CN207008716U - Airborne hyperspectral image geometry corrector based on three area array cameras - Google Patents
Airborne hyperspectral image geometry corrector based on three area array cameras Download PDFInfo
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- CN207008716U CN207008716U CN201720838133.5U CN201720838133U CN207008716U CN 207008716 U CN207008716 U CN 207008716U CN 201720838133 U CN201720838133 U CN 201720838133U CN 207008716 U CN207008716 U CN 207008716U
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Abstract
This patent discloses a kind of airborne hyperspectral image geometry corrector based on three area array cameras.Apparatus of the present invention realize that the camera optical axis slightly points to using the airborne stabilized platform of low cost, by EO-1 hyperion camera over the ground stabilization of carriage angle at ± 0.05 °~± 0.1 °.Simultaneously using three high-speed area array CMOS cameras consolidated with EO-1 hyperion camera, to earth's surface continuous imaging, the exact posture angle of EO-1 hyperion camera is measured by the characteristic matching of front-back system of battle formations picture.The attitude angle of high-speed area array CMOS camera measurements is recycled to carry out the real-time geometric correction of pixel rank to high spectrum image.It solves the problem of the geometric correction that inexpensive stabilized platform realizes high spectrum image.This method is simple in construction, and cost is low, and precision is high, and calculating speed is fast, and the real-time geometric correction of pixel rank can be carried out to image.
Description
Technical field：
This patent is related to spectral technique, remote sensing survey field, and in particular to a kind of geometric correction of airborne hyperspectral image
Device, this method are applied to small-sized inexpensive high-resolution spectroscopy remote sensing system.
Background technology：
Push-broom type EO-1 hyperion camera is a kind of hyperspectral imager that imaging mode is swept using linear array push.Push-broom type EO-1 hyperion
Camera is often combined with airborne platform, has the characteristics of spectral band is more, and wave band is continuous, collection of illustrative plates, using the teaching of the invention it is possible to provide abundant
Earth's surface information.The identification of rock ore deposit is widely used at present, and vegetation pattern is distinguished, the field such as ECOLOGICAL ENVIRONMENTAL MONITORING.
In imaging process, due to airplane motion and air-flow image, the high-spectral data that push-scanning image mode obtains can be deposited
In larger geometric distortion, this distortion can have a strong impact on picture quality, sometimes even cause image can not visual interpretation,
The normal use of image is had a strong impact on.For geometric correction, most basic is the elements of exterior orientation for needing to obtain imaging system,
That is angle of drift γ, angle of pitch α and angle of roll β (heading, pitch, roll, HPR).Currently used method controls for ground
Point method and inertial posture measuring method.For first method, in the area in hardship, area that no figure area or personnel can not be sensible,
People can only usually obtain a small amount of ground control point or can not obtain ground control point at all.For second method, commonly
± 0.1 ° can only be accomplished the precision of civilian inertial posture measuring product (such as MESE gyros), milli arc can not be reached to resolution ratio
The high-resolution high spectrum image of measurement level carries out pixel rank geometric correction.Some inertial posture measurings that can reach requirement
System, such as aviation position and posture automatic measurement and stabilising arrangement (POS), laser gyro etc., absolute angle precision can be done
To ± 0.001 °, but it is expensive, it is millions of easily, and weight reaches several kilograms, have impact on the popularization and application of the technology.
Three high-speed area array CMOS cameras costs that this patent uses can be controlled below 100,000 yuan, and with high accuracy
The characteristics of, therefore the real-time geometric correction method of airborne hyperspectral image and device that this patent provides, can solve very well current
The problem of airborne hyperspectral camera attitude measurement cost is high.
The content of the invention：
This patent problem to be solved is to provide a kind of geometric correction device of airborne hyperspectral image.
Device described in this patent, by transporter, airborne stabilized platform controller 1, airborne stabilized platform 2, fixed support
3, inertial posture measuring module 4, high-speed area array CMOS cameras 5, EO-1 hyperion camera 6 forms.Package unit can coordinate 12 types of fortune
Transporter uses.Transport cabin and measurement window is provided, airborne stabilized platform is installed on window.The stabilized platform is by aluminium alloy system
Make, and a variety of mechanical mounting interfaces are provided.Stabilized platform carries a inexpensive MEMS inertial posture measuring modules, Neng Goutong
Crossing feedback control makes platform stable at ± 0.05 °~± 0.1 °.Stabilized platform center is fixed support, and carriage center fixes one
EO-1 hyperion camera.Three high-speed area array CMOS cameras are using EO-1 hyperion image center visual field primary optical axis as symmetry axis, in equilateral triangle
Distribution.Three high-speed area array CMOS camera lens centers are apart from spectrometer mounting bracket center 50cm, with spectrometer camera optical axis
It is parallel.
Consider three pixel scale, pixel dimension and frame frequency index parameters, integration project demand, spectrometer determines to adopt
With the JUGAR type ccd detectors of Canadian DALSA companies.This CCD is that frame transfer type detector is thinned in four gust back-illuminateds of practising physiognomy,
Spectrometer wavelength band is 0.4-1.0um, and spectral resolution is less than 5nm.
CMOS uses the EV76C664 type detectors of E2V companies of Britain.Under typical case pattern, the area array cameras adapts to
1000~8000m of operation height, flying speed 180km/h~800km/h, in 3000m operation heights, spatial resolution 0.25
Milliradian (mrad), frame speed is 350 frames/second.Then now each high-speed area array CMOS camera ground resolutions are：
2 × 3000 × tan (0.25 × 256/1000/2) ≈ 200m. (1) pixel resolution is better than EO-1 hyperion phase
Machine, it is 3 times or so of EO-1 hyperion camera pixel resolution.There is prominent atural object detection and recognition capability under the pattern.
Electronic system is mainly made up of drive module, data obtaining module, main control module and communication module, drive module
Input power is decoupled, distributed, required bias is provided for detector normal work.Data obtaining module is CMOS chip
Input/output interface is provided, carries out penetrating level following to vision signal, improves the transmittability of signal, analog video signal is changed
Into data signal, it is sent into master control FPGA.Main control module for drive module provide driver' s timing, control video frequency signal processing,
Marshal data form, control data transmission etc..Communication module carries out parallel-serial conversion to imaging data, and is transferred to through coaxial cable
In data recording equipment.
EO-1 hyperion camera and three high-speed area array CMOS cameras are imaged to ground simultaneously.First, high-speed area array CMOS is obtained
Figure carry out the graphics standard binary conversion treatment based on histogram, using average gray value method, i.e., using entire image
The threshold value of average gray binaryzation the most.
Threshold=Sum/Amount (4)
Wherein, h (g) is the Histogram statistics function of each color component, and g is each component, and Sum is that the gray scale of entire image is united
Summation is counted, Amount is gray-scale statistical quantity, and Threshold is threshold value.
Then it is filtered the extraction with image characteristic point.Filtering mainly uses gaussian filtering, i.e. linear smoothing filtering.It is right
Entire image is weighted averagely, and the value of each pixel is weighted averagely by other pixel values in itself and field
Obtain.Feature extraction uses size constancy eigentransformation algorithm (SIFT), using the convolution of original image and gaussian kernel function come
Dimensional space is established, and the characteristic point of size constancy is extracted on difference of Gaussian spatial pyramid.
For continuous two images, we are to latter Zhang Jinhang coordinate transforms.By to different course deviations, pitching and sidewindering
Angle combination carries out grid search, chooses three characteristic areas respectively in two images left, middle and right, two image spies before and after comparison
The characteristic point in region is levied to determine attitude angle i.e. angle of drift γ, angle of pitch α and angle of roll β.Such as.For terrain surface specifications point A,
In horizontal image P0It is a respectively with the conformation on tilted image P0And a, the corresponding picpointed coordinate using respective principal point as origin
Respectively (x0,y0) and (x, y).Then have：
Wherein, f is focal length.Angle of pitch α is obtained using the formula, can similarly obtain other two angle.
In order to obtain the absolute pose angle relative to earth axes, it is necessary to calibrate system initial attitude.Here
Ground control point is taken through to obtain the method for measuring table attitude angle.The geographical coordinate at control point determines in advance.When three
High-speed area array CMOS cameras are flat photograph ground control point after, pass through the geographical coordinate at control point and the position on image sat
Mark, to calculate the current attitude angle of camera platform.This attitude angle is the initial angle that subsequent calculations are used.
Attitude angle α is obtained, after beta, gamma, the image point displacement caused by aspect changes is calculated based on collinearity equation.By taking the photograph
Shadow measures general principle, and the geometrical relationship of line central projection can be represented with collinearity equation：
Wherein, f is focal length, xrealAnd yrealIt is the actual geographic coordinate of culture point, (x, y) is pixel in geographical coordinates
Coordinate in system, (X, Y, Z) are coordinate of the pixel in image collimation mark coordinate system, (XS,YS,ZS) for projection centre in image
Coordinate in collimation mark coordinate system, ai,bi,ci(i=1,2,3) is nine direction cosines containing only three independent parameters, and they can
Calculated and obtained by below equation：
After the geographical coordinates for calculating whole pixels, re-sampling operations are carried out to image.Former height is replaced with the coordinate
The coordinate of spectrum picture, carry out the real-time geometric correction of image.
Beneficial effect：
It solves the problem of the geometric correction that inexpensive head realizes high spectrum image.This method is simple in construction,
Cost is low, and precision is high, and calculating speed is fast, and the real-time geometric correction of pixel rank can be carried out to image.
Brief description of the drawings：
Fig. 1 is the geometric correction schematic device of airborne spectrum picture.
Fig. 2 is algorithm flow chart.
Embodiment：
Specific implementation of the patent mode is described in further detail below in conjunction with the accompanying drawings：
Fig. 1 is the geometric correction schematic device of airborne spectrum picture.Including transporter, airborne stabilized platform controller 1,
Airborne stabilized platform 2, fixed support 3, inertial posture measuring module 4, high-speed area array CMOS cameras 5, EO-1 hyperion camera 6 forms.
Airborne stabilized platform 2 is horizontal fixed on transporter window, and z-axis is consistent with ground plumb line direction.Under motor control, and lead to
The feedback control of inertial attitude measurement module 4 is crossed, its x can be made, y-axis stabilization is at ± 0.05 °~± 0.1 °.Airborne stabilization is put down
There is fixed support 3 on platform 2, an EO-1 hyperion camera 6 is fixed with 3.Three high-speed area array CMOS cameras are with EO-1 hyperion camera
Central vision chief ray is symmetry axis, is distributed in equilateral triangle.Three high-speed area array CMOS camera lens centers are apart from spectrum
Instrument center 50cm, it is parallel with the optical axis of EO-1 hyperion camera.There is camera in Fig. 1 with respect to ground projection relation figure, 7 be one of high
The view field of fast face battle array CMOS cameras, 10 be the view field of EO-1 hyperion camera.
Platform can only obtain according to the method for front and rear Image Feature Matching and relatively rotate angle.In order to obtain relative to ground
The absolute pose angle of coordinate system is, it is necessary to calibrate system initial attitude.Multinomial model conversion is a kind of conventional method.
This method is by (OK, arranging) mathematical relationship between geo-referenced coordinates to raw video coordinate, being put down to obtain current measurement
Platform relative to earth axes attitude angle.According to the deformation extent of image, we can use a rank multinomial, and second order is multinomial
Formula and three rank multinomials etc. are several, respectively calculating 6,12,20 unknown deformation parameters, it is therefore desirable to and 3,6,10 controls
System point could be completed to calculate.In order to improve correction accuracy, this patent is using 10 control points come computing system initial attitude angle.Such as
Shown in Fig. 1,10 manual control points 8 are had on ground.And their known coordinate.When area array cameras detects these people's industry controls
System point after, by calculate they image positional relationship and actual ground coordinate system coordinate, to determine the initial attitude of platform
Angle.After determining initial attitude angle, the relative attitude angle subsequently resolved can be converted into absolute pose angle, so as to carry out spectrum picture
Geometric correction.
Fig. 2 is flow chart of data processing figure.Photo first by three high-speed area array CMOS cameras shootings is carried out at binaryzation
After reason and filtering, the characteristic point and characteristic vector of image are extracted.Then judge whether these characteristic points are manual control point.Such as
Fruit is then to calculate the initial attitude angle of camera platform, that is, carries out attitude angle calibration.If it is not, then by contrasting three high speed surfaces
The front and rear characteristics of image of battle array CMOS camera shootings, obtains the angle of drift γ, angle of pitch α and angle of roll β of camera platform.Obtain these
After angle, collinearity equation is utilized, you can try to achieve coordinate of each pixel with respect to earth axes.Then, after to coordinate transform
Pixel value carry out resampling, you can obtain the image after geometric correction.
Claims (1)
1. a kind of airborne hyperspectral image geometry corrector based on three area array cameras, including transporter, airborne stabilized platform
Controller (1), airborne stabilized platform (2), fixed support (3), inertial posture measuring module (4), three high-speed area array CMOS phases
Machine (5), it is characterised in that：
Three described high-speed area array CMOS cameras by fixed support (3), using EO-1 hyperion camera (6) central vision primary optical axis as
Symmetry axis, it is distributed in equilateral triangle；Three high-speed area array CMOS camera pixel resolutions are 2~3 times of EO-1 hyperion camera, ground
Spatial resolution is 200m；The Attitude control stability of the stabilized platform controller (1) of airborne stabilized platform ± 0.05 °~±
Between 0.1 °.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107221010A (en) * | 2017-07-12 | 2017-09-29 | 中国科学院上海技术物理研究所 | Airborne hyperspectral geometric image correction method and device based on three area array cameras |
| US10977846B2 (en) * | 2016-11-30 | 2021-04-13 | Gopro, Inc. | Aerial vehicle map determination |
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2017
- 2017-07-12 CN CN201720838133.5U patent/CN207008716U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10977846B2 (en) * | 2016-11-30 | 2021-04-13 | Gopro, Inc. | Aerial vehicle map determination |
| CN107221010A (en) * | 2017-07-12 | 2017-09-29 | 中国科学院上海技术物理研究所 | Airborne hyperspectral geometric image correction method and device based on three area array cameras |
| CN107221010B (en) * | 2017-07-12 | 2023-07-04 | 中国科学院上海技术物理研究所 | Onboard hyperspectral image geometric correction method and device based on three-dimensional array camera |
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