CN202453499U - Unmanned plane SAR image stereo interpretation and positioning system - Google Patents
Unmanned plane SAR image stereo interpretation and positioning system Download PDFInfo
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- CN202453499U CN202453499U CN2011204768479U CN201120476847U CN202453499U CN 202453499 U CN202453499 U CN 202453499U CN 2011204768479 U CN2011204768479 U CN 2011204768479U CN 201120476847 U CN201120476847 U CN 201120476847U CN 202453499 U CN202453499 U CN 202453499U
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Abstract
The utility model provides an unmanned plane SAR image stereo interpretation and positioning system which includes a stereo image extracting module, a DEM data processing module, a stereo interpretation module, and a target positioning module. The stereo image extracting module is connected with the DEM data processing module. The stereo image extracting module is connected with the stereo interpretation module and the target positioning module at the same time. The advantages of the unmanned plane SAR image stereo interpretation and positioning system are that the operation is simple and the systematicness is excellent. The system can realize the DEM data processing and the stereo image extraction, interpretation and positioning with little manual intervention, and can realize the unmanned plane SAR image stereo interpretation and positioning systematically, thus filling the gap in the prior art.
Description
Technical field
The utility model relates to image processing apparatus, specifically is three-dimensional interpretation of a kind of unmanned plane borne SAR image and positioning system.
Background technology
Unmanned carried SAR is a kind of high-resolution microwave imaging system, and it has the imaging of round-the-clock, round-the-clock, do not receive weather, round the clock, advantages such as factor affecting such as temperature.
SAR (Synthetic Aperture Radar; Synthetic-aperture radar) image is taken the photograph the figure image source that obtains as a kind of new unmanned plane boat; Its interpretation and localization process are just becoming the emphasis of information extraction research; This system combines SAR image processing techniques, photogrammetric technology with stereovision technique, develop three-dimensional interpretation of novel unmanned plane borne SAR image and positioning system.The interpretation of unmanned plane borne SAR image is main means of from image, extracting target information qualitatively; The location then is on the basis of interpretation; Set up between target object coordinates and the image coordinate through resolving of spatial relationship and to concern, and finally realize finding the solution of coordinates of targets.Because unmanned carried SAR is a kind of new mission payload that grew up in recent years, its development priority mainly is that the research of image interpretation and location technology and equipment is less, has following shortcoming aspect raising imaging resolution and imaging reliability:
(1) is main with the plane interpretation, lacks the technology that can satisfy three-dimensional interpretation needs.
At present; The mode of plane interpretation is also mainly adopted in the interpretation of unmanned plane borne SAR image, adopt the three-dimensional method of conventional construction to need two course lines at least, and the retentivity in unmanned plane during flying course line is relatively poor; Caused to make up three-dimensional difficulty, therefore restricted the development of three-dimensional interpretation technology.
(2) target location accuracy is low.
In the target localization link, be benchmark with the topomap, on single image, carry out intersection and find the solution, be difficult to reduce owing to folding to cover and have an X-rayed and shrink the error that causes, bearing accuracy is low.
(3) lack three-dimensional interpretation and positioning equipment
Unmanned carried SAR is a kind of Active Imaging equipment; There is bigger difference with traditional optical imaging and passive imaging principle; Therefore can't directly use optical imagery interpretation and positioning equipment treatment S AR image, also not handle the three-dimensional interpretation and the positioning equipment of unmanned plane borne SAR image at present.
The utility model content
The technical matters that the utility model will solve provides three-dimensional interpretation of a kind of unmanned plane borne SAR image and positioning system, has solved the qualitative and quantification information extraction problem when adopting unmanned plane SAR boat to take the photograph.
The utility model adopts following technical scheme to solve the problems of the technologies described above: three-dimensional interpretation of a kind of unmanned plane borne SAR image and positioning system; Comprise stereo-picture extraction module, dem data processing module, three-dimensional reading module and four parts of target localization module; Said stereo-picture extraction module is connected to the dem data processing module, and the stereo-picture extraction module is connected to three-dimensional reading module and target localization module simultaneously.
This utility model further is specially:
The dem data processing module comprises dem data interpolation unit, Gross Error Detection unit, DEM 3-D display unit and four parts of dem data extraction unit that connect successively, and the dem data extraction unit is connected to the stereo-picture extraction module.
The stereo-picture extraction module comprises that orientation is resolved the unit, photographic base is provided with unit, left image extraction unit, right image extraction unit; Orientation is resolved the unit, photographic base is provided with the unit and all is connected to left image extraction unit; Said dem data extraction unit also is connected to left image extraction unit; Left side image extraction unit output terminal is connected to right image extraction unit, and right image extraction unit output terminal is connected to three-dimensional reading module and target localization module simultaneously.
Three-dimensional reading module comprises that three-dimensional display, three-dimensional driver, image branch are as four parts in unit and three-dimensional interpretation unit; Three-dimensional display and three-dimensional driver are connected respectively to the image branch as the unit; Image divides the output terminal as the unit to be connected to three-dimensional interpretation unit, and above-mentioned right image extraction unit output terminal is connected to the three-dimensional display of this solid reading module.
The target localization module comprises that three-dimensional matching unit, scrambler, parallax adjustment unit and coordinate resolve the unit; Said three-dimensional matching unit and scrambler are connected respectively to the parallax adjustment unit; The output terminal of parallax adjustment unit is connected to coordinate and resolves the unit, and above-mentioned right image extraction unit output terminal is connected to the three-dimensional matching unit of this target localization module.
The advantage of the utility model is: 1. simple to operate, systemic good.
System only needs manual intervention seldom can realize operations such as dem data processings, stereo-picture extraction, interpretation and location, has systematically realized solid interpretation of unmanned plane borne SAR image and localization process, solves the current problem of this aspect equipment not still.
2. stereo-picture extracts conveniently.
Must use from the view data in two different course lines with the conventional construction stereo-picture and to compare, this system adopts single width SAR image to combine dem data to realize the extraction of stereo-picture, is more convenient for the structure of unmanned carried SAR stereo-picture.
3. three-dimensional interpretation effect is good.
The stereo-picture that this system extracts has been eliminated vertical parallax, simultaneously also according to different three-dimensional interpretation demands, and the adjustment horizontal parallax; Be beneficial to three-dimensional interpretation operation; Compare with traditional vertical parallax and horizontal parallax and the situation of depositing, stereoeffect is good, interpretation personnel indefatigability.
4. target location accuracy is high.
Carry out SAR plane of delineation location with tradition through topographic map data and compare, this system adopts the reference mark to carry out spatial intersection, has greatly improved the target localization calculation accuracy.
Description of drawings
Fig. 1 is three-dimensional interpretation of the utility model unmanned plane borne SAR image and positioning system composition diagram.
Fig. 2 is the operational flowchart of three-dimensional interpretation of the utility model unmanned plane borne SAR image and positioning system.
Embodiment
(1) system forms.
See also shown in Figure 1; Three-dimensional interpretation of the utility model unmanned plane borne SAR image and positioning system comprise stereo-picture extraction module, DEM (Digital Elevation Model, digital elevation model) data processing module, three-dimensional reading module and four parts of target localization module.Said stereo-picture extraction module is connected to the dem data processing module, and the stereo-picture extraction module is connected to three-dimensional reading module and target localization module simultaneously.The composition and the function of said each module are described below.
1.DEM data processing module.
Dem data is the basic data that stereo-picture extracts, and this module realizes that according to SAR image orientation result stereo-picture extracts required data extract.
The dem data processing module comprises dem data interpolation unit, Gross Error Detection unit, DEM 3-D display unit and four parts of dem data extraction unit that connect successively, and the dem data extraction unit is connected to the stereo-picture extraction module.The dem data interpolation unit is the uniformly-spaced interpolation processing of on basic dem data, carrying out, and reaches consistent with SAR stereo-picture resolution; The Gross Error Detection unit mainly is to reject the misdata that exists in the dem data, thereby reduces the image inconsistent phenomenon in the stereo-picture extraction; The 3-D display of terrain data has been realized based on the OpenGL technology in DEM 3-D display unit, further confirms the flatness of dem data, if still have outstanding data point, then needs artificial rejecting, and in 3-D display, confirms the dem data scope that needs simultaneously; The dem data extraction unit is mainly accomplished the sampling of desired data, and gives the stereo-picture extraction module by certain format.
2. stereo-picture extraction module.
The stereo-picture extraction module is the core of total system, and this module has not only realized the extraction of SAR stereo-picture, and has accomplished the resolving of spatial intersection of SAR image, and part is resolved on the basis that belongs to three-dimensional interpretation and target localization.
The stereo-picture extraction module comprises that orientation is resolved the unit, photographic base is provided with unit, left image extraction unit, right image extraction unit; Orientation is resolved the unit, photographic base is provided with the unit and all is connected to left image extraction unit; Said dem data extraction unit also is connected to left image extraction unit; Left side image extraction unit output terminal is connected to right image extraction unit, and right image extraction unit output terminal is connected to three-dimensional reading module and target localization module simultaneously.Under the prerequisite at original on-board SAR image of input and reference mark, the space resection that orientation is resolved unit realization SAR image resolves, and confirms the relation between image coordinate and the object coordinates thus; It is that stereo-picture extracts necessary link that photographic base is provided with the unit; Take the photograph height and base-height ratio parameter according to boat; The baseline width in course line, image place, the left and right sides is set, and the width of baseline directly determines stereoeffect, in use will combine the side-looking angle of carried SAR imaging to be provided with; Left side image extraction unit and right image extraction unit are used to remove vertical parallax, keep horizontal parallax, thereby are beneficial to the interpretation and the localization process in later stage; Left and right sides image can be configured to a stereoscopic image after extracting; In leaching process, the stereo-picture method for distilling based on the oblique distance projection can be selected by this system, also can select the stereo-picture method for distilling based on central projection; The fundamental purpose of the selection parallax stereogram picture of method; In general, be main selection central projection with the stereoscopic drawing, be master's selection oblique distance projection with three-dimensional interpretation.
3. three-dimensional reading module.
Three-dimensional interpretation is the main qualitative analysis means of unmanned plane information extraction, and this module realizes the three-dimensional interpretation of unmanned plane borne SAR image under the support of peripheral hardware (like anaglyph spectacles).
Three-dimensional reading module comprises that three-dimensional display, three-dimensional driver, image branch are as four parts in unit and three-dimensional interpretation unit; Three-dimensional display and three-dimensional driver are connected respectively to the image branch as the unit; Image divides the output terminal as the unit to be connected to three-dimensional interpretation unit, and above-mentioned right image extraction unit output terminal is connected to the three-dimensional display of this solid reading module.Three-dimensional display is the major equipment that stereo-picture shows, adopts LCD stereoscopic display, not only can realize stereoscopic rendering preferably, also can reduce the flicker problem that causes because of refresh rate; Three-dimensional driver is the driving arrangement of stereo display, and the DSP technology is adopted in the design of three-dimensional driver, realizes frequency multiplication and image field frequency quick exchange, and three-dimensional driver can also conveniently exchange the position of left and right sides image; Image divides as unit employing crystal glasses realizes that left and right sides image gets into interpretation personnel's right and left eyes respectively, reproduces stereoeffect; Three-dimensional interpretation unit according to image stored interpretation example in image interpretation foundation and the system, carries out interpretation and analysis to the atural object or the target of appointment in the image on image divides as the basis, provide the interpretation conclusion.
4. target localization module.
The coordinate that the target localization module is mainly accomplished intended target resolves, and this module realizes according to the solid location of stereo-picture with according to the plane positioning of single image on the basis that the SAR image orientation is resolved.
The target localization module comprises that three-dimensional matching unit, scrambler, parallax adjustment unit and coordinate resolve the unit; Said three-dimensional matching unit and scrambler are connected respectively to the parallax adjustment unit; The output terminal of parallax adjustment unit is connected to coordinate and resolves the unit, and above-mentioned right image extraction unit output terminal is connected to the three-dimensional matching unit of this target localization module.In the solid location, need three-dimensional coupling and two links of parallax adjustment, plane positioning then can directly be carried out coordinate and resolved.Three-dimensional coupling solves the automatic recognition problem of the same place of intended target point in the image of the left and right sides, and calculates the horizontal parallax of impact point thus; Since the influence of the speckle noise of SAR image, the generation of the phenomenon that wrong sometimes coupling or matching precision are not high, and under stereoscopic-state carry out parallax adjustment through scrambler this moment, guarantees that the impact point selection is errorless; Coordinate resolves and is divided into solid and resolves with the plane and resolve two situation; Under solid is resolved situation; Solid coupling and the adjusted horizontal parallax value of parallax substitution location model are realized that the target floor coordinate resolves; Under resolving situation on the plane, this is captured image coordinate from the single image directly, combines dem data substitution single width SAR framing model to realize the objective plane location simultaneously.
(2) leading indicator.
1. stereopsis vertical parallax:＜0.5 pixel
2. directed calculation accuracy:＜10 meters
3. minimum the counting of rare control: 6
4. target location accuracy :≤20 meters (RMS)
5. point location response time:＜1 second
(3) operating process
See also shown in Figure 2ly, the brief operation process of this system is:
1.DEM interpolation of data.
Resolution according to the SAR stereo-picture is carried out data interpolating to the dem data of importing, and interpolation method can be selected bilinear interpolation and two kinds of methods of bicubic convolution.
2. Gross Error Detection.
At first, the dem data after the interpolation is carried out Gross Error Detection, remove the bigger data point of error; Secondly, calculate the slope change rate of dem data, and computational data error thus, if error greater than specified threshold value, is then carried out Gross Error Detection again, meeting the demands like error then gets into next step.
3. 3-D display and data extract.
The first step, the 3-D display of realization dem data; In second step, under the 3-D display situation, further search the projecting point of DEM, and confirm and delete; In the 3rd step, confirm the needed dem data scope of stereo-picture; The 4th step, carry out the dem data sampling, realize that dem data extracts.
4.SAR image orientation.
To SAR oblique distance projection characteristics, adopt distance condition and Doppler's condition to resolve condition as orientation, realize that the space resection of SAR image resolves.Calculation accuracy mean square deviation (RMS) is calculated in directed back, extracts if RMS, then can carry out stereo-picture less than 10 meters; Otherwise need adjust the reference mark; Remove big perhaps being distributed in of error and fold the reference mark of covering the district, then carry out orientation once more and resolve, so circulation is until satisfying index request.
5. stereo-picture extracts.
Setting under the condition of photographic base, adopting the dem data after extracting, carrying out left image extraction and right image successively and extract, making up stereo-picture.
6. three-dimensional interpretation.
At first, the stereo-picture after extracting is input in the three-dimensional display; Secondly, three-dimensional driver carries out frequency multiplication and field frequency exchange; Once more, put on anaglyph spectacles, realize the branch picture alternately with three-dimensional driver; At last, carry out three-dimensional interpretation, analyze and the judgement target property.
7. three-dimensional coupling and parallax adjustment.
Impact point coordinate in the left image of input stereo-picture, the automatic stereo coupling is calculated same impact point position in the right image, and calculates horizontal parallax.If when finding that through three-dimensional interpretation the calculating parallax is wrong, can revise through the parallax adjustment.
8. three-dimensional location.
Under stereoscopic-state, pick up the target three-dimensional coordinate according to horizontal parallax.
9. plane positioning.
Adopt the left image or the right image of stereo-picture, under the support of dem data, realize picking up of planar coordinate.
Claims (1)
1. three-dimensional interpretation of a unmanned plane borne SAR image and positioning system; It is characterized in that: comprise stereo-picture extraction module, dem data processing module, three-dimensional reading module and four parts of target localization module; Said stereo-picture extraction module is connected to the dem data processing module, and the stereo-picture extraction module is connected to three-dimensional reading module and target localization module simultaneously.
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| CN2011204768479U CN202453499U (en) | 2011-11-25 | 2011-11-25 | Unmanned plane SAR image stereo interpretation and positioning system |
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| CN2011204768479U CN202453499U (en) | 2011-11-25 | 2011-11-25 | Unmanned plane SAR image stereo interpretation and positioning system |
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| CN202453499U true CN202453499U (en) | 2012-09-26 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106802126A (en) * | 2017-01-09 | 2017-06-06 | 天津大学 | A kind of one camera land-based target punctuate space-location method based on digital elevation map |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106802126A (en) * | 2017-01-09 | 2017-06-06 | 天津大学 | A kind of one camera land-based target punctuate space-location method based on digital elevation map |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120926 Termination date: 20141125 |
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| EXPY | Termination of patent right or utility model |