CN117889831A - Terminal positioning method based on low-orbit satellite image matching - Google Patents
Terminal positioning method based on low-orbit satellite image matching Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/02—Picture taking arrangements specially adapted for photogrammetry or photographic surveying, e.g. controlling overlapping of pictures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
- G01C11/06—Interpretation of pictures by comparison of two or more pictures of the same area
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01J—MEASUREMENT OF INTENSITY, VELOCITY, SPECTRAL CONTENT, POLARISATION, PHASE OR PULSE CHARACTERISTICS OF INFRARED, VISIBLE OR ULTRAVIOLET LIGHT; COLORIMETRY; RADIATION PYROMETRY
- G01J5/00—Radiation pyrometry, e.g. infrared or optical thermometry
- G01J5/48—Thermography; Techniques using wholly visual means
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The invention belongs to the technical field of low-orbit satellite positioning, and particularly relates to a terminal positioning method based on low-orbit satellite image matching; the method comprises the following steps: the low orbit satellite uses a main satellite-borne camera and a secondary satellite-borne camera to respectively shoot an actual image, and a thermal infrared device on the satellite-borne camera shoots a thermal infrared image in the same area; three features of an actual image are extracted, namely SIFT, ORB and LBP; calculating the temperature coefficient of the thermal infrared image; adopting a multi-mode three-layer progressive range search image matching method, and searching from a reference database according to three characteristics of an actual image and temperature coefficients of a thermal infrared image to obtain a matching image; calculating the position information of the low orbit satellite according to the matching image and the actual image; calculating the position of a terminal to be positioned according to the position information of the low orbit satellite to obtain a positioning result of the terminal; the invention has the advantages of high independence, strong reliability, global applicability, real-time performance and low cost benefit.
Description
Technical Field
The invention belongs to the technical field of low-orbit satellite positioning, and particularly relates to a terminal positioning method based on low-orbit satellite image matching.
Background
Satellite positioning system (SATELLITE NAVIGATION SYSTEM) is a global positioning technology that uses satellites to transmit signals to the earth's surface, through which position, velocity and time information is calculated by a receiver. Low-orbit satellite positioning is a technique for positioning by using earth low-orbit satellites. Compared with the traditional GPS and other positioning technologies, the low-orbit satellite positioning has higher precision and faster positioning speed due to the fact that satellites are closer to the ground.
The low orbit satellite positioning technology is widely applied to the fields of transportation, aerospace, military safety, geological exploration, environment monitoring, disaster early warning and the like. In these fields, the low-orbit satellite positioning technology provides high-precision, real-time and reliable positioning service for people, and makes an important contribution to social and economic development. Conventional low-orbit satellite positioning techniques require ground-supported equipment, such as base stations, receivers, etc., for signal reception and processing; however, in some areas or special cases, the positioning by the low-orbit satellite positioning technology cannot be performed due to the fact that good ground supporting equipment cannot be built. Thus, reducing the dependence of low-orbit satellite positioning on ground equipment is a problem that low-orbit satellite positioning technology needs to address.
In view of the foregoing, there is a need for a positioning method based on earth orbit satellite technology, so as to reduce the dependence of low orbit satellite positioning on the ground equipment and improve the positioning capability of the earth orbit satellite positioning in the absence of the ground equipment.
Disclosure of Invention
Aiming at the defects existing in the prior art, the invention provides a terminal positioning method based on low-orbit satellite image matching, which comprises the following steps:
s1: the low orbit satellite uses a main satellite-borne camera and a secondary satellite-borne camera to respectively shoot an actual image and a corresponding thermal infrared image;
S2: three features of an actual image are extracted, namely SIFT, ORB and LBP; calculating the temperature coefficient of the thermal infrared image;
S3: adopting a multi-mode three-layer progressive range search image matching method, and searching from a reference database according to three characteristics of an actual image and temperature coefficients of a thermal infrared image to obtain a matching image;
s4: calculating the position information of the low orbit satellite according to the matching image and the actual image;
s5: and calculating the position of the terminal to be positioned according to the position information of the low orbit satellite to obtain the positioning result of the terminal.
Preferably, the shooting direction of the main satellite-borne camera is the facing surface of the satellite to the earth, and the shooting direction of the auxiliary satellite-borne camera is a variable angle with the main satellite-borne camera; and each camera is provided with a thermal infrared device, so that an optical image and a thermal infrared image can be shot at the same time.
Preferably, the formula for calculating the temperature coefficient of the thermal infrared image is:
Wherein denotes the temperature coefficient of the thermal infrared image x, denotes the area where the relative temperature in the central unit area of the thermal infrared image is , and denotes the relative temperature of the i-th point in the central unit area of the image.
Preferably, the reference database comprises a plurality of global images shot by the satellite-borne camera, and SIFT features, ORB features and LBP features corresponding to the images and thermal infrared images corresponding to the images are extracted from the images.
Preferably, in step S3, the process of searching the reference database for a matching image includes:
Searching a reference database for the first time according to SIFT features to obtain a large-range matching image;
Performing secondary search in the large-range matching image according to the ORB characteristics to obtain a small-range matching image;
performing three searches in the small-range matching image according to the LBP characteristics, and taking an image with the matching rate larger than a threshold value as an initial matching image of the actual image;
Calculating a temperature coefficient of a reference thermal infrared image corresponding to the initial matching image in the reference database; and selecting an initial matching image with the temperature coefficient of the reference thermal infrared image closest to that of the thermal infrared image corresponding to the actual image as a final matching image.
Preferably, the process of calculating the position information of the low-orbit satellites includes:
Calculating the shooting distance of the actual image, namely the distance from the satellite to the center point of the image, according to the shooting scale, shooting distance and area of the matched image and the shooting scale and area of the actual image;
calculating the coordinates of the center point of the actual image according to the coordinates of the matched image;
And calculating satellite coordinate mapping point coordinates according to the shooting distance of the two actual images and the coordinates of the central points of the two actual images.
Further, the formula for calculating the shooting distance of the actual image is as follows:
Wherein denotes a shooting distance of the actual image, denotes a shooting scale of the actual image, denotes an actual image area, denotes a shooting scale of the actual image, denotes an area of the matching image, and denotes a shooting distance of the matching image.
Preferably, the process of calculating the position of the terminal to be positioned according to the position information of the low-orbit satellite comprises the following steps:
Selecting 3 low-orbit satellites with similar heights to send detection packets to a terminal to be positioned, and calculating the linear distance from the satellite to the terminal according to the time when the terminal receives the low-orbit satellite detection packets;
calculating the ground linear distance from the satellite to the terminal according to the linear distance from the satellite to the terminal and the satellite height;
and calculating the coordinates of the terminal to be positioned according to the satellite coordinate mapping point coordinates of the three low-orbit satellites and the ground linear distance between the satellites and the terminal.
The beneficial effects of the invention are as follows: according to the method, the satellite-borne camera high-definition image is utilized for self-positioning, the method does not depend on ground support, and the satellite can independently complete self-positioning and position the terminal without being limited by the ground support; the success rate and the accuracy rate of satellite image matching are improved through a multi-mode three-layer progressive range search image matching method, and meanwhile, the accuracy rate is further improved by combining thermal infrared images for screening; the reliability and stability of the positioning service can be improved through the participation of a plurality of satellites in positioning, and meanwhile, the problem of single-point fault is avoided; the invention can be applied to different scenes and application fields in all places around the world; meanwhile, the invention does not need ground support equipment, can reduce equipment cost and maintenance cost, and reduces the overall cost of positioning service. Therefore, the invention has the advantages of high independence, strong reliability, global applicability, real-time performance, low cost benefit and the like.
Drawings
FIG. 1 is a flow chart of a terminal positioning method based on low-orbit satellite image matching in the invention;
FIG. 2 is a schematic diagram of a placement of a satellite-borne camera according to the present invention;
fig. 3 is a schematic diagram of coordinate calculation of a satellite coordinate mapping point according to the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a terminal positioning method based on low-orbit satellite image matching, as shown in fig. 1, which comprises the following steps:
S1: the low orbit satellite uses a main satellite-borne camera and a secondary satellite-borne camera to respectively shoot an actual image and a corresponding thermal infrared image.
As shown in fig. 2, the low-orbit satellite adopts a main satellite-borne camera and a secondary satellite-borne camera to respectively shoot an actual image with a target terminal, and a thermal infrared device on the main satellite-borne camera and a thermal infrared device on the secondary satellite-borne camera respectively shoot a thermal infrared image in the same area (same as the actual image area); the shooting direction of the main satellite-borne camera is the facing surface of the satellite to the earth, and the shooting direction of the auxiliary satellite-borne camera is a variable angle with the main satellite-borne camera, preferably, the variable angle can be 0.5-10 degrees. And each camera is equipped with a thermal infrared device, the camera may be able to capture both optical and thermal infrared images.
S2: three features of an actual image are extracted, namely SIFT, ORB and LBP; and calculating the temperature coefficient of the thermal infrared image.
And extracting SIFT (scale-invariant local feature), ORB (rotation-invariant local feature) and LBP (local texture feature) of the mountain river in the actual image. If no mountain river exists, the effective image is not calculated, and the image needs to be shot again.
S3: and searching from a reference database according to three characteristics of an actual image and the temperature coefficient of a thermal infrared image to obtain a matching image by adopting a multi-mode three-layer progressive range searching image matching method.
The reference database is global image data acquired in advance and comprises a plurality of photographed images, SIFT features, ORB features and LBP features which are extracted from the images and correspond to the images, and thermal infrared images which correspond to the images. To facilitate searching, a B+ tree may be built for each feature; meanwhile, the information of coordinates, image areas, heights, postures, shooting scales and the like of the southwest point, the northst point, the easiest point and the westest point of the image and the satellite in shooting are also stored in the database.
The process of searching for matching images from the reference database includes:
and (3) searching the reference database for the first time according to the SIFT features to obtain a large-range matching image, namely searching an image in a larger geographic range.
Performing secondary search in the large-range matching image according to the ORB characteristics to obtain a small-range matching image;
And carrying out three searches in the small-range matching image according to the LBP characteristic, and taking the image with the matching rate larger than the threshold value as an initial matching image of the actual image, wherein the threshold value is preferably 90%.
Calculating a temperature coefficient of a reference thermal infrared image corresponding to the initial matching image in the reference database; and selecting an initial matching image with the temperature coefficient of the reference thermal infrared image closest to that of the thermal infrared image corresponding to the actual image as a final matching image.
The temperature distribution coefficient of the actual image is calculated and compared with the temperature distribution coefficient of the reference thermal infrared image, so that further screening is realized; the formula for calculating the temperature coefficient of the thermal infrared image is:
calculating the ratio of the temperature distribution coefficient of the actual image to the temperature distribution coefficient of the reference thermal infrared image:
*100%
The temperature of the lowest point in the image range t min is taken as a value of 0, is taken as the relative temperature of the ith point in the unit area of the center of the image (the relative temperature is the actual temperature-the lowest temperature in the range is =-tmin）,, which represents the area of relative to the temperature in the unit area (square kilometer) of the center of the thermal infrared image), the temperature is taken as the weight of the ith point in the unit area of the center of the image, the ratio of the temperature coefficient () of the reference thermal infrared image corresponding to the initial matching image in the database is , and the initial matching image closest to 1 in is selected from the initial matching images as the final matching image.
Preferably, since the image features may change dynamically, after the matching image is obtained, the features of the actual image SIFT, ORB, LBP are extracted and combined with the features of the old image in the database in a neutral manner, so as to dynamically update the reference database.
S4: and calculating the position information of the low-orbit satellite according to the matching image and the actual image.
Establishing a coordinate system by taking a center point of an actual image as an origin; and rotating the coordinate system to the direction of the X axis which is the positive east-west direction and the Y axis which is the positive north-south direction by taking the matched image as a reference.
The process of calculating the position information of the low-orbit satellites includes:
and calculating the shooting distance of the actual image, namely the distance from the satellite to the center point of the image according to the shooting scale, the shooting distance and the area of the matched image and the shooting scale and the area of the actual image. The formula for calculating the shooting distance of the actual image is as follows:
Wherein denotes a shooting distance of the actual image, denotes a shooting scale of the actual image, denotes an actual image area, denotes a shooting scale of the matching image, denotes an area of the matching image, and denotes a shooting distance of the matching image.
Calculating the coordinates of the center point of the actual image according to the coordinates of the matched image; specifically, the center point of the matching image is overlapped with the center point of the actual image, and the center point coordinate of the matching image can be calculated according to coordinates corresponding to the southwest point, the northst point, the easiest point and the westest point of the matching image and the relation between the distance and the longitude and latitude, and is used as the center point coordinate of the actual image.
As shown in fig. 3, calculating satellite height and satellite coordinate mapping points according to shooting distances of two actual images and coordinates of center points of the two actual images; specifically, the distance c between two center points can be calculated through the coordinates of the center points of two actual images, and the shooting distances of the two actual images are respectively a distance a and a distance b; calculating an angle B by using a trigonometric function formula; and calculating the distance from the satellite coordinate mapping point to the image center point according to the angle B, the distance a and the height of the satellite, and further obtaining the satellite coordinate mapping point coordinate. The related formulas used above are:
s5: and calculating the position of the terminal to be positioned according to the position information of the low orbit satellite to obtain the positioning result of the terminal.
The process of calculating the position of the terminal to be positioned according to the position information of the low-orbit satellite comprises the following steps:
Selecting 3 low-orbit satellites with similar heights to send detection packets to a terminal to be positioned, and calculating the linear distance from the satellite to the terminal according to the time when the terminal receives the low-orbit satellite detection packets;
Calculating the ground linear distance from the satellite to the terminal according to the linear distance from the satellite to the terminal and the satellite height; expressed as:
Wherein denotes the ground linear distance from the ith low-orbit satellite to the terminal, and denotes the linear distance from the ith low-orbit satellite to the terminal.
And calculating the coordinates of the terminal to be positioned according to the satellite coordinate mapping point coordinates of the three low-orbit satellites and the ground linear distance between the satellites and the terminal.
In summary, the invention fully considers the advantages and characteristics of low-orbit satellite positioning, photographs the images simultaneously through the satellite-borne cameras placed in two different photographing directions, performs multi-mode three-layer progressive range search image matching on the images, and realizes the self-positioning mode through calculation, thereby realizing the perception of the satellite on the self-position and reducing the dependence on ground support. The invention can improve the reliability and stability of the positioning service and avoid the problem of single-point fault at the same time; the invention can be applied to different scenes and application fields in all places around the world; and the ground supporting equipment is not needed, so that the equipment cost and the maintenance cost can be reduced, and the overall cost of the positioning service is reduced.
While the foregoing is directed to embodiments, aspects and advantages of the present invention, other and further details of the invention may be had by the foregoing description, it will be understood that the foregoing embodiments are merely exemplary of the invention, and that any changes, substitutions, alterations, etc. which may be made herein without departing from the spirit and principles of the invention.
Claims (8)
1. A terminal positioning method based on low-orbit satellite image matching is characterized by comprising the following steps:
s1: the low orbit satellite uses a main satellite-borne camera and a secondary satellite-borne camera to respectively shoot an actual image and a corresponding thermal infrared image;
S2: three features of an actual image are extracted, namely SIFT, ORB and LBP; calculating the temperature coefficient of the thermal infrared image;
S3: adopting a multi-mode three-layer progressive range search image matching method, and searching from a reference database according to three characteristics of an actual image and temperature coefficients of a thermal infrared image to obtain a matching image;
s4: calculating the position information of the low orbit satellite according to the matching image and the actual image;
s5: and calculating the position of the terminal to be positioned according to the position information of the low orbit satellite to obtain the positioning result of the terminal.
2. The terminal positioning method based on low-orbit satellite image matching according to claim 1, wherein the shooting direction of the main satellite-borne camera is the facing surface of the satellite to the earth, and the shooting direction of the auxiliary satellite-borne camera is a variable angle with the main satellite-borne camera; and each camera is provided with a thermal infrared device, so that an optical image and a thermal infrared image can be shot at the same time.
3. The terminal positioning method based on low-orbit satellite image matching according to claim 1, wherein the formula for calculating the temperature coefficient of the thermal infrared image is:
；
Wherein denotes the temperature coefficient of the thermal infrared image x,/> denotes the area where the relative temperature in the central unit area of the thermal infrared image is , and/> denotes the relative temperature at the i-th point in the central unit area of the image.
4. The terminal positioning method based on low-orbit satellite image matching according to claim 1, wherein the reference database comprises a plurality of global images shot by a satellite-borne camera, and SIFT features, ORB features and LBP features corresponding to the images and thermal infrared images corresponding to the images extracted from the images.
5. The method for locating a terminal based on matching of images of low-orbit satellites according to claim 1, wherein the searching for the matching image from the reference database in step S3 comprises:
Searching a reference database for the first time according to SIFT features to obtain a large-range matching image;
Performing secondary search in the large-range matching image according to the ORB characteristics to obtain a small-range matching image;
performing three searches in the small-range matching image according to the LBP characteristics, and taking an image with the matching rate larger than a threshold value as an initial matching image of the actual image;
Calculating a temperature coefficient of a reference thermal infrared image corresponding to the initial matching image in the reference database; and selecting an initial matching image with the temperature coefficient of the reference thermal infrared image closest to that of the thermal infrared image corresponding to the actual image as a final matching image.
6. The method for locating a terminal based on image matching of low-orbit satellites according to claim 1, wherein the process of calculating the position information of the low-orbit satellites comprises:
Calculating the shooting distance of the actual image, namely the distance from the satellite to the center point of the image, according to the shooting scale, shooting distance and area of the matched image and the shooting scale and area of the actual image;
calculating the coordinates of the center point of the actual image according to the coordinates of the matched image;
And calculating satellite coordinate mapping point coordinates according to the shooting distance of the two actual images and the coordinates of the central points of the two actual images.
7. The terminal positioning method based on low-orbit satellite image matching according to claim 6, wherein the formula for calculating the shooting distance of the actual image is:
；
Wherein denotes a shooting distance of an actual image,/> denotes a shooting scale of an actual image,/> denotes an actual image area, denotes a shooting scale of an actual image,/> denotes an area of a matching image, and/> denotes a shooting distance of a matching image.
8. The terminal positioning method based on low-orbit satellite image matching according to claim 1, wherein the process of calculating the position of the terminal to be positioned according to the position information of the low-orbit satellite comprises:
Selecting 3 low-orbit satellites with similar heights to send detection packets to a terminal to be positioned, and calculating the linear distance from the satellite to the terminal according to the time when the terminal receives the low-orbit satellite detection packets;
calculating the ground linear distance from the satellite to the terminal according to the linear distance from the satellite to the terminal and the satellite height;
and calculating the coordinates of the terminal to be positioned according to the satellite coordinate mapping point coordinates of the three low-orbit satellites and the ground linear distance between the satellites and the terminal.
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