CN115909877A - Aerial camera dynamic imaging ground test equipment and test method - Google Patents
Aerial camera dynamic imaging ground test equipment and test method Download PDFInfo
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Abstract
The invention provides a ground test device and a test method for dynamic imaging of an aerial camera, which relate to the technical field of aerial cameras and comprise a hardware module and a control system, wherein the hardware module comprises a universal bracket, the aerial camera and a ground simulation display screen, the ground simulation display screen is positioned on the ground, the universal bracket is suspended at a position above the ground simulation display screen, the aerial camera is arranged at the bottom of the universal bracket, and a sending end component is arranged in the aerial camera; the invention displays different simulators on the ground simulation display screen through the simulators database for shooting simulation of the aerial camera, adjusts the display resolution of the ground simulation display screen through the resolution adjusting module, performs fuzzy shooting, adjusts the size proportion of the simulators displayed on the ground simulation display screen through the scaling module, and simulates and adjusts the distance between the simulators and the aerial camera, so as to compare the simulators with the shot images of the standard simulators to obtain a test conclusion, and the simulators are diversified and have more perfect test.
Description
Technical Field
The invention relates to the technical field of aerial cameras, in particular to dynamic imaging ground test equipment and a dynamic imaging ground test method for an aerial camera.
Background
With the continuous deepening of the application demand of the aerial high-resolution camera, the requirement on the aerial camera is gradually improved, the focal length of the camera is gradually changed from short to long, the preliminary appearance contour detection is gradually developed into the resolution on target details, so that the imaging equipment in the long focal length is required to have high static imaging performance, and the dynamic comprehensive performance including image motion compensation precision and the like is required to have high enough requirement, so that the imaging quality of the aerial camera in the actual working state can be ensured, the ground test of the dynamic imaging of the aerial camera is developed, the comprehensive imaging performance can be more comprehensively evaluated, the imaging quality is reflected, and the technical support for developing the high-quality imaging equipment is provided;
in the prior art, for example, application No. CN114935331A discloses "a system and a method for testing dynamic imaging ground of an aerial camera", and specifically discloses: the static target and the moving target are tested simultaneously, and the testing requirements of the aerial camera on the static and moving targets on the ground can be met; however, in the above-mentioned technology, the dynamic and static simulators are adopted, and the simulators have singleness, and it is difficult to comprehensively test the imaging quality of the camera, so the invention provides a dynamic imaging ground test device and a test method for an aerial camera to solve the problems in the prior art.
Disclosure of Invention
Aiming at the problems, the invention provides the ground test equipment and the test method for the dynamic imaging of the aerial camera, and the ground test equipment and the test method for the dynamic imaging of the aerial camera have diversified simulators and are more complete in test.
In order to realize the purpose of the invention, the invention is realized by the following technical scheme: the ground test equipment for dynamic imaging of the aerial camera comprises a hardware module and a control system, wherein the hardware module comprises a universal bracket, the aerial camera and a ground simulation display screen, the ground simulation display screen is positioned on the ground, the universal bracket is suspended above the ground simulation display screen, the aerial camera is arranged at the bottom of the universal bracket, a sending end assembly is arranged in the aerial camera, and the aerial camera is used for shooting images displayed on the ground simulation display screen;
the control system is based on a general control computer arranged on the ground, and comprises a direction adjusting module, a simulation object database, a resolution adjusting module, a scaling module, a comparison module and a receiving end assembly, wherein the adjusting module is used for adjusting the inclination direction of the universal support and simulating the shooting angles of different aerial cameras, the simulation object database is used for displaying different simulation objects on a ground simulation display screen, the resolution adjusting module is used for adjusting the display resolution of the ground simulation display screen, the scaling module is used for adjusting the size proportion of the simulation objects displayed on the ground simulation display screen, the receiving end assembly is in wireless connection with the sending end assembly and receives images shot by the aerial cameras, and the comparison module is used for comparing the images shot by the standard simulation objects with the images shot by the aerial cameras to obtain a conclusion.
The further improvement is that: the universal support comprises a rotating frame, an adjusting frame and a bracket, wherein a first motor is arranged on the rotating frame, the first motor is suspended under the suspended ceiling, a rotating shaft is arranged inside the rotating frame, the adjusting frame is connected with the rotating shaft in a rotating mode, the bracket is arranged on the inner side of the adjusting frame in a rotating mode, and the aerial camera is arranged below the bracket.
The further improvement is that: the adjustable rack is characterized in that the adjusting rack is provided with meshing teeth, a gear is mounted inside the rotating rack through a motor and is matched with the meshing teeth, a second motor is arranged on one side of the adjusting rack, and the output end of the second motor is connected with the bracket.
The further improvement is that: the ground simulation display screen is arranged on the ground, and the size of the ground simulation display screen is larger than the maximum size shot by the aerial camera.
The further improvement lies in that: the general control computer passes through wire and gimbal electric connection, transfer to the purpose of module control first motor, second motor and motor to reach the change aerial camera angle direction, transfer to the module and embed vibration regulation and control module, and vibration regulation and control module is used for controlling first motor, second motor and the reciprocal operation of motor, in order to reach the purpose of gimbal simulation vibration.
The further improvement lies in that: the simulative object database is connected with the Internet and used for retrieving images of the simulative reference objects shot by aviation on line, a modeling module is arranged in the simulative object database and used for simulating and writing the images of the simulative reference objects into a three-dimensional model, and the simulative object database further comprises a selection function and is used for manually selecting the simulative objects and statically and dynamically displaying different simulative object models on the ground simulation display screen.
The further improvement lies in that: the resolution adjusting module and the scaling module are both arranged in the ground simulation display screen, and provide adjusting options in the general control computer for adjusting the resolution of the picture displayed by the ground simulation display screen, simulating fuzzy shooting and adjusting the proportion of a simulant displayed by the ground simulation display screen, thereby simulating and adjusting the distance between the simulant and the aerial camera.
The further improvement lies in that: the comparison module comprises a comparison library, a comparison module and a conclusion module, wherein the comparison library is used for recording the standard shot image of each analog, the comparison module is used for comparing the color, the texture characteristic value and the deformation quantity of the shot image of the aerial camera with the standard shot image so as to obtain the quality of dynamic imaging of the aerial camera under different angles, different distances, different blurs, static analogs and dynamic analogs, and the conclusion module is used for outputting a conclusion to the general control computer.
The further improvement lies in that: the transmitting end assembly comprises a comprehensive baseband, a transmitter and an antenna, and the receiving end assembly comprises a receiving antenna, a signal processor and a receiving processing assembly.
A ground testing method for dynamic imaging of an aerial camera comprises the following steps:
the method comprises the following steps: starting an aerial camera, and shooting an image displayed on a ground simulation display screen;
step two: changing the simulators displayed on the ground simulation display screen through the simulators database;
step three: adjusting the simulators to be static or dynamic, and respectively shooting by an aerial camera;
step four: adjusting the resolution of a picture displayed by a ground simulation display screen, simulating fuzzy shooting, adjusting the proportion of a simulation object displayed by the ground simulation display screen, simulating and changing the distance between the aerial camera and the aerial camera, and respectively shooting by the aerial camera;
step five: changing the angle and direction of the aerial camera and simulating vibration through the universal support, and respectively shooting by the aerial camera;
step six: and the image shot by the aerial camera is transmitted to the general control computer through the sending end component, and the shot image of the standard simulation object is compared with the shot image of the aerial camera to obtain a conclusion.
The invention has the beneficial effects that:
1. the invention displays different simulators on the ground simulation display screen through the simulators database for shooting simulation of the aerial camera, adjusts the display resolution of the ground simulation display screen through the resolution adjusting module, performs fuzzy shooting, adjusts the size proportion of the simulators displayed on the ground simulation display screen through the scaling module, and simulates and adjusts the distance between the simulators and the aerial camera, so as to compare the simulators with the shot images of the standard simulators to obtain a test conclusion, and the simulators are diversified and have more perfect test.
2. According to the invention, through the rotation of the rotating frame, the rotation of the adjusting frame and the rotation of the bracket, the angle direction of the aerial camera and the simulated vibration can be changed, and the image shot by the aerial camera in the state is collected and compared with the image shot by the standard simulation object, so that the test data can be further perfected.
3. The method compares the colors, the texture characteristic values and the deformation quantities of the image shot by the aerial camera and the standard shot image, thereby obtaining the imaging quality and leading the conclusion to be more accurate.
Drawings
FIG. 1 is a front view of the present invention;
FIG. 2 is a schematic view of a gimbal according to the present invention;
FIG. 3 is a flow chart of the present invention.
Wherein: 1. rotating the frame; 2. an adjusting bracket; 3. a bracket; 4. a first motor; 5. a rotating shaft; 6. a gear; 7. a second motor.
Detailed Description
In order to further understand the present invention, the following detailed description will be made with reference to the following examples, which are only used for explaining the present invention and are not to be construed as limiting the scope of the present invention.
Example one
According to fig. 1 and 2, the embodiment provides a ground test device for dynamic imaging of an aerial camera, which includes a hardware module and a control system, wherein the hardware module includes a gimbal, the aerial camera and a ground simulation display screen, the ground simulation display screen is located on the ground, the gimbal is suspended above the ground simulation display screen, the aerial camera is arranged at the bottom of the gimbal, a sending end component is arranged in the aerial camera, and the aerial camera is used for shooting an image displayed on the ground simulation display screen;
the control system is based on a general control computer arranged on the ground and comprises a direction adjusting module, a simulation object database, a resolution adjusting module, a scaling module, a comparison module and a receiving end assembly, wherein the adjusting module is used for adjusting the inclination direction of the universal support and simulating the shooting angles of different aerial cameras, the simulation object database is used for displaying different simulation objects on a ground simulation display screen, the resolution adjusting module is used for adjusting the display resolution of the ground simulation display screen, the scaling module is used for adjusting the size ratio of the simulation objects displayed on the ground simulation display screen, the receiving end assembly is in wireless connection with the sending end assembly and used for receiving images shot by the aerial cameras, and the comparison module is used for comparing images shot by a standard simulation object and images shot by the aerial cameras to obtain a conclusion. The invention displays different simulators on the ground simulation display screen through the simulators database for shooting simulation of the aerial camera, adjusts the display resolution of the ground simulation display screen through the resolution adjusting module, performs fuzzy shooting, adjusts the size proportion of the simulators displayed on the ground simulation display screen through the scaling module, and simulates and adjusts the distance between the simulators and the aerial camera, so as to compare the simulators with the shot images of the standard simulators to obtain a test conclusion, and the simulators are diversified and have more perfect test.
The universal support comprises a rotating frame 1, an adjusting frame 2 and a bracket 3, wherein a first motor 4 is arranged on the rotating frame 1, the first motor 4 is suspended under a suspended ceiling, a rotating shaft 5 is arranged inside the rotating frame 1, the adjusting frame 2 is rotatably connected with the rotating shaft 5, the bracket 3 is rotatably arranged on the inner side of the adjusting frame 2, and the aerial camera is arranged below the bracket 3. Be equipped with the meshing tooth on the alignment jig 2, the inside of revolving rack 1 is installed gear 6 through the motor, and gear 6 and meshing tooth looks adaptation, one side of alignment jig 2 is equipped with second motor 7, and the output and the bracket 3 of second motor 7 are connected. During the use, drive 1 rotation of revolving rack, motor drive gear 6 two skin through first motor 4 and worsen the meshing tooth and drive the alignment jig 2 and rotate, second motor 7 drives bracket 3 and rotates, changes aerial camera angle direction and simulated vibration, gathers the image that aerial camera shot under this state and shoots the image with standard analog and compare, is convenient for further perfect test data.
The ground simulation display screen is arranged on the ground, and the size of the ground simulation display screen is larger than the maximum size shot by the aerial camera. The display surface of the ground simulation display screen is enough.
The general control computer passes through wire and gimbal electric connection, the accent is to module control first motor, second motor and motor to reach the purpose that changes aerial camera angle direction, the accent is to built-in vibration regulation and control module of module, and vibration regulation and control module is used for controlling first motor, second motor and motor reciprocating operation, in order to reach the purpose that gimbal simulated vibration. And the image shot by the aerial camera in the state is collected and compared with the image shot by the standard simulation object, so that the test data is further improved.
The simulative object database is connected with the Internet and used for retrieving images of the simulative reference objects shot by aviation on line, a modeling module is arranged in the simulative object database and used for simulating and writing the images of the simulative reference objects into a three-dimensional model, and the simulative object database further comprises a selection function and is used for manually selecting the simulative objects and statically and dynamically displaying different simulative object models on the ground simulation display screen. Different simulators are displayed on the ground simulation display screen through the simulators database and are used for shooting simulation of the aerial camera, the simulators are diversified, and the test is more perfect.
The resolution adjusting module and the scaling module are both arranged in the ground simulation display screen, and provide adjusting options in the general control computer for adjusting the resolution of the picture displayed by the ground simulation display screen, simulating fuzzy shooting and adjusting the proportion of a simulant displayed by the ground simulation display screen, thereby simulating and adjusting the distance between the simulant and the aerial camera. The display resolution of the ground simulation display screen is adjusted through the resolution adjusting module, fuzzy shooting is carried out, the size proportion of a simulation object displayed on the ground simulation display screen is adjusted through the scaling module, the distance between the simulation object and the aerial camera is adjusted in a simulation mode, the simulation object and a standard simulation object are shot, images are compared, a test conclusion is obtained, the simulation object is diversified, and the test is more perfect.
The comparison module comprises a comparison library, a comparison module and a conclusion module, wherein the comparison library is used for recording the standard shot image of each analog, the comparison module is used for comparing the color, the texture characteristic value and the deformation quantity of the shot image of the aerial camera with the standard shot image so as to obtain the quality of dynamic imaging of the aerial camera under different angles, different distances, different blurs, static analogs and dynamic analogs, and the conclusion module is used for outputting a conclusion to the general control computer. The color, texture characteristic value and deformation quantity extraction specifically comprises the following steps: using the HOG feature extraction algorithm, an image (object or picture to be detected): graying (treating the image as a three-dimensional image in x, y, z (gray); standardizing (normalizing) the color space of the input image by using a Gamma correction method; the method aims to adjust the contrast of the image, reduce the influence caused by local shadow and illumination change of the image and inhibit the interference of noise; calculating the gradient (including magnitude and direction) of each pixel of the image; the method mainly aims to capture contour information and further weakens the interference of illumination; dividing the image into small cells (e.g., 6 by 6 pixels/cell); counting the gradient histogram (the number of different gradients) of each cell to form a descriptor of each cell; forming each plurality of cells into a block (for example, 3 × 3 cells/block), and connecting the feature descriptors of all the cells in the block in series to obtain the HOG feature descriptor of the block; connecting HOG feature descriptors of all blocks in the image in series to obtain the HOG feature descriptors of the image (a target to be detected), which is a final feature vector for classification use, so as to obtain color pixel features; then, filtering along the general direction through the filtering function of ENVI software, extracting image textures, placing the texture results obtained through filtering extraction in an ARCGIS (autoregressive moving average) for density analysis to determine the texture fine density of the image, then solving a spectral second derivative of the image, writing a second derivative operation algorithm in ENVIIDL (enhanced robust feature definition language), and determining the texture characteristic value of each image; and then, performing point, line, plane stretching and vectorization on the image, determining a shape frame of the simulation object, and comparing the shape frame with the shape frame.
The transmitting end assembly comprises a comprehensive baseband, a transmitter and an antenna, and the receiving end assembly comprises a receiving antenna, a signal processor and a receiving processing assembly. The transmitting end comprises three parts, namely a comprehensive baseband, a transmitter and an antenna. The integrated baseband is a key component in the integrated baseband, completes the acquisition, compression, coding and interweaving of image data, completes the acquisition and coding of state data, and completes the framing output of transmission data and the sending control of a transmitting signal. And considering power consumption, volume and actual consumed resources, selecting a large-scale FPGA to complete all signal processing. The receiving end comprises four parts, namely a receiving antenna, a signal processor and a receiving processing assembly, wherein the receiving processing assembly completes data receiving, disk storage, image data extraction, decompression and display and state data extraction and display. Decompression is realized by software, the decompression software is embedded into receiving software of a receiving end of the finger control platform, decoding and real-time display of compressed images are completed while signals are received, the receiving end antenna adopts a circular polarization mode during design, and the transmitting end antenna adopts a pair of vertically distributed linear polarization antennas, so that polarization loss is reduced to the minimum, and receiving of the receiving end is facilitated. Meanwhile, the anti-interference problem during communication is considered, and the transmitting end antenna adopts a backward antenna pattern form so as to increase the anti-interference performance.
Example two
As shown in fig. 3, the embodiment provides a ground test method for dynamic imaging of an aerial camera, which includes the following steps:
the method comprises the following steps: starting an aerial camera, and shooting an image displayed on a ground simulation display screen;
step two: changing the simulators displayed on the ground simulation display screen through the simulators database;
step three: adjusting the simulators to be static or dynamic, and respectively shooting by an aerial camera;
step four: adjusting the resolution of a picture displayed by a ground simulation display screen, simulating fuzzy shooting, adjusting the proportion of a simulation object displayed by the ground simulation display screen, simulating and changing the distance between the simulation object and an aerial camera, and respectively shooting by the aerial camera;
step five: changing the angle and direction of the aerial camera and simulating vibration through the universal support, and respectively shooting by the aerial camera;
step six: and the image shot by the aerial camera is transmitted to the master control computer through the sending end assembly, and the shot image of the standard simulation object is compared with the shot image of the aerial camera to obtain a conclusion.
The invention displays different simulators on the ground simulation display screen through the simulators database for shooting simulation of the aerial camera, adjusts the display resolution of the ground simulation display screen through the resolution adjusting module, performs fuzzy shooting, adjusts the size proportion of the simulators displayed on the ground simulation display screen through the scaling module, and simulates and adjusts the distance between the simulators and the aerial camera, so as to compare the simulators with the shot images of the standard simulators to obtain a test conclusion, and the simulators are diversified and have more perfect test. In addition, the angle direction and the simulated vibration of the aerial camera can be changed through the rotation of the rotating frame 1, the rotation of the adjusting frame 2 and the rotation of the bracket 3, and the image shot by the aerial camera in the state is collected and compared with the image shot by the standard simulation object, so that the test data can be further perfected. Meanwhile, the color, the texture characteristic value and the deformation quantity of the image shot by the aerial camera are compared with those of the standard shot image, so that the imaging quality is obtained, and the conclusion is more accurate.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (10)
1. The utility model provides an aviation camera dynamic imaging ground test equipment, includes hardware module and control system, its characterized in that: the hardware module comprises a universal bracket, an aerial camera and a ground simulation display screen, the ground simulation display screen is positioned on the ground, the universal bracket is hung above the ground simulation display screen, the aerial camera is arranged at the bottom of the universal bracket, a sending end component is arranged in the aerial camera, and the aerial camera is used for shooting images displayed on the ground simulation display screen;
the control system is based on a general control computer arranged on the ground and comprises a direction adjusting module, a simulation object database, a resolution adjusting module, a scaling module, a comparison module and a receiving end assembly, wherein the adjusting module is used for adjusting the inclination direction of the universal support and simulating the shooting angles of different aerial cameras, the simulation object database is used for displaying different simulation objects on a ground simulation display screen, the resolution adjusting module is used for adjusting the display resolution of the ground simulation display screen, the scaling module is used for adjusting the size ratio of the simulation objects displayed on the ground simulation display screen, the receiving end assembly is in wireless connection with the sending end assembly and used for receiving images shot by the aerial cameras, and the comparison module is used for comparing images shot by a standard simulation object and images shot by the aerial cameras to obtain a conclusion.
2. The aerial camera dynamic imaging ground test equipment of claim 1, characterized in that: the universal support comprises a rotating frame (1), an adjusting frame (2) and a bracket (3), wherein a first motor (4) is arranged on the rotating frame (1), the first motor (4) is suspended under a suspended ceiling, a rotating shaft (5) is arranged inside the rotating frame (1), the adjusting frame (2) is connected with the rotating shaft (5) in a rotating mode, the bracket (3) rotates to be arranged on the inner side of the adjusting frame (2), and an aerial camera is arranged below the bracket (3).
3. The aerial camera dynamic imaging ground test equipment of claim 2, characterized in that: be equipped with the meshing tooth on alignment jig (2), gear (6) are installed through the motor in the inside of revolving rack (1), and gear (6) and meshing tooth looks adaptation, one side of alignment jig (2) is equipped with second motor (7), and the output and the bracket (3) of second motor (7) are connected.
4. The aerial camera dynamic imaging ground test equipment of claim 3, characterized in that: the ground simulation display screen is arranged on the ground, and the size of the ground simulation display screen is larger than the maximum size shot by the aerial camera.
5. The aerial camera dynamic imaging ground test equipment of claim 4, characterized in that: the general control computer passes through wire and gimbal electric connection, the accent is to module control first motor, second motor and motor to reach the purpose that changes aerial camera angle direction, the accent is to built-in vibration regulation and control module of module, and vibration regulation and control module is used for controlling first motor, second motor and motor reciprocating operation, in order to reach the purpose that gimbal simulated vibration.
6. The aerial camera dynamic imaging ground test equipment of claim 5, characterized in that: the simulative object database is connected with the Internet and used for retrieving images of the simulative reference objects shot by aviation on line, a modeling module is arranged in the simulative object database and used for simulating and writing the images of the simulative reference objects into a three-dimensional model, and the simulative object database further comprises a selection function and is used for manually selecting the simulative objects and statically and dynamically displaying different simulative object models on the ground simulation display screen.
7. The aerial camera dynamic imaging ground test equipment of claim 6, characterized in that: the resolution adjusting module and the scaling module are both arranged in the ground simulation display screen, and provide adjusting options in the general control computer for adjusting the resolution of the picture displayed by the ground simulation display screen, simulating fuzzy shooting and adjusting the proportion of a simulant displayed by the ground simulation display screen, thereby simulating and adjusting the distance between the simulant and the aerial camera.
8. The aerial camera dynamic imaging ground test equipment of claim 7, characterized in that: the comparison module comprises a comparison library, a comparison module and a conclusion module, wherein the comparison library is used for recording the standard shot image of each analog, the comparison module is used for comparing the color, the texture characteristic value and the deformation quantity of the shot image of the aerial camera with the standard shot image so as to obtain the quality of dynamic imaging of the aerial camera under different angles, different distances, different blurs, static analogs and dynamic analogs, and the conclusion module is used for outputting a conclusion to the general control computer.
9. The aerial camera dynamic imaging ground test equipment of claim 8, characterized in that: the transmitting end assembly comprises a comprehensive baseband, a transmitter and an antenna, and the receiving end assembly comprises a receiving antenna, a signal processor and a receiving processing assembly.
10. The ground testing method for dynamic imaging of the aerial camera is characterized by comprising the following steps of:
the method comprises the following steps: starting an aerial camera, and shooting an image displayed on a ground simulation display screen;
step two: changing the simulators displayed on the ground simulation display screen through the simulators database;
step three: adjusting the simulation object to be static or dynamic, and respectively shooting by the aerial camera;
step four: adjusting the resolution of a picture displayed by a ground simulation display screen, simulating fuzzy shooting, adjusting the proportion of a simulation object displayed by the ground simulation display screen, simulating and changing the distance between the simulation object and an aerial camera, and respectively shooting by the aerial camera;
step five: changing the angle and direction of the aerial camera and simulating vibration through the universal support, and respectively shooting by the aerial camera;
step six: and the image shot by the aerial camera is transmitted to the general control computer through the sending end component, and the shot image of the standard simulation object is compared with the shot image of the aerial camera to obtain a conclusion.
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