simulation star atlas and a sub-pixel extraction method include the following steps:
1. firstly, inputting internal parameters FOV, focal length f, physical pixel s, pixel n, visual axis right ascension alpha and declination delta of a CCD camera.
2. To facilitate computer programming, according to the input star sensor CCD internal reference FOV, the star (alpha) will fall into the star sensor CCD camera field of view 0 ，δ 0 ) The search range of (1) is defined as:
(δ-FOV/2≤δ 0 ≤δ+FOV/2)
3. traverse the star table and save the data that will fall within the search range (alpha) 0 ，δ 0 ) The star number, right ascension, declination, star and the like, and data processing is performed to form a standard star map under the visual axis.
Due to stars (alpha) 0 ，δ 0 ) Adopting celestial sphere equatorial coordinate system, transforming celestial sphere coordinate system into space rectangular coordinate system (X, Y, Z), and rotating Z-X-Z' sequence and its rotation by Euler angleAngle of rotation theta z 、θ x 、θ z′ Transformation into the camera coordinate system (x) c ,y c ,z c ) As shown in the formula.
M is a transformation matrix. Since the stars per se have large differences in actual size, but the single star field angle of the stars viewed from the earth is much smaller than 1", the stars can be regarded as an ideal point light source. And traversing the star catalogue by using less than 6 such as SAO star catalogue stars and the like as simulation objects. Simulating CCD camera imaging, mostly adopting pinhole model to carry out approximation, and realizing one point p (x) in space by using pinhole imaging principle c ,y c ,z c ) Projected into the image coordinate system, forming a corresponding point p' (x, y) in the image. Representing the point p' (x, y) and the point p (x) in three-dimensional space in terms of homogeneous coordinates c ,y c ,z c ) The transformation relation of (A) is shown in the formula.
The pixel coordinate system does not coincide with the unit of the image coordinate system, but can be linked by a description of the image. The relation between the two is to convert the image information into a transformation relation for computer processing, and p (u, v) is expressed in the form of homogeneous coordinates under a computer pixel coordinate system as follows:
where dx and dy represent the physical width and height of the pixel, respectively. The transformation relation between the imaging coordinate system and the pixel coordinate system is therefore:
the above process is to project the celestial globe equatorial coordinate system of the stars in the basic star chart to the camera imaging coordinate system and to represent it in the computer pixel coordinate system, as shown in fig. 2. According to the formula, the position coordinate of the fixed star on the star sensor photosensitive plane is as follows:
4. a single pixel can not completely simulate the imaging of star points on a star sensor CCD camera, and in order to realize high-precision extraction of the fixed star, the star light energy is dispersed and distributed on a plurality of pixels, and interpolation calculation is carried out by using star point signals received by the pixels so as to achieve the star point positioning precision of a sub-pixel level. The star of the fixed star and the like can generate the phenomenon of light spot diffusion, and the energy distribution of the fixed star is approximate to two-dimensional Gaussian distribution:
and performing sub-pixel display on the star points by using a two-dimensional Gaussian mathematical model. And combining the error of each pixel axis direction with the two-dimensional Gaussian model. And finally, linearly correlating the gray value of the pixel in the light spot with the star-like value. For convenience of computer programming, the energy received by a pixel is the integral of the star point energy distribution function over the pixel area, so the corresponding energy of the pixel at location coordinate (x, y) is:
the maximum gray value corresponding to the pixel of the digital analog star image is set to be 255, and the brightness of the star and the star is linearly related to the gray value I (0-255) of the pixel. The larger the star is, the smaller the brightness is, and the star table is traversed this time with 0-6 stars, so that the gray value is 255 with the maximum brightness of 2 stars and the like, as shown in fig. 3. I.e. star spot:
the central position gray value A and the star m satisfy the following linear relation:
A i ＝k×(m max -m i )+A min
5. the field of view is darker and the brightness is uneven in the imaging process of the CCD camera with the Gaussian noise simulation star sensor, and Gaussian noise appears at all positions in an image, as shown in FIG. 3. Salt and pepper noise is generated by bright and dark noise points which are generated in the image transmission and decoding process and are arranged between black and white at random on an image and can generate pseudo-star influence. Gaussian noise is a type of noise whose probability density function of noise distribution follows gaussian distribution (normal distribution), and is expressed by the following formula:
where z represents the gray value of an image pixel, μ represents the mean or expected value of the gray value, σ represents the standard deviation of the gray value, and the square of the standard deviation (σ) 2 ) For variance, gaussian noise appears at all locations in the image. And adding salt and pepper noise, wherein according to the characteristic that the salt and pepper noise randomly appears at any position in the image, two random numbers can be generated through a random function and are respectively used for determining rows and columns generated by the salt and pepper noise under a pixel coordinate system and determining the type of the noise, so that in the secondary simulation star chart, the black noise is close to the gray value of the background environment, the observation is difficult and the experimental result is not influenced. Therefore, white noise is used to simulate the pseudo-star effect, and finally, an image containing salt and pepper noise is obtained.
6. And carrying out angular distance error calculation on the fixed star coordinate values under the imaging coordinates obtained by coordinate conversion, wherein the calculation formula is as follows:
if the angle theta is approximately equal to theta', the correct projection of the star in the phase plane of the star sensor CCD camera can be obtained. Since the minimum unit in the pixel coordinate system is a pixel, the obtained star centroid is only at the pixel level.
7. Therefore, the two-dimensional Gaussian model is used for representing star points, and the centroid precision can reach the sub-pixel level. The angular distance error calculation formula (theta-theta ') is used as an objective function, the pixel N is used as an iteration condition, and the values of the (theta-theta') double-star angular distance errors are found to be close wirelessly with the increase of the resolution of the camera, so that the imaging of the simulated star points is more accurate with the increase of the pixel N. Therefore, the pixel resolution (1024 × 1024) is adopted as a research object to simulate star map imaging of the CCD star sensor.
8. The processing method of the star map removes pseudo-stars and environmental noise through gray threshold segmentation, and retains the star spot after segmentation. The mapping coordinates are not integers generally, and the minimum unit under a pixel coordinate system is a pixel, so that the centroid of the star point is extracted by adopting a Gaussian surface fitting algorithm to achieve sub-pixel precision.
9. The Gaussian surface fitting algorithm is based on the assumption that the energy distribution of the star points approximately conforms to a Gaussian distribution model, the two-dimensional Gaussian surface is adopted to realize fitting and calculation of the target star points on the central coordinate of the imaging plane, and the mathematical expression corresponding to the two-dimensional Gaussian surface model is as follows:
is provided with a set of experimental data (x) i ,y i ) (i =1,2,3..) can be described by a gaussian function.
In the formula, the parameter x to be estimated max ，y max And S are the peak, peak position and half-width information of the gaussian curve, respectively. In the above formula, the two sides are obtained from natural logarithm, and are:
order to
And considering the gray values of all pixel points in the light spot, and expressing the gray values in a matrix form as follows:
for brevity, this is:
Z＝XB
10. according to the least squares principle, the generalized least squares solution of the constructed matrix B is:
B＝(X T X) -1 X T Z
then, the parameter x to be estimated is solved according to the formula max ，y max And s, obtaining characteristic parameters of the Gaussian function. The central coordinates of the light spots can be solved by using a least square method.
11. The experiment is carried out by adopting Visual Studio 2017+ OpenCV4.0, the star sensor CCD camera simulation star atlas is carried out by selecting the optimal resolution under the resolution iteration under the random Visual axis (36.00 degrees, -27.00 degrees) and the field angle FOV (8 degrees multiplied by 8 degrees), the fast simulation is carried out by the OpenCV platform under the pixel area (1024 multiplied by 1024), and the projection result is shown in table 1 and is used for simulating the study of star atlas preprocessing and the star spot centroid extraction method. By searching the optimal resolution and the sub-pixel display and extraction method, the inter-satellite angular distance can reach 1', which is superior to other methods.
TABLE 1 right ascension and declination imaging coordinates
Claims (8)
1. A high-precision sub-pixel simulation star atlas and a sub-pixel extraction method are characterized by comprising the following steps:
(1) Inputting internal parameters of a star sensor CCD camera and the position of a visual axis of the camera;
(2) Reading an SAO star catalogue file or other star catalogue files, traversing the star catalogue, screening fixed stars in a visual field from the star catalogue according to the size of the visual field in which the visual axis is positioned, and storing relevant data of the screened fixed stars;
(3) According to the imaging principle of a CCD pinhole camera model, a projection mathematical model is constructed, a three-dimensional point target in a world coordinate system is projected to a two-dimensional point, a common celestial sphere equatorial coordinate system in astronomy is converted to a space rectangular coordinate system, the space rectangular coordinate system is projected to a star-sensitive CCD camera imaging coordinate system, and finally the space rectangular coordinate system is converted to a pixel coordinate system identified by a computer;
(4) Carrying out image digital processing, simulating star spot imaging according to a two-dimensional Gaussian mathematical model in order to realize the sub-pixel display of star points, combining errors in the axial direction of each pixel with the two-dimensional Gaussian model in order to express the centroid offset degree, and finally carrying out linear correlation on the gray value of the pixel in the spot and a star equivalent value;
(5) In order to simulate the imaging of a real CCD star sensor, gaussian noise is added to a simulated star map, the interference of the environment is simulated, salt and pepper noise points are added, and the noise generated by the interference of random signals is simulated;
(6) Random visual axis test imaging results are extracted through a centroid of a sub-pixel level, and angular distance errors between any two fixed stars and any two planets in a visual field are analyzed;
(7) Establishing a double-star angular distance calculation objective function, changing the resolution, iteratively calculating double-star angular distance errors, and selecting the most suitable resolution of the CCD camera of the star sensor;
(8) Self-adaptive gray threshold segmentation, namely acquiring the gray value of an edge pixel, acquiring a self-adaptive gray threshold, and removing pseudo-stars and random errors caused by noise;
(9) The star map is subjected to adaptive gray threshold segmentation, star point extraction is carried out, the signal to noise ratio of the star map subjected to adaptive threshold segmentation is low, and the pixel coordinates of star point light spots can be more accurately extracted by using a connected domain method;
(10) Performing fitting calculation on the extracted pixel coordinates and gray values of the star spot to obtain a primary star spot mass center coordinate with a low error;
(11) The coordinate calculation value obtained by centroid extraction is used for carrying out error analysis on the mapping coordinate and the real coordinate, the accuracy of the error between the compensated centroid coordinate and the actual coordinate is displayed to be less than 1/20Pixel, and sub-Pixel extraction is realized; and calculating the calculated centroid coordinates according to a double-star angular distance calculation formula, wherein the result of the obtained inter-star angular distance error is less than 1', and the precision requirement of star map simulation extraction is met.
2. The method as claimed in claim 1, wherein the data related to stars in step (2) includes right ascension, declination, and stars.
3. A high-precision sub-pixel simulation star atlas and sub-pixel extraction method as claimed in claim 1, wherein the correlation formula of the linear correlation of gray scale and star-like value in step (4) is:
A i ＝k×(m max -m i )+A min
wherein A is the gray scale value and m is the star, etc.
4. A high precision sub-pixel simulation star atlas and sub-pixel extraction method as claimed in claim 1, wherein the disturbance of the environment in step (5) comprises external illumination, and the noise generated by the disturbance of the random signal comprises thermal noise and photon noise caused by resistance.
5. A high accuracy sub-pixel simulation star atlas and sub-pixel extraction method as claimed in claim 1, wherein the calculation formula of angular distance error analysis in step (6) is:
wherein (x) 1 ,y 1 ),(x 2 ,y 2 ) The image coordinates of two star points are respectively, f is the focal length, and s is the unit pixel value.
6. The method according to claim 1, wherein the step (7) of establishing a dual-star angular distance calculation objective function (θ - θ') is used as the objective function, and the CCD camera pixel N is used as the optimization result to optimize the optimal resolution.
7. If the angle theta is approximately equal to theta', the correct projection of the star in the phase plane of the star sensor CCD camera can be obtained. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements a high precision sub-pixel simulated star map and sub-pixel extraction method as claimed in any one of claims 1-6.
8. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the computer program implements a high precision sub-pixel simulation star atlas and sub-pixel extraction method as claimed in any one of claims 1-6.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116755169A (en) * | 2023-06-13 | 2023-09-15 | 南京航空航天大学 | Small target detection method and system based on star map identification and brightness priori information |
| CN116933567A (en) * | 2023-09-15 | 2023-10-24 | 中国科学院光电技术研究所 | Space-based complex multi-scene space target simulation data set construction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116755169A (en) * | 2023-06-13 | 2023-09-15 | 南京航空航天大学 | Small target detection method and system based on star map identification and brightness priori information |
| CN116755169B (en) * | 2023-06-13 | 2024-04-30 | 南京航空航天大学 | Small target detection method and system based on star map identification and brightness priori information |
| CN116933567A (en) * | 2023-09-15 | 2023-10-24 | 中国科学院光电技术研究所 | Space-based complex multi-scene space target simulation data set construction method |
| CN116933567B (en) * | 2023-09-15 | 2024-02-02 | 中国科学院光电技术研究所 | Space-based complex multi-scene space target simulation data set construction method |
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