CN1426022A - Method for eliminating image rotation caused by 45 degree scanning lens - Google Patents

Abstract

The method of eliminating image rotation caused by 45 deg scanning lens is suitable for eliminating image rotatino in case of faulted K lens and no K lens. The method includes at least the folloiwng steps: rotating computer input image; calculating imaging relationship in computer; deducing the imaging process of the optical instrument from the basic reflection law; obtaining the mapping relationship between the image rotating coordinate and rotation elimianting image coordinate; eliminating rotation of the whole image frame; and output rotation eliminated image; circular execution. For faulted K lens, there include also the steps of obtaining K lens angle and inputting to computer. The present invention can eliminate rotation of image, simplify optical path of remote sensing instrument, raise the reliability of instrument in satellite.

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)-Fz?sin(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.

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)-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]-u[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)-Fzsin(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)-Bzsin(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 (12)

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.

2, the method as rotation that scanning mirrors cause is spent in elimination 45 as claimed in claim 1, it is characterized in that, in the steps A, described input is to import the view data that passes as image rotating.

3, 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 step B, obtaining of described K mirror angle comprises the following step: B1. is shown two adjacent row image data tables: 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])，

The b=∑ (x[i] * y[i]-([i]-y[i]) * (x[i]-y[i])), B2. makes above-mentioned expression formula a reach minimum value by choosing certain calculating sample, makes 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;

4, the method as rotation that scanning mirrors cause is spent in elimination 45 as claimed in claim 3, it is characterized in that, 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.

5, the method as rotation that scanning mirrors cause is spent in elimination 45 as claimed in claim 4, it is characterized in that 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.

6, the method as rotation that scanning mirrors cause is spent in elimination 45 as claimed in claim 5, it is characterized in that 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)，

7, the method as rotation that scanning mirrors cause is spent in elimination 45 as claimed in claim 6, it is characterized in that 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.

8, 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.

9, the method for the picture rotation that causes of elimination as claimed in claim 8 45 degree scanning mirrors is characterized in that, among the step S1, described the computing machine input is comprised down that as image rotating blit is as data or import a frame image data.

10, the method as rotation that scanning mirrors cause is spent in elimination 45 as claimed in claim 8, it is characterized in that, 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.

11, the method for the picture rotation that causes of elimination as claimed in claim 10 45 degree scanning mirrors is characterized in that, 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)，

12, the method as rotation that scanning mirrors cause is spent in elimination 45 as claimed in claim 10, it is characterized in that 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.