CN1169092C - Method for eliminating image rotation caused by 45 degree scanning lens - Google Patents

Abstract

The present invention discloses a method for eliminating image rotation caused by a 45 degree scanning mirror. The method is suitable for the rotation elimination of images when a mirror K goes wrong or the K mirror does not exist. The method at least comprises the following steps: a rotation image is input in a computer; the imaging relation calculation of the rotation image is carried out by the computer; the imaging process of a whole optical remote sensing instrument is deduced from a basic reflection law; the mapping relation between a coordinate of the rotation image and a coordinate of an image processed through rotation elimination is obtained; the rotation elimination of the whole image is carried out by using the coordinate mapping relation and a rotation elimination algorithm; the image processed through rotation elimination is output; the image processed through rotation elimination is used as input, and the cyclic execution is carried out; when the mirror K goes wrong, steps of obtainment of a mirror K angle and input of the mirror K angle in the computer are also included. The present invention achieves the purpose of rotation elimination, can correspondingly reduce a light path of the remote sensing instrument and enhance the operation reliability of the remote sensing instrument in a star environment, and reduces three optical reflection surfaces. The present invention reduces the polarization responsibility of the remote sensing instrument, and simultaneously, enhances the optical switching efficiency of the remote sensing instrument.

Description

Eliminate the method that 45 degree scanning mirrors cause as rotation

Technical field

The present invention relates to the method that a kind of elimination 45 degree scanning mirrors cause, specifically, relate to a kind of elimination in the parallel scanning process of multiunit detector, the method as rotation of remote optical sensing instrument because of adopting 45 degree rotating scan mirrors to cause as rotation.

Background technology

Remote optical sensing instrument development and to use be that quantification in order to realize remotely-sensed data is used, and the prerequisite that quantification is used be instrument itself the higher radiation calibration precision that must certificate has.According to people for a long time to multiple remote optical sensing instrument in rail observation, find progressively decaying of remote sensing instrument, and this decay is inevitable in the rail performance.And near the short wavelength regions of ultraviolet, this decay even can be up to 25%.In this case, if also be to use the radiation calibration coefficient before the emission to come the corresponding radiation of inverting ground object target, obviously can't guarantee calibration precision.Because can not launch multi-satellite in a short period of time on the one hand; The serviceable life of the present remote sensing instrument of developing is just more and more longer on the other hand, therefore any remote sensing instrument must be through a long-term process of using, in order to observe the performance degradation situation of remote sensing instrument during rail, so that proofread and correct the radiation calibration coefficient of remote sensing instrument timely, must develop spectral radiometric calibration system on the star.And for two-sided rotating scan mirror, its imaging viewing field has only 180 degree, and the atural object imaging corresponding most of visual field, therefore do not have the position in order to scaling system on the star to be installed, and " cannot see " cold space yet.CCD push-broom type imaging system then must just can be seen scaling system by deviation mirror, and degree of accuracy is not high.And adopt 45 degree rotating scan mirrors can see all targets in the 360 degree scopes, so can be used for installing spectral radiometric calibration system on the star easily.In order to improve the radiation detection sensitivity of remote sensing instrument, often a kind of method that adopts is to prolong residence time, and adopting multiunit detector and line scanning then is a kind of means of common prolongation residence time.For the imaging mode of using multiunit detector and line scanning, the picture rotation of 45 degree rotating scan mirrors just shows very obviously in image.According to the imaging process of 45 degree mirrors, can be in light path by introducing the K mirror in order to racemization, this is verified in the down-transmitting data of COCTS (ocean water colour water temperature scanner).Have a bigger shortcoming to be but the K mirror is eliminated the picture rotation: the light path of remote sensing instrument is long, and in light path many moving components, may reduce on the star environment instrument reliability of operation down; In addition, more than three optical reflection faces, not only reduced optical efficiency, also increased the degree of polarization of instrument.

Summary of the invention:

From last as state, how to overcome the existing K of employing mirror elimination 45 degree scanning mirrors and look like to revolve the optical path length of existence, reliability reduces, and the shortcoming that reduces the degree of polarization of optical efficiency and increase instrument, the trouble of the picture racemization that brings when the stall of K mirror particularly takes place, it is technical matters to be solved by this invention, therefore, the object of the present invention is to provide a kind of method that 45 degree scanning mirrors cause of eliminating as rotation, to reach racemization, and can dwindle the light path of remote sensing instrument relatively, and improve the instrument reliability that environment moves down on the star, also reduce by three optical reflection faces, when reducing the instrument polarization responsiveness, improve the optical conversion efficiencies of instrument.

Technical scheme of the present invention is: a kind of method of eliminating the picture rotation that 45 degree scanning mirrors cause is provided, and it is applicable to when the K mirror breaks down the racemization of image is comprised the following step at least:

Computing machine is imported as image rotating;

The obtaining and import in this computing machine of K mirror angle;

Computing machine carries out imaging relations and calculates;

Derive the imaging process of whole optics remote sensing instrument from the most basic reflection law;

Acquisition is as the mapping relations between image rotating coordinate and the racemization image coordinate;

Utilize above-mentioned coordinate Mapping relation and racemization algorithm that entire image is carried out racemization;

The output of racemization image;

The image of above-mentioned racemization as input, is got back to steps A, and circulation is carried out;

In the steps A, described input is to import the view data that passes as image rotating;

Among the step B, obtaining of described K mirror angle comprises the following step:

B1. two adjacent row image data tables are shown: first row: the x[i] second row: the y[i]

Represent continuity with following two kinds of expression formulas:

a＝∑(x[i]-y[i])*(x[i]-y[i])，

b＝∑(x[i]*y[i]-(x[i]-y[i])*(x[i]-y[i]))，

B2. make above-mentioned a expression formula reach minimum value by certain calculating sample, make above-mentioned b expression formula reach maximal value;

B3. the data that B2 obtained are carried out statistical characteristic analysis, determine the angle of K mirror;

Among the step B2, the mode of choosing of described calculating sample is: select 5 intervals: (1～64), (1～300), (1～1024), (725～1024) and (961～1024); 8 groups of data of each interval calculation by the calculating of expression formula a, b, can have 5*8*2=80 K mirror angle so altogether, carry out the statistical characteristic analysis of step B3.

Among the step C, the formula that imaging relations is calculated is:

X＝Fysin(θs-2θk)+Fzcos(θs-2θk)，

Y＝Fxsin(θs)+[Fycos(θs-2θk)-Fzsin(θs-2θk)]cos(θs)，

Z＝-Fxcos(θs)+[Fycos(θs-2θk)-Fz sin(θs-2θk)]sin(θs)，

Wherein, θ s is the anglec of rotation of 45 degree mirrors, θ k is the anglec of rotation of K mirror, the X coordinate is the heading coordinate components, Y is the direction of scanning coordinate components, and Z is the satellite altitude dimension coordinate, Fx be when the K mirror is arranged detector at the picture side of optical axis direction coordinate, Fy be when the K mirror is arranged detector at horizontal picture side's coordinate, Fz when the K mirror is arranged detector longitudinally as square coordinate.

Among the step D, the described imaging formula of deriving the imaging process of whole optics remote sensing instrument is:

X＝Fz，

Y＝Fxsin(θs)+Fycos(θs)，

Z＝-Fxcos(θs)+Fysin(θs)，

In the step e, described acquisition as the computing formula of the mapping relations between image rotating coordinate and the racemization image coordinate is:

dx＝Fz-Fzcos(θs-2θk)-Fysin(θs-2θk)，

dy＝cos(θs)*[Fy-Fycos(θs-2θk)-Fzsin(θs-2θk)]，

Wherein, dx and dy represent that picture revolves the increment of coordinate that has difference with racemization.

Total design according to the present invention, the present invention also provide a kind of method of eliminating the picture rotation that 45 degree scanning mirrors cause, and it is applicable to when not having the K mirror racemization of image is comprised the following step at least:

S1. computing machine is imported as image rotating;

S2. computing machine carries out imaging relations calculating;

S3. derive the imaging process of whole optics remote sensing instrument from the most basic reflection law;

S4. obtain as the mapping relations between image rotating coordinate and the racemization image coordinate;

S5. utilize above-mentioned coordinate Mapping relation and racemization algorithm that entire image is carried out racemization;

S6. racemization image output;

S7. with the image of above-mentioned racemization as input, get back to step S1, circulation is carried out.

Among the step S1, described computing machine input is comprised down that as image rotating blit is as data or import a frame image data.

Step S ₂In, the formula that computing machine carries out imaging relations calculating is:

X＝Bysin(θs)-Bzcos(θs)，

Y＝(Bycos(θs)+Bzsin(θs))cos(θs)+Bxsin(θs)，

Z＝(Bycos(θs)+Bzsin(θs))sin(θs)-Bxcos(θs)，

Wherein: θ s is the anglec of rotation of 45 degree mirrors, the X coordinate is the heading coordinate components, Y is the direction of scanning coordinate components, Z is the satellite altitude dimension coordinate, Bx be when not having the K mirror detector at the picture side of optical axis direction coordinate, By be when not having the K mirror detector at horizontal picture side's coordinate, Bz when not having the K mirror detector longitudinally as square coordinate.

Among the step S3, the described imaging formula of deriving the imaging process of whole optics remote sensing instrument from the most basic reflection law is:

X＝Bz，

Y＝Bxsin(θs)+Bycos(θs)，

Z＝-Bxcos(θs)+Bysin(θs)，

Among the step S4, acquisition as the imaging formula of the mapping relations between image rotating coordinate and the racemization image coordinate is:

dx＝Bz-Bzcos(θs)-Bysin(θs)，

dy＝cos(θs)*[By-Bycos(θs)-Bzsin(θs)]，

Wherein, dx and dy represent that picture revolves the increment of coordinate that has difference with racemization.

Utilize the present invention to realize that the elimination of image rotation has the following advantages:

Reach the purpose of racemization, and shortened light path relatively, reduced the moving component that environment uses down on the star simultaneously, improve on the star environment instrument reliability of operation down;

Also reduced by three optical reflection faces, when reducing the instrument polarization responsiveness, improved the optical conversion efficiencies of instrument, thereby can improve the detection sensitivity of instrument;

Reduced the development cost of instrument each side.

Particularly, for situation at the K mirror, solution figure K mirror stall and cause and eliminate the trouble that picture revolves effectively.

Description of drawings:

Fig. 1 carries out racemization for the present invention when the K mirror breaks down schematic flow sheet.

Fig. 2 carries out racemization for the present invention when not having the K mirror schematic flow sheet.

Fig. 3 revolves image for the picture in one embodiment of the present of invention.

Fig. 4 is that the present invention is corresponding to the racemization image among Fig. 3 embodiment.

Fig. 5 revolves image for the present invention corresponding to the no picture among Fig. 3 embodiment.

Embodiment:

Following according to Fig. 1 and Fig. 2, better embodiment of the present invention is described.

As shown in Figure 1, when the present invention handles owing to the racemization when the K mirror breaks down, at first, import as image rotating data (step 11) by the mode that passes down to computing machine, then, (step 12) in this computing machine is obtained and imported to the K mirror angle, computing machine carries out imaging relations and calculates (step 13), derive the imaging process (step 14) of whole optics remote sensing instrument from the most basic reflection law, acquisition is as the mapping relations (step 15) between image rotating coordinate and the racemization image coordinate, utilize this coordinate Mapping relation and input racemization algorithm (step 16) that entire image is carried out racemization (step 16), and finally export racemization image (step 17), the image of above-mentioned racemization as input, is got back to step 11, and circulation is carried out.

In the step 12, should in the possible angular range of whole K mirror, carry out racemization, seek of the output of most probable, best angle as the K mirror angle according to the intrinsic continuity Characteristics of image and the radiation data distribution characteristics of image.And the successional concrete manifestation of image has 2 points;

If adjacent two row view data can be expressed as:

First row: the x[i] second row: the y[i], wherein i is the detector sequence number.

Then continuity can be represented with following two kinds of expression formulas:

a＝∑(x[i]-y[i])*(x[i]-y[i])

b＝∑(x[i]*y[i]-(x[i]-y[i])*(x[i]-y[i]))

Because the rotation of picture makes that the continuity of picture is destroyed, but can affirm a bit, when racemization effect preferably the time, a reaches minimum value in the above-mentioned expression formula, and b reaches maximal value.Choosing of concrete calculating sample as shown in the formula expression:

	Racemization coordinate (four point coordinate (Xi, Yi), i is the detector sequence number)
										X1	Y1	X2	Y2	X3	Y3	X4	Y4
1	0.655	1.294	0.218	0.431	-0.218	-0.431	-0.655	-1.294
									2	1.654	1.295	1.218	0.432	0.782	-0.432	0.346	-1.295
3	2.653	1.296	2.218	0.432	1.782	-0.432	1.347	-1.296
									4	3.652	1.297	3.217	0.432	2.783	-0.432	2.348	-1.297
5	4.651	1.298	4.217	0.433	3.783	-0.433	3.349	-1.298
									6	5.65	1.299	5.217	0.433	4.783	-0.433	4.35	-1.299
7	6.649	1.3	6.216	0.433	5.784	-0.433	5.351	-1.3
									8	7.648	1.301	7.216	0.434	6.784	-0.434	6.352	-1.301
9	8.647	1.302	8.216	0.434	7.784	-0.434	7.353	-1.302
									10	9.645	1.303	9.215	0.434	8.785	-0.434	8.355	-1.303
11	10.644	1.304	10.215	0.435	9.785	-0.435	9.356	-1.304

12	11.643	1.305	11.214	0.435	10.786	-0.435	10.357	-1.305
									13	12.642	1.306	12.214	0.435	11.786	-0.435	11.358	-1.306
14	13.641	1.307	13.214	0.436	12.786	-0.436	12.359	-1.307
									15	14.64	1.308	14.213	0.436	13.787	-0.436	13.36	-1.308
16	15.639	1.309	15.213	0.436	14.787	-0.436	14.361	-1.309
									17	16.638	1.31	16.213	0.437	15.787	-0.437	15.362	-1.31
18	17.637	1.311	17.212	0.437	16.788	-0.437	16.363	-1.311
									19	18.636	1.312	18.212	0.437	17.788	-0.437	17.364	-1.312
20	19.635	1.313	19.212	0.438	18.788	-0.438	18.365	-1.313
									21	20.634	1.314	20.211	0.438	19.789	-0.438	19.366	-1.314
22	21.632	1.315	21.211	0.438	20.789	-0.438	20.368	-1.315
									23	22.631	1.316	22.21	0.439	21.79	-0.439	21.369	-1.316
24	23.63	1.317	23.21	0.439	22.79	-0.439	22.37	-1.317
									25	24.629	1.318	24.21	0.439	23.79	-0.439	23.371	-1.318
26	25.628	1.319	25.209	0.44	24.791	-0.44	24.372	-1.319
									27	26.627	1.32	26.209	0.44	25.791	-0.44	25.373	-1.32
28	27.626	1.321	27.209	0.44	26.791	-0.44	26.374	-1.321
									29	28.625	1.322	28.208	0.441	27.792	-0.441	27.375	-1.322
30	29.623	1.323	29.208	0.441	28.792	-0.441	28.377	-1.323
									31	30.622	1.324	30.207	0.441	29.793	-0.441	29.378	-1.324
32	31.621	1.325	31.207	0.442	30.793	-0.442	30.379	-1.325
									33	32.62	1.326	32.207	0.442	31.793	-0.442	31.38	-1.326
34	33.619	1.327	33.206	0.442	32.794	-0.442	32.381	-1.327
									35	34.618	1.328	34.206	0.443	33.794	-0.443	33.382	-1.328
36	35.616	1.329	35.205	0.443	34.795	-0.443	34.384	-1.329
									37	36.615	1.33	36.205	0.443	35.795	-0.443	35.385	-1.33
38	37.614	1.331	37.205	0.444	36.795	-0.444	36.386	-1.331
									39	38.613	1.332	38.204	0.444	37.796	-0.444	37.387	-1.332
40	39.612	1.333	39.204	0.444	38.796	-0.444	38.388	-1.333
									41	40.61	1.334	40.203	0.445	39.797	-0.445	39.39	-1.334
42	41.609	1.335	41.203	0.445	40.797	-0.445	40.391	-1.335
									43	42.608	1.336	42.203	0.445	41.797	-0.445	41.392	-1.336
44	43.607	1.336	43.202	0.445	42.798	-0.445	42.393	-1.336
									45	44.606	1.337	44.202	0.446	43.798	-0.446	43.394	-1.337
46	45.604	1.338	45.201	0.446	44.799	-0.446	44.396	-1.338
																	
975	973.251	1.03	973.75	0.343	974.25	-0.343	974.749	-1.03
									976	974.251	1.029	974.75	0.343	975.25	-0.343	975.749	-1.029
977	975.251	1.027	975.75	0.342	976.25	-0.342	976.749	-1.027
									978	976.252	1.026	976.751	0.342	977.249	-0.342	977.748	-1.026
979	977.252	1.024	977.751	0.341	978.249	-0.341	978.748	-1.024
									980	978.252	1.023	978.751	0.341	979.249	-0.341	979.748	-1.023
981	979.252	1.021	979.751	0.34	980.249	-0.34	980.748	-1.021

982	980.252	1.02	980.751	0.34	981.249	-0.34	981.748	-1.02
									983	981.252	1.018	981.751	0.339	982.249	-0.339	982.748	-1.018
984	982.252	1.017	982.751	0.339	983.249	-0.339	983.748	-1.017
									985	983.253	1.015	983.751	0.338	984.249	-0.338	984.747	-1.015
986	984.253	1.014	984.751	0.338	985.249	-0.338	985.747	-1.014
									987	985.253	1.012	985 751	0.337	986.249	-0.337	986.747	-1.012
988	986.253	1.011	986.751	0.337	987.249	-0.337	987.747	-1.011
									989	987.253	1.009	987.751	0.336	988.249	-0.336	988.747	-1.009
990	988.254	1.008	988.751	0.336	989.249	-0.336	989.746	-1.008
									991	989.254	1.006	989.751	0.335	990.249	-0.335	990.746	-1.006
992	990.254	1.005	990.751	0.335	991.249	-0.335	991.746	-1.005
									993	991.254	1.003	991.751	0.334	992.249	-0.334	992.746	-1.003
994	992.254	1.002	992.751	0.334	993.249	-0.334	993.746	-1.002
									995	993.255	1	993.752	0.333	994.248	-0.333	994.745	-1
996	994.255	0.998	994.752	0.333	995.248	-0.333	995.745	-0.998
									997	995.255	0.997	995.752	0.332	996.248	-0.332	996.745	-0.997
998	996.255	0.995	996.752	0.332	997.248	-0.332	997.745	-0.995
									999	997.256	0 994	997.752	0.331	998.248	-0.331	998.744	-0.994
1000	998.256	0.992	998.752	0.331	999.248	-0.331	999.744	-0.992
									1001	999.256	0.991	999.752	0.33	1E+3	-0.33	1.001E+3	-0.991
1002	1E+3	0.989	1.001E+3	0.33	1.001E+3	-0.33	1.002E+3	-0.989
									1003	1.001E+3	0.988	1.002E+3	0.329	1.002E+3	-0.329	1.003E+3	-0.988
1004	1.002E+3	0.986	1.003E+3	0.329	1.003E+3	-0.329	1.004E+3	-0.986
									1005	1.003E+3	0.984	1.004E+3	0.328	1.004E+3	-0.328	1.005E+3	-0.984
1006	1.004E+3	0.983	1.005E+3	0.328	1.005E+3	-0.328	1.006E+3	-0.983
									1007	1.005E+3	0.981	1.006E+3	0.327	1.006E+3	-0.327	1.007E+3	-0.981
1008	1.006E+3	0.98	1.007E+3	0.327	1.007E+3	-0.327	1.008E+3	-0.98
									1009	1.007E+3	0.978	1.008E+3	0.326	1.008E+3	-0.326	1.009E+3	-0.978
1010	1.008E+3	0.977	1.009E+3	0.326	1.009E+3	-0.326	1.01E+3	-0.977
									1011	1.009E+3	0.975	1.01E+3	0.325	1.01E+3	-0.325	1.011E+3	-0.975
1012	1.01E+3	0.973	1.011E+3	0.324	1.011E+3	-0.324	1.012E+3	-0.973
									1013	1.011E+3	0.972	1.012E+3	0.324	1.012E+3	-0.324	1.013E+3	-0.972
1014	1.012E+3	0.97	1.013E+3	0.323	1.013E+3	-0.323	1.014E+3	-0.97
									1015	1.013E+3	0.969	1.014E+3	0.323	1.014E+3	-0.323	1.015E+3	-0.969
1016	1.014E+3	0.967	1.015E+3	0.322	1.015E+3	-0.322	1.016E+3	-0.967
									1017	1.015E+3	0.966	1.016E+3	0.322	1.016E+3	-0.322	1.017E+3	-0.966
1018	1.016E+3	0.964	1.017E+3	0.321	1.017E+3	-0.321	1.018E+3	-0.964
									1019	1.017E+3	0.962	1.018E+3	0.321	1.018E+3	-0.321	1.019E+3	-0.962
1020	1.018E+3	0.961	1.019E+3	0.32	1.019E+3	-0.32	1.02E+3	-0.961
									1021	1.019E+3	0.959	1.02E+3	0.32	1.02E+3	-0.32	1.021E+3	-0.959
1022	1.02E+3	0.958	1.021E+3	0.319	1.021E+3	-0.319	1.022E+3	-0.958
									1023	1.021E+3	0.956	1.022E+3	0.319	1.022E+3	-0.319	1.023E+3	-0.956
1024	1.022E+3	0.954	1.023E+3	0.318	1.023E+3	-0.318	1.024E+3	-0.954

	Picture revolves coordinate (four point coordinate (Xi, Yi), i is the detector sequence number)
										X1	Y1	X2	Y2	X3	Y3	X4	Y4
1	0	1.5	0	0.5	0	-0.5	0	-1.5
									2	1	1.5	1	0.5	1	-0.5	1	-1.5
3	2	1.5	2	0.5	2	-0.5	2	-1.5
									4	3	1.5	3	0.5	3	-0.5	3	-1.5
5	4	1.5	4	0.5	4	-0.5	4	-1.5
									6	5	1.5	5	0.5	5	-0.5	5	-1.5
7	6	1.5	6	0.5	6	-0.5	6	-1.5
									8	7	1.5	7	0.5	7	-0.5	7	-1.5
9	8	1.5	8	0.5	8	-0.5	8	-1.5
									10	9	1.5	9	0.5	9	-0.5	9	-1.5
11	10	1.5	10	0.5	10	-0.5	10	-1.5
									12	11	1.5	11	0.5	11	-0.5	11	-1.5
13	12	1.5	12	0.5	12	-0.5	12	-1.5
									14	13	1.5	13	0.5	13	-0.5	13	-1.5
15	14	1.5	14	0.5	14	-0.5	14	-1.5
									16	15	1.5	15	0.5	15	-0.5	15	-1.5
17	16	1.5	16	0.5	16	-0.5	16	-1.5
									18	17	1.5	17	0.5	17	-0.5	17	-1.5
19	18	1.5	18	0.5	18	-0.5	18	-1.5
									20	19	1.5	19	0.5	19	-0.5	19	-1.5
21	20	1.5	20	0.5	20	-0.5	20	-1.5
									22	21	1.5	21	0.5	21	-0.5	21	-1.5
23	22	1.5	22	0.5	22	-0.5	22	-1.5
									24	23	1.5	23	0.5	23	-0.5	23	-1.5
25	24	1.5	24	0.5	24	-0.5	24	-1.5
									26	25	1.5	25	0.5	25	-0.5	25	-1.5
27	26	1.5	26	0.5	26	-0.5	26	-1.5
									28	27	1.5	27	0.5	27	-0.5	27	-1.5
29	28	1.5	28	0.5	28	-0.5	28	-1.5
									30	29	1.5	29	0.5	29	-0.5	29	-1.5
31	30	1.5	30	0.5	30	-0.5	30	-1.5
									32	31	1.5	31	0.5	31	-0.5	31	-1.5
33	32	1.5	32	0.5	32	-0.5	32	-1.5
									34	33	1.5	33	0.5	33	-0.5	33	-1.5
35	34	1.5	34	0.5	34	-0.5	34	-1.5
									36	35	1.5	35	0.5	35	-0.5	35	-1.5
37	36	1.5	36	0.5	36	-0.5	36	-1.5
									38	37	1.5	37	0.5	37	-0.5	37	-1.5
39	38	1.5	38	0.5	38	-0.5	38	-1.5
									40	39	1.5	39	0.5	39	-0.5	39	-1.5

41	40	1.5	40	0.5	40	-0.5	40	-1.5
									42	41	1.5	41	0.5	41	-0.5	41	-1.5
43	42	1.5	42	0.5	42	-0.5	42	-1.5
									44	43	1.5	43	0.5	43	-0.5	43	-1.5
45	44	1.5	44	0.5	44	-0.5	44	-1.5
									46	45	1.5	45	0.5	45	-0.5	45	-1.5
								
									975	974	1.5	974	0.5	974	-0.5	974	-1.5
976	975	1.5	975	0.5	975	-0.5	975	-1.5
									977	976	1.5	976	0.5	976	-0.5	976	-1.5
978	977	1.5	977	0.5	977	-0.5	977	-1.5
									979	978	1.5	978	0.5	978	-0.5	978	-1.5
980	979	1.5	979	0.5	979	-0.5	979	-1.5
									981	980	1.5	980	0.5	980	-0.5	980	-1.5
982	981	1.5	981	0.5	981	-0.5	981	-1.5
									983	982	1.5	982	0.5	982	-0.5	982	-1.5
984	983	1.5	983	0.5	983	-0.5	983	-1.5
									985	984	1.5	984	0.5	984	-0.5	984	-1.5
986	985	1.5	985	0.5	985	-0.5	985	-1.5
									987	986	1.5	986	0.5	986	-0.5	986	-1.5
988	987	1.5	987	0.5	987	-0.5	987	-1.5
									989	988	1.5	988	0.5	988	-0.5	988	-1.5
990	989	1.5	989	0.5	989	-0.5	989	-1.5
									991	990	1.5	990	0.5	990	-0.5	990	-1.5
992	991	1.5	991	0.5	991	-0.5	991	-1.5
									993	992	1.5	992	0.5	992	-0.5	992	-1.5
994	993	1.5	993	0.5	993	-0.5	993	-1.5
									995	994	1.5	994	0.5	994	-0.5	994	-1.5
996	995	1.5	995	0.5	995	-0.5	995	-1.5
									997	996	1.5	996	0.5	996	-0.5	996	-1.5
998	997	1.5	997	0.5	997	-0.5	997	-1.5
									999	998	1.5	998	0.5	998	-0.5	998	-1.5
1000	999	1.5	999	0.5	999	-0.5	999	-1.5
									1001	1E+3	1.5	1E+3	0.5	1E+3	-0.5	1E+3	-1.5
1002	1.001E+3	1.5	1.001E +3	0.5	1.001 E+3	-0.5	1.001E+3	-1.5
									1003	1.002E+3	1.5	1.002E +3	0.5	1.002 E+3	-0.5	1.002E+3	-1.5
1004	1.003E+3	1.5	1.003E +3	0.5	1.003 E+3	-0.5	1.003E+3	-1.5
									1005	1.004E+3	1.5	1.004E +3	0.5	1.004 E+3	-0.5	1.004E+3	-1.5
1006	1.005E+3	1.5	1.005E	0.5	1.005	-0.5	1.005E+3	-1.5

			+3		E+3
									1007	1.006E+3	1.5	1.006E +3	0.5	1.006 E+3	-0.5	1.006E+3	-1.5
1008	1.007E+3	1.5	1.007E +3	0.5	1.007 E+3	-0.5	1.007E+3	-1.5
									1009	1.008E+3	1.5	1.008E +3	0.5	1.008 E+3	-0.5	1.008E+3	-1.5
1010	1.009E+3	1.5	1.009E +3	0.5	1.009 E+3	-0.5	1.009E+3	-1.5
									1011	1.01E+3	1.5	1.01E+ 3	0.5	1.01 E+3	-0.5	1.01E+3	-1.5
1012	1.011E+3	1.5	1.011E +3	0.5	1.011 E+3	-0.5	1.011E+3	-1.5
									1013	1.012E+3	1.5	1.012E +3	0.5	1.012 E+3	-0.5	1.012E+3	-1.5
1014	1.013E+3	1.5	1.013E +3	0.5	1.013 E+3	-0.5	1.013E+3	-1.5
									1015	1.014E+3	1.5	1.014E +3	0.5	1.014 E+3	-0.5	1.014E+3	-1.5
1016	1.015E+3	1.5	1.015E +3	0.5	1.015 E+3	-0.5	1.015E+3	-1.5
									1017	1.016E+3	1.5	1.016E +3	0.5	1 016 E+3	-0.5	1.016E+3	-1.5
1018	1.017E+3	1.5	1.017E +3	0.5	1.017 E+3	-0.5	1.017E+3	-1.5
									1019	1.018E+3	1.5	1.018E +3	0.5	1.018 E+3	-0.5	1.018E+3	-1.5
1020	1.019E+3	1.5	1.019E +3	0.5	1.019 E+3	-0.5	1.019E+3	-1.5
									1021	1.02E+3	1.5	1.02E+ 3	0.5	1.02 E+3	-0.5	1.02E+3	-1.5
1022	1.021E+3	1.5	1.021E +3	0.5	1.021 E+3	-0.5	1.021E+3	-1.5
									1023	1.022E+3	1.5	1.022E +3	0.5	1.022 E+3	-0.5	1.022E+3	-1.5
1024	1.023E+3	1.5	1.023E +3	0.5	1.023 E+3	-0.5	1.023E+3	-1.5

According to above table, image is carried out racemization.

The racemization process is described below:

Picture revolves view data as input, is revolved image, just can be obtained racemization image afterwards as revolving bidimensional linear interpolation on coordinate and racemization coordinate and the mathematics by picture.

The result who obtains is as follows: corresponding image is followed successively by picture and revolves image (as Fig. 3), racemization image (as Fig. 4) and nothing as revolving image (as Fig. 5).

From image as can be seen, racemization effect still is goodish.

Can select 5 intervals: (1～64), (1～300), (1～1024), (725～1024) and (961～1024); 8 groups of data of each interval calculation by the calculating of expression formula a, b, can be calculated 2 K mirror angle like this, and 5*8*2=80 K mirror angle can be arranged altogether, carry out statistical characteristic analysis, determine the angle of K mirror.

Computing machine carries out the formula that imaging relations calculates and is in the step 13:

X＝Fysin(θs-2θk)+Fzcos(θs-2θk)

Y＝Fxsin(θs)+[Fycos(θs-2θk)-Fzsin(θs-2θk)]cos(θs)

Z=-Fxcos (θ s)+[Fycos (θ s-2 θ k)-Fzsin (θ s-2 θ k)] sin (θ s) wherein, θ s is the anglec of rotation of 45 degree mirrors, θ k is the anglec of rotation of K mirror, the X coordinate is the heading coordinate components, Y is the direction of scanning coordinate components, and Z is the satellite altitude dimension coordinate, Fx be when the K mirror is arranged detector at the picture side of optical axis direction coordinate, Fy be when the K mirror is arranged detector at horizontal picture side's coordinate, Fz when the K mirror is arranged detector longitudinally as square coordinate.

In the step 14, derive the formula that the imaging relations of the imaging process of whole optics remote sensing instrument calculates and be:

X＝Fz，

Y＝Fxsin(θs)+Fycos(θs)，

Z＝-Fxcos(θs)+Fysin(θs)，

In the step 15, acquisition as the imaging formula of the mapping relations between image rotating coordinate and the racemization image coordinate is:

dx＝Fz-Fzcos(θs-2θk)-Fysin(θs-2θk)，

dy＝cos(θs)*[Fy-Fycos(θs-2θk)-Fz sin(θs-2θk)]，

Wherein, dx and dy represent that picture revolves the increment of coordinate that has difference with racemization.

As shown in Figure 2, for the present invention when not having the K mirror, in order to the schematic flow sheet of racemization.

At first, to computing machine input one picture image rotating (step 21), this input can be by blit down as data or import a frame image data and finish, and then, computing machine carries out imaging relations and calculates (step 22); And derive the imaging process (step 23) of whole optics remote sensing instrument from the most basic reflection law; Acquisition is as the mapping relations (step 24) between image rotating coordinate and the racemization image coordinate; Utilize above-mentioned coordinate Mapping relation and input racemization algorithm (step 27) that entire image is carried out racemization (step 25), racemization image output (step 26) as input, is got back to step 21 with the image of above-mentioned racemization, and circulation is carried out.

In the step 22, the formula that computing machine carries out imaging relations calculating is:

X＝Bysin(θs)-Bzcos(θs)，

Y＝(Bycos(θs)+Bzsin(θs))cos(θs)+Bxsin(θs)，

Z＝(Bycos(θs)+Bzsin(θs))sin(θs)-Bxcos(θs)，

Wherein: θ s is the anglec of rotation of 45 degree mirrors, the X coordinate is the heading coordinate components, Y is the direction of scanning coordinate components, Z is the satellite altitude dimension coordinate, Bx be when not having the K mirror detector at the picture side of optical axis direction coordinate, By be when not having the K mirror detector at horizontal picture side's coordinate, Bz when not having the K mirror detector longitudinally as square coordinate.

In the step 23, the described imaging formula of deriving the imaging process of whole optics remote sensing instrument from the most basic reflection law is:

X＝Bz，

Y＝Bxsin(θs)+Bycos(θs)，

Z＝-Bxcos(θs)+Bysin(θs)，

In the step 24, acquisition as the imaging formula of the mapping relations between image rotating coordinate and the racemization image coordinate is:

dx＝Bz-Bzcos(θs)-Bysin(θs)，

dy＝cos(θs)*[By-Bycos(θs)-Bz sin(θs)]，

Wherein, dx and dy represent that picture revolves the increment of coordinate that has difference with racemization.

Because under the situation that does not have the K mirror, whole racemization method shows relatively simply, mainly be exactly to calculate the racemization coordinate and picture revolves mapping relations between the coordinate, therefore, step 22～25 can be solidificated in the software or hardware of computing machine, constitute " black box " between the input and output, and finally realize racemization.

By the present invention, nearly 50 width of cloth that COCTS (ocean water colour water temperature scanner) is passed down carried out racemization as image rotating, reached the purpose of racemization fully.Eliminating the image that the picture rotation obtains with the K mirror on a surface target, with utilize the present invention, the carrying out racemization as image rotating and handle of the same target that obtains in some fixing positions at the K mirror, both fit like a glove on net result, have fully verified correctness of the present invention.

Claims (3)

1, a kind of method of eliminating the picture rotation that 45 degree scanning mirrors cause to the racemization of image, comprises the following step when it is adapted to the K mirror and breaks down at least:

A. computing machine is imported as image rotating;

The obtaining and import in this computing machine of B.K mirror angle;

C. computing machine carries out imaging relations calculating;

D. derive the imaging process of whole optics remote sensing instrument from the most basic reflection law;

E. obtain as the mapping relations between image rotating coordinate and the racemization image coordinate;

F. utilize above-mentioned coordinate Mapping relation and racemization algorithm that entire image is carried out racemization;

G. racemization image output;

H. with the image of above-mentioned racemization as input, get back to steps A, circulation is carried out;

It is characterized in that: in the steps A, described input is to import the view data that passes as image rotating;

Among the step B, obtaining of described K mirror angle comprises the following step:

B1. two adjacent row image data tables are shown: first row: the x[i] second row: the y[i] represent continuity with following two kinds of expression formulas:

a＝∑(x[i]-y[i])*(x[i]-y[i])，

b＝∑(x[i]*y[i]-(x[i]-y[i])*(x[i]-y[i]))，

B2. make above-mentioned expression formula a reach minimum value by choosing certain calculating sample, make above-mentioned expression formula b reach maximal value; B3. the data that B2 obtained are carried out statistical characteristic analysis, determine the angle of K mirror;

Among the step C, the formula that imaging relations is calculated is:

X＝Fysin(θs-2θk)+Fzcos(θs-2θk)，

Y＝Fxsin(θs)+[Fycos(θs-2θk)-Fzsin(θs-2θk)]cos(θs)，

Z＝-Fxcos(θs)+[Fycos(θs-2θk)-Fzsin(θs-2θk)]sin(θs)，

Wherein: θ s is the anglec of rotation of 45 degree mirrors, θ k is the anglec of rotation of K mirror, the X coordinate is the heading coordinate components, Y is the direction of scanning coordinate components, Z is the satellite altitude dimension coordinate, Fx be when the K mirror is arranged detector at the picture side of optical axis direction coordinate, Fy be when the K mirror is arranged detector at horizontal picture side's coordinate, Fz when the K mirror is arranged detector longitudinally as square coordinate;

Among the step D, the described imaging formula of deriving the imaging process of whole optics remote sensing instrument is:

X＝Fz，

Y＝Fxsin(θs)+Fycos(θs)，

Z＝-Fxcos(θs)+Fysin(θs)；

In the step e, described acquisition as the computing formula of the mapping relations between image rotating coordinate and the racemization image coordinate is:

dx＝Fz-Fzcos(θs-2θk)-Fysin(θs-2θk)，

dy＝cos(θs)*[Fy-Fycos(θs-2θk)-Fz sin(θs-2θk)，

Wherein: dx and dy represent that picture revolves the increment of coordinate that has difference with racemization.

2, the method as rotation that scanning mirrors cause is spent in elimination 45 as claimed in claim 1, it is characterized in that: among the described step B2, the mode of choosing of calculating sample is: select 5 intervals: (1 ~ 64), (1 ~ 300), (1 ~ 1024), (725 ~ 1024) and (961 ~ 1024); 8 groups of data of each interval calculation by the calculating of expression formula a, b, can have 5*8*2=80 K mirror angle so altogether, carry out the statistical characteristic analysis of step B3.

3, a kind of method of eliminating the picture rotation that 45 degree scanning mirrors cause, it is applicable to when not having the K mirror racemization of image is comprised the following step at least:

S1. computing machine is imported as image rotating;

S2. computing machine carries out imaging relations calculating;

S3. derive the imaging process of whole optics remote sensing instrument from the most basic reflection law;

S4. obtain as the mapping relations between image rotating coordinate and the racemization image coordinate;

S5. utilize above-mentioned coordinate Mapping relation and racemization algorithm that entire image is carried out racemization;

S6. racemization image output;

S7. with the image of above-mentioned racemization as input, get back to step S1, circulation is carried out;

It is characterized in that, among the step S1, described computing machine input is comprised down that as image rotating blit is as data or import a frame image data;

Among the step S2, the formula that computing machine carries out imaging relations calculating is:

X＝Bysin(θs)-Bzcos(θs)，

Y＝(Bycos(θs)+Bzsin(θs))cos(θs)+Bxsin(θs)，

Z＝(Bycos(θs)+Bzsin(θs))sin(θs)-Bxcos(θs)，

Wherein: θ s is the anglec of rotation of 45 degree mirrors, the X coordinate is the heading coordinate components, Y is the direction of scanning coordinate components, Z is the satellite altitude dimension coordinate, Bx be when not having the K mirror detector at the picture side of optical axis direction coordinate, By be when not having the K mirror detector at horizontal picture side's coordinate, Bz when not having the K mirror detector longitudinally as square coordinate;

Among the step S3, the described imaging formula of deriving the imaging process of whole optics remote sensing instrument from the most basic reflection law is:

X＝Bz，

Y＝Bxsin(θs)+Bycos(θs)，

Z＝-Bxcos(θs)+Bysin(θs)；

Among the step S4, acquisition as the imaging formula of the mapping relations between image rotating coordinate and the racemization image coordinate is:

dx＝Bz-Bzcos(θs)-Bysin(θs)，

dy＝cos(θs)*[By-Bycos(θs)-Bz sin(θs)]，

Wherein: dx and dy represent that picture revolves the increment of coordinate that has difference with racemization.

Images