WO2016106954A1 - 一种低轨卫星星载图谱关联探测方法与载荷 - Google Patents

一种低轨卫星星载图谱关联探测方法与载荷 Download PDF

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WO2016106954A1
WO2016106954A1 PCT/CN2015/072669 CN2015072669W WO2016106954A1 WO 2016106954 A1 WO2016106954 A1 WO 2016106954A1 CN 2015072669 W CN2015072669 W CN 2015072669W WO 2016106954 A1 WO2016106954 A1 WO 2016106954A1
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infrared
satellite
moving target
dynamic
image
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French (fr)
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张天序
杨智慧
刘珈羽
周雨田
姚守悝
张俊青
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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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
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/28—Investigating the spectrum
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • 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
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/02—Details
    • G01J3/0205—Optical elements not provided otherwise, e.g. optical manifolds, diffusers, windows
    • G01J3/0208—Optical elements not provided otherwise, e.g. optical manifolds, diffusers, windows using focussing or collimating elements, e.g. lenses or mirrors; performing aberration correction
    • 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
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/02—Details
    • G01J3/0289—Field-of-view determination; Aiming or pointing of a spectrometer; Adjusting alignment; Encoding angular position; Size of measurement area; Position tracking
    • 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
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/02—Details
    • G01J3/0291—Housings; Spectrometer accessories; Spatial arrangement of elements, e.g. folded path arrangements
    • 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
    • G01J3/00—Spectrometry; Spectrophotometry; Monochromators; Measuring colours
    • G01J3/28—Investigating the spectrum
    • G01J3/2823—Imaging spectrometer
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01Q—ANTENNAS, i.e. RADIO AERIALS
    • H01Q15/00—Devices for reflection, refraction, diffraction or polarisation of waves radiated from an antenna, e.g. quasi-optical devices
    • H01Q15/14—Reflecting surfaces; Equivalent structures

Definitions

  • the invention belongs to the field of satellite spaceborne remote sensing detection technology, and more particularly relates to a low-orbit satellite satellite-borne map correlation detection method and load.
  • the low-orbit satellite refers to an elliptical orbit satellite operating from 500km to 10000km above the earth.
  • the schematic diagram of its orbit is shown in Figure 1.
  • the orbit of the low-orbit satellite is low, and the relative motion between the Earth is faster.
  • the velocity of the US MSX satellite derived from the stk software relative to the Earth is between 7km/s and 7.59km/s.
  • Strong interference objects such as cirrus clouds, icy lakes, lightning, etc.
  • Every object radiates energy and its spectral curve is unique.
  • the uniqueness of the spectrum can be used to identify the detected target.
  • MSX satellites in the United States cannot dynamically change targets in different background regions.
  • real-time infrared spectral data acquisition and remote sensing detection are no low-orbit remote sensing loads at home and abroad that can detect infrared image information of moving targets and time-varying objects, as well as the ability to detect their infrared spectra.
  • the present invention provides a low-orbit satellite satellite-borne map correlation detection method and load, which can simultaneously detect infrared image information and infrared spectrum of moving targets and dynamic phenomena, and realize the scene in the scene.
  • the multiple moving targets and dynamic phenomena are automatically detected, tracked, measured and identified, and the recognition efficiency is high, and the tracking positioning accuracy is high.
  • the present invention provides a low-orbit satellite satellite-borne map correlation detection method, which is characterized in that it comprises the following steps:
  • the moving target or the dynamic phenomenon tracked by the step (1-3) is the processing object, and the steps (A1) to (A4) are repeatedly executed to track the moving target or the dynamic phenomenon;
  • steps (A1) to (A4) are respectively:
  • step (A1) coordinate transformation is performed on the processing objects of the adjacent two frames of images.
  • the pixel offset compensation is implemented by the following method:
  • (B1) determining the conversion relationship matrix M 1 of the geocentric fixed coordinate system to the satellite coordinate system according to the position of the detecting satellite and the sun; determining the conversion relationship matrix M 2 of the satellite coordinate system to the image coordinate system according to the aperture imaging principle; According to the position of the satellite at different times, the transformation relationship matrix M 3 between the satellite coordinate systems at different times is determined;
  • the geocentric in the geocentric fixed coordinate system, the geocentric is the origin O, the X axis points to the prime meridian, the Z axis points to the north pole point, and the direction obtained by the right hand spiral method for the X axis and the Z axis is the Y axis direction;
  • the satellite coordinate system The direction of the detecting satellite pointing to the north pole point l 1 is the Z′ axis direction, and the direction of the detecting satellite pointing to the sun is l 2 , and the vector direction obtained by multiplying l 1 and l 2 is the Y′ axis direction, and the Y′ axis direction
  • the direction obtained by the Z' axis according to the right hand spiral rule is the X' axis direction;
  • the coordinates of a single pixel point in the image coordinate system in the image are the number of rows and columns of the pixel point;
  • the infrared spectrum fingerprint is added into the typical infrared spectrum library; If the infrared spectrum fingerprint exists in the typical infrared spectrum library, the eyesight is recognized. Standard or dynamic phenomenon, and make corresponding decisions and treatments based on the recognition results.
  • a low-orbit satellite satellite-borne map correlation detection load which is characterized by comprising a two-dimensional servo turntable, an infrared mirror, a multi-segment infrared optical system, an infrared imaging unit, and a wide-band infrared a spectroscopic unit, a data processing unit and a control unit;
  • the infrared mirror is disposed on the two-dimensional servo turret for reflecting infrared rays radiated by the moving object and the dynamic phenomenon into the multi-spectral infrared optical system;
  • the multi-spectral infrared optical system is configured to split infrared incident light into two infrared outgoing lights, one way to the infrared imaging unit for infrared imaging, and the other way to the wide-band infrared spectrum measuring unit for moving The target and the dynamic phenomenon are measured, and the infrared spectral fingerprint is extracted;
  • the data processing unit is configured to perform real-
  • the present invention realizes an infrared imaging optical path and a short/medium/long-wave infrared spectroscopic optical path common optical axis, which not only enables the present invention to have the capability of simultaneously detecting infrared image information of moving targets and dynamic phenomena and its infrared spectrum, but also reduces
  • the volume of the equipment space is convenient for carrying the satellite and has the characteristics of high cost performance.
  • Figure 1 is a schematic diagram of the orbit of a low-orbit satellite operation
  • FIG. 2 is a flow chart of a low-orbit satellite satellite-borne map correlation detecting method according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a low-orbit satellite satellite-borne map associated detection load according to an embodiment of the present invention
  • Figure 4 is a layout view of a multi-spectral infrared optical system
  • Figure 5 is a schematic diagram of a Cassegrain system used in a multi-spectral infrared optical system
  • Figure 6 is a schematic diagram of the operation of the low-orbit satellite satellite-borne map associated detection load
  • Figure 7 is an example of multi-target acquisition, tracking and spectroscopy of low-orbit satellite satellite-borne map-associated detection loads.
  • the low-orbit satellite satellite-borne map correlation detection method of the embodiment of the present invention includes the following steps:
  • the position of the processing object at different times in the same coordinate system is obtained by coordinate transformation, and then the offset of the processing object on the infrared image is obtained, and pixel offset compensation is performed.
  • the geocentric fixed coordinate system taking the center of the earth as the origin O, the X axis points to the prime meridian, the Z axis points to the north pole point, and the direction obtained by the right hand spiral method for the X axis and the Z axis is the Y axis direction.
  • Satellite coordinate system the direction of the detection satellite pointing to the north pole point l 1 is the Z′ axis direction, the direction of the detection satellite pointing to the sun is l 2 , and the vector direction obtained by the multiplication of l 1 and l 2 is the Y′ axis direction, and Y′ The direction obtained by the right hand spiral rule of the axis and the Z' axis is the X' axis direction.
  • Image Coordinate System The image of a satellite camera is in pixels.
  • the coordinates of a single pixel in the image in the image coordinate system are the number of rows and columns in which the pixel is located.
  • step (A1) the pixel offset compensation for performing coordinate transformation on the processing objects of the adjacent two frames of images is realized by the following method:
  • (B1) determining the conversion relationship matrix M 1 of the geocentric fixed coordinate system to the satellite coordinate system according to the position of the detecting satellite and the sun; determining the conversion relationship matrix M 2 of the satellite coordinate system to the image coordinate system according to the aperture imaging principle; According to the position of the satellites at different times, the transformation relationship matrix M 3 between the satellite coordinate systems at different times is determined.
  • the image is divided into different regions; according to the position (u 0 , v 0 ) of the processing object detected in the current frame in the image coordinate system, the region where the processing object is located is determined, and then the processing object in the adjacent two frames is detected.
  • Pixel offset ( ⁇ u 0 , ⁇ v 0 ) caused by satellite and Earth motion.
  • the background area corresponding to the moving target or the dynamic phenomenon may be firstly measured, specifically, the infrared wide spectrum of the area around the center of the field of view (such as a 5*5 pixel area) is measured. Obtaining a region spectrum corresponding to a moving target or a dynamic phenomenon;
  • the moving target or the dynamic phenomenon tracked in the step (1-3) is the processing target, and the above steps (A1) to (A4) are repeatedly performed to achieve accurate tracking of the moving target or the dynamic phenomenon.
  • the infrared spectrum fingerprint is not present in the typical infrared spectrum library, the infrared spectral fingerprint is added to the typical infrared spectrum library; if the infrared spectrum exists in the typical infrared spectrum library Spectral fingerprints identify moving targets or dynamic phenomena, and make corresponding decisions and processes based on the recognition results.
  • the low-orbit satellite spaceborne map correlation detection load implementing the above detection method includes a two-dimensional servo turntable, an infrared mirror, a multi-segment infrared optical system, an infrared imaging unit, a wide-band infrared spectrum measuring unit, and data processing. Unit and control unit.
  • the infrared mirror is placed on the two-dimensional servo turret.
  • the two-dimensional servo turret rotates under the control of the servo motor and the gyro (including the azimuth mixing measurement gyro and the fiber optic gyroscope), which drives the infrared mirror to rotate, and radiates the moving target and the dynamic phenomenon.
  • the infrared light is reflected into the multi-spectral infrared optical system, and two infrared light beams are obtained by the multi-spectral infrared optical system, one reaches the infrared imaging unit for infrared imaging, and the other reaches the wide-band infrared spectrum unit, and the moving target and Dynamic phenomena are measured.
  • the layout of the multispectral infrared optical system is shown in Fig. 4. It uses a Cassegrain system as shown in Fig. 5, which consists of a parabolic primary mirror and a hyperbolic secondary mirror, and the aberrations are corrected by a plurality of lens groups.
  • This system realizes the infrared imaging optical path and the short/medium/long-wave infrared spectrum optical path coaxiality, the focus of the paraboloid coincides with the virtual focus of the hyperboloid, and then the hyperboloid is ideally like another focus.
  • a heatless design is performed in order to reduce the impact of the radiation of the lens itself on the detection.
  • the beam splitter is coated with a double-layer antireflection film to make it have a high reflectivity for short and medium wave infrared light, and a transflective function for long-wave infrared light.
  • the infrared imaging unit is a focal plane array (FPA), on which an array of photosensitive elements is arranged, and infrared rays emitted from the light source can be imaged on the photosensitive elements on the focal plane through the multi-spectral infrared optical system, and then received
  • the optical signal is converted into an electrical signal and integrated, amplified, sampled and held, and finally formed into an image through an output buffer and a multiplex transmission system.
  • the wide-band infrared spectroscopy unit is used to measure the moving target and dynamic phenomena, and extract the infrared spectral fingerprint.
  • the data processing unit can process the infrared image formed by the FPA and the infrared spectral fingerprint extracted by the wide-spectrum infrared spectrum unit in real time, specifically detecting the moving target and the dynamic phenomenon according to the infrared image, and moving the target and the dynamic phenomenon.
  • the position is compensated by pixel offset, and the coordinate and image speed information of the moving target or the coordinate and gray information of the dynamic phenomenon are obtained through multi-frame correlation, thereby obtaining the predicted position of the moving target and the dynamic phenomenon and transmitting it to the control unit;
  • the extracted infrared target fingerprint of the moving target and the dynamic phenomenon it is matched with the typical infrared spectrum library, and the moving target and the dynamic phenomenon are recognized according to the spectral matching result and the infrared image, and the recognition result is transmitted to the control unit.
  • the control unit receives the data transmitted by the data processing unit, obtains the predicted position of each moving target and the dynamic phenomenon, and further controls the two-dimensional servo motor and the azimuth mixing measurement gyro and the fiber optic gyro to rotate the two-dimensional servo turret, and drives the infrared mirror to realize the deflection and
  • the two-dimensional motion is tilted so that the image of the moving target and the dynamic phenomenon always falls in the center of the field of view of the low-orbit satellite satellite-borne map associated detection load, realizing field-of-view scanning and target tracking.
  • the suspected target is extracted by detecting three consecutive frames in a fixed field of view according to the satellite movement trajectory.
  • the fixed field of view is used to detect three consecutive frames of images according to the satellite movement trajectory; the background clutter suppression is performed on each acquired image, and then the threshold segmentation is performed to extract the suspected moving targets and dynamic phenomena.
  • the pixel gray value higher than the threshold is set to the highest, and the gray value of the pixel below the threshold is set to 0, thereby extracting the suspect moving target and the dynamic phenomenon.
  • the position of the centroid, the position and the image velocity information or the gray scale information of each real moving target or dynamic phenomenon are initially determined by the coordinate association, thereby reducing the false alarm.
  • the low-orbit satellites run faster, and in order to avoid the two-dimensional servo turret rotating too much angle, then we can choose from the actual situation, from the real moving targets and dynamic phenomena found, the nearest five from the center of the field of view Tracking and measuring the moving target or dynamic phenomenon. If less than 5, track and measure all moving targets or dynamic phenomena, and select the moving target and dynamics.
  • the phenomenon measures their infrared spectra from bottom to top and from left to right and performs data processing and target recognition.
  • the tracking target is recorded on the moving target and the dynamic phenomenon according to the principle from bottom to top and from left to right. Then, the order is firstly moved from the initial field of view 1 to the lowest target 2, and the tracking spectrum is tracked. Then move to the target 3 on the top to track the spectrum, and finally move to the top 4 to track the spectrum.
  • the coordinates and motion characteristics of the moving target and the dynamic phenomenon are obtained by infrared image detection, and the position of the moving target and the dynamic phenomenon are compensated by satellite and earth motion, and the moving target and dynamic phenomenon are compensated and predicted.
  • the rotating mirror According to the current moving target or the position of the dynamic phenomenon and the image speed information, it is judged whether the rotating mirror can track the moving target or the dynamic phenomenon. If you can track the above, go to the following steps; if the tracking is not on, track the next moving target or dynamic phenomenon according to the priority;
  • the resolution of the infrared imaging unit is (a*a)
  • the frame rate is f 1
  • the focal length of the multi-spectral infrared optical system is f 2
  • the image pixel size is (b) , b)
  • the maximum operating speed of the detecting satellite is V smax
  • the running speed of the moving target or dynamic phenomenon is V tmax
  • the size of the spectral region around the center of the field of view is (N, M)
  • the integration time required to measure the infrared spectrum is t 1 .
  • Multi-frame detection of moving targets and dynamic phenomena requires that the displacement of moving targets and dynamic phenomena in a multi-frame image is greater than one pixel and smaller than the diagonal length of the image, so that the target does not immediately run out of the image within one frame. To ensure that it is detected, there are constraint equations as follows:
  • the maximum angle of the swing is the angle of the swing after four frames, so the accuracy ⁇ of the rotation angle of the two-dimensional servo turret satisfies the following conditions:
  • the load is placed on a low-orbiting satellite (such as MSX), the maximum speed of the satellite is 7.6km/s, and the current supersonic speed is within 1km/s.
  • Our device uses 1024*1024 images to measure the spectrum. The size of the area is 5*5, and the integration time of the spectrum is 0.1s. The required resolution is 400m*400m, and the frame rate of the image is 50fps. Therefore, this load is characterized by high cost performance and high capture rate.

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Abstract

一种低轨卫星星载图谱关联探测方法与载荷。该方法包括：(1)具有基于像素偏移补偿方法的检测并跟踪动目标和动态现象；(2)对动目标和动态现象的红外光谱进行多维度特性分析，以识别动目标和动态现象。该载荷包括二维伺服转台、红外反射镜、多谱段红外光学系统、红外成像单元、宽波段红外测谱单元、数据处理单元和控制单元。实现了红外成像光路和短/中/长波红外测谱光路共光轴，能同时探测动目标和动态现象的红外图像信息及其红外光谱，实现对场景中的多个动目标和动态现象进行自动检测、跟踪、测谱与识别，且识别效率高，跟踪定位精确度高。

Description

一种低轨卫星星载图谱关联探测方法与载荷 [技术领域]
本发明属于卫星星载遥感探测技术领域，更具体地，涉及一种低轨卫星星载图谱关联探测方法与载荷。
[背景技术]
低轨卫星是指运行在地球上空500km～10000km的椭圆轨道卫星，其运行轨道示意图如图1所示，不同于同步轨道卫星，低轨卫星轨道高度低，和地球间相对运动速度较快，由stk软件导出的美国MSX卫星相对地球的运动速度就在7km/s～7.59km/s之间。对临边和地球背景中的强干扰物体(如卷云、结冰湖面、雷电等)在成像过程会产生较大的帧间像素偏移，形成虚假目标，因此需要有针对于卫星运动、地球运动和物体运动补偿的算法。
一切物体都会辐射能量且其光谱曲线唯一，可利用光谱唯一性对检测出的目标进行识别。现有国内外低轨遥感载荷均没有既能探测动目标和时变对象的红外图像信息，又能探测其红外光谱的能力，如美国的MSX卫星，不能对不同背景区域下动态变化的动目标和动态现象进行实时红外光谱数据采集和遥感探测。
[发明内容]
针对现有技术的以上缺陷或改进需求，本发明提供了一种低轨卫星星载图谱关联探测方法与载荷，能同时探测动目标和动态现象的红外图像信息及其红外光谱，实现对场景中的多个动目标和动态现象进行自动检测、跟踪、测谱与识别，且识别效率高，跟踪定位精确度高。
为实现上述目的，本发明提供了一种低轨卫星星载图谱关联探测方法，其特征在于，包括如下步骤：
(1)检测并跟踪动目标和动态现象；进一步包括如下子步骤：
(1-1)对红外图像进行背景杂波抑制；
(1-2)将抑制后的图像进行门限分割，提取疑似动目标和动态现象；
(1-3)以疑似动目标和动态现象为处理对象，通过执行步骤(A1)～(A4)，检测出真实的动目标和动态现象，并将视场中心置于动目标或动态现象的预测位置对其进行跟踪；
(1-4)测量视场中心周围区域的红外宽光谱，得到与动目标或动态现象对应的区域光谱；
(1-5)以步骤(1-3)跟踪的动目标或动态现象为处理对象，重复执行步骤(A1)～(A4)，实现对动目标或动态现象的跟踪；
其中，所述步骤(A1)～(A4)分别为：
(A1)对多帧图像的处理对象进行坐标变换的像素偏移补偿；
(A2)对像素偏移补偿后的多帧图像进行关联，检测出真实的处理对象；
(A3)在处理对象为动目标时，计算其像面速度特征，得到其预测位置；在处理对象为动态现象时，计算其灰度特征，得到其预测位置；
(A4)定位下一帧处理对象的位置到其预测位置，将视场中心置于处理对象的预测位置；
(2)对动目标和动态现象的红外光谱进行多维度特性分析，以识别动目标和动态现象；进一步包括如下子步骤：
(2-1)定位动目标和动态现象并测量其红外光谱；
(2-2)对动目标和动态现象的红外光谱进行补偿校正；
(2-3)从校正后的动目标和动态现象的红外光谱中剔除与其对应的区域光谱，进而提取动目标和动态现象的红外光谱指纹；
(2-4)将动目标和动态现象的红外光谱指纹与典型的红外光谱库进行匹配，以识别动目标和动态现象。
优选地，所述步骤(A1)中，对相邻两帧图像的处理对象进行坐标变 换的像素偏移补偿通过如下方法实现：
(B1)根据探测卫星和太阳的位置，确定地心固联坐标系到卫星坐标系的转换关系矩阵M1；根据小孔成像原理，确定卫星坐标系到图像坐标系的转换关系矩阵M2；根据不同时刻探测卫星的位置，确定不同时刻卫星坐标系间的转换关系矩阵M3；
其中，地心固联坐标系中，地心为原点O，X轴指向本初子午线，Z轴指向北极点，对X轴和Z轴按照右手螺旋法得到的方向为Y轴方向；卫星坐标系中，探测卫星指向北极点的方向l1为Z′轴方向，探测卫星指向太阳的方向为l2，由l1和l2叉乘得到的向量方向为Y′轴方向，对Y′轴和Z′轴按照右手螺旋法则得到的方向为X′轴方向；图像中的单个像素点在图像坐标系中的坐标是该像素点所在的行数和列数；
(B2)根据卫星和太阳的位置，利用转换关系矩阵M1、M2和M3，求出像素偏移划分曲线，根据相邻两帧图像中的像素点由探测卫星和地球运动引起的偏移大小，将图像划分成不同的区域；根据当前帧检测出的处理对象在图像坐标系中的位置(u0,v0)，确定处理对象所在的区域，进而得到相邻两帧图像中处理对象由探测卫星和地球运动引起的像素偏移(Δu0,Δv0)；
(B3)计算相邻两帧图像中处理对象由其自身运动引起的像素偏移(Δu1,Δv1)＝k*(unx,vny)，(unx,vny)为通过全视场扫描计算得到的处理对象的平均像面速度，k为相邻两帧的时间间隔；
(B4)对卫星和地球运动以及处理对象运动引起的像素偏移进行补偿，预测下一帧处理对象在图像坐标系中的位置为(un,vn)＝(u0+Δu0+Δu1,v0+Δv0+Δv1)。
优选地，所述步骤(2-4)中，对任一动目标或动态现象，若典型的红外光谱库中不存在其红外光谱指纹，则将其红外光谱指纹添加进典型的红外光谱库中；若典型的红外光谱库中存在其红外光谱指纹，则识别出动目 标或动态现象，并根据识别结果做出相应的决策与处理。
按照本发明的另一方面，提供了一种低轨卫星星载图谱关联探测载荷，其特征在于，包括二维伺服转台、红外反射镜、多谱段红外光学系统、红外成像单元、宽波段红外测谱单元、数据处理单元和控制单元；所述红外反射镜置于所述二维伺服转台上，用于将动目标和动态现象辐射的红外光线反射到所述多谱段红外光学系统中；所述多谱段红外光学系统用于将红外入射光分为两路红外出射光，一路到达所述红外成像单元，进行红外成像，另一路到达所述宽波段红外测谱单元，用于对动目标和动态现象进行测谱，提取其红外光谱指纹；所述数据处理单元用于对所述红外成像单元得到的红外图像和所述宽波段红外测谱单元提取的红外光谱指纹进行实时处理，得到动目标和动态现象的预测位置以及其识别结果；所述控制单元用于根据动目标和动态现象的预测位置，控制所述二维伺服转台转动，使动目标和动态现象的影像始终落在所述载荷的视场中心，实现视场扫描和目标跟踪。
总体而言，通过本发明所构思的以上技术方案与现有技术相比，具有以下有益效果：
(1)本发明实现了红外成像光路和短/中/长波红外测谱光路共光轴，不仅使得本发明具有同时探测动目标和动态现象的红外图像信息以及其红外光谱的能力，还减小了装备空间的体积，便于卫星的携带，具有性价比高的特点。
(2)通过基于卫星和地球运动补偿以及动目标和动态现象运动补偿的像素偏移补偿，能实现对场景中的多个动目标和动态现象的精确定位和跟踪，具有响应时间短，识别效率高的特点。
[附图说明]
图1是低轨卫星运行的轨道示意图；
图2是本发明实施例的低轨卫星星载图谱关联探测方法流程图；
图3是本发明实施例的低轨卫星星载图谱关联探测载荷示意图；
图4是多谱段红外光学系统的布局图；
图5是多谱段红外光学系统采用的卡塞格林系统示意图；
图6是低轨卫星星载图谱关联探测载荷的工作示意图；
图7是低轨卫星星载图谱关联探测载荷进行多目标捕获、跟踪与测谱的实例图。
[具体实施方式]
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。此外，下面所描述的本发明各个实施方式中所涉及到的技术特征只要彼此之间未构成冲突就可以相互组合。
如图2所示，本发明实施例的低轨卫星星载图谱关联探测方法包括如下步骤：
(1)检测并跟踪动目标和动态现象。进一步包括如下子步骤：
(1-1)对红外图像进行背景杂波抑制；
(1-2)将抑制后的图像进行门限分割，提取疑似动目标和动态现象；
(1-3)以疑似动目标和动态现象为处理对象，通过下述步骤(A1)～(A4)，检测出真实的动目标和动态现象，并跟踪至动目标或动态现象的预测位置。
(A1)对多帧图像的处理对象进行坐标变换的像素偏移补偿；
首先通过坐标变换求取处理对象在同一坐标系下不同时刻的位置，然后求出处理对象在红外图像上的偏移量，进行像素偏移补偿。
涉及如下三个坐标系：地心固联坐标系、卫星坐标系和图像坐标系。
地心固联坐标系：以地心为原点O，X轴指向本初子午线，Z轴指向北极点，对X轴和Z轴按照右手螺旋法得到的方向为Y轴方向。
卫星坐标系：探测卫星指向北极点的方向l1为Z′轴方向，探测卫星指向太阳的方向为l2，由l1和l2叉乘得到的向量方向为Y′轴方向，对Y′轴和Z′轴按照右手螺旋法则得到的方向为X′轴方向。
图像坐标系：卫星相机的图像以像素为单位，图像中的单个像素点在图像坐标系中的坐标是该像素点所在的行数和列数。
上述步骤(A1)中，对相邻两帧图像的处理对象进行坐标变换的像素偏移补偿通过如下方法实现：
(B1)根据探测卫星和太阳的位置，确定地心固联坐标系到卫星坐标系的转换关系矩阵M1；根据小孔成像原理，确定卫星坐标系到图像坐标系的转换关系矩阵M2；根据不同时刻探测卫星的位置，确定不同时刻卫星坐标系间的转换关系矩阵M3。
(B2)由于地球存在自转，且低轨卫星相对地球的运动速度较快，即使某一动目标或动态现象相对地球的运动很缓慢，仍会在成像面上存在着像素偏移，因此需要进行卫星和地球运动补偿。根据卫星和太阳的位置，利用转换关系矩阵M1、M2和M3，求出像素偏移划分曲线，根据相邻两帧图像中的像素点由探测卫星和地球运动引起的偏移大小，将图像划分成不同的区域；根据当前帧检测出的处理对象在图像坐标系中的位置(u0,v0)，确定处理对象所在的区域，进而得到相邻两帧图像中处理对象由探测卫星和地球运动引起的像素偏移(Δu0,Δv0)。
(B3)计算相邻两帧图像中处理对象由其自身运动引起的像素偏移(Δu1,Δv1)＝k*(unx,vny)，(unx,vny)为通过全视场扫描计算得到的处理对象的平均像面速度，k为相邻两帧的时间间隔。
(B4)像素偏移补偿：对卫星和地球运动以及处理对象运动引起的像素偏移进行补偿，预测下一帧处理对象在图像坐标系中的位置(un,vn)＝(u0+Δu0+Δu1,v0+Δv0+Δv1)。
(A2)对像素偏移补偿后的多帧图像进行关联，检测出真实的处理对象；
(A3)在处理对象为动目标时，计算其像面速度特征，得到其预测位置；在处理对象为动态现象时，计算其灰度特征，得到其预测位置；
(A4)定位下一帧处理对象的位置到其预测位置，将视场中心置于处理对象的预测位置。
(1-4)由于此时定位精度较低，可先对动目标或动态现象对应的背景区域进行测谱，具体地，测量视场中心周围区域(如5*5像素区域)的红外宽光谱，得到与动目标或动态现象对应的区域光谱；
(1-5)以步骤(1-3)跟踪的动目标或动态现象为处理对象，重复执行上述步骤(A1)～(A4)，实现对动目标或动态现象的精确跟踪。
(2)对动目标和动态现象的红外光谱进行多维度特性分析，以识别动目标和动态现象。进一步包括如下子步骤：
(2-1)通过3～5帧图像精确定位动目标和动态现象并测量其红外光谱；
(2-2)对动目标和动态现象的红外光谱进行补偿校正；
(2-3)从校正后的动目标和动态现象的红外光谱中剔除与其对应的区域光谱，进而提取动目标和动态现象的红外光谱指纹；
(2-4)将动目标和动态现象的红外光谱指纹与典型的红外光谱库进行匹配，以识别动目标和动态现象。
具体地，对任一动目标或动态现象，若典型的红外光谱库中不存在其红外光谱指纹，则将其红外光谱指纹添加进典型的红外光谱库中；若典型的红外光谱库中存在其红外光谱指纹，则识别出动目标或动态现象，并根据识别结果做出相应的决策与处理。
如图3所示，实现上述探测方法的低轨卫星星载图谱关联探测载荷包括二维伺服转台、红外反射镜、多谱段红外光学系统、红外成像单元、宽波段红外测谱单元、数据处理单元和控制单元。
红外反射镜置于二维伺服转台上，二维伺服转台在伺服电机和陀螺(包括方位混转测量陀螺和光纤陀螺)的控制下转动，带动红外反射镜转动，将动目标和动态现象辐射的红外光线反射到多谱段红外光学系统中，由多谱段红外光学系统得到两路红外出射光，一路到达红外成像单元，进行红外成像，另一路到达宽波段红外测谱单元，对动目标和动态现象进行测谱。
多谱段红外光学系统的布局如图4所示，它采用如图5所示的卡塞格林系统，其由一个抛物面主镜和一个双曲面次镜组成，并由若干透镜组校正像差。此系统实现了红外成像光路和短/中/长波红外测谱光路共轴，抛物面的焦点和双曲面的虚焦点重合，再经双曲面成理想像于另一个焦点。为了降低镜头本身的辐射对探测造成的影响，进行无热化设计。分光镜镀双层增透膜，使其对短、中波红外光反射率高，对长波红外光则具有半透半反的功能。
红外成像单元为焦平面阵列(FPA)，其上排列着感光元件阵列，可将发光源发射的红外线经过上述多谱段红外光学系统成像在焦平面上的这些感光元件上，然后将接收到的光信号转换为电信号并进行积分放大、采样保持，通过输出缓冲和多路传输系统，最终形成图像。
宽波段红外测谱单元用于对动目标和动态现象进行测谱，提取其红外光谱指纹。
数据处理单元可对FPA所成的红外图像和宽谱段红外测谱单元所提取的红外光谱指纹进行实时处理，具体为一方面根据红外图像检测动目标和动态现象，对动目标和动态现象的位置进行像素偏移补偿，并且通过多帧关联得到动目标的坐标和像面速度信息或者动态现象的坐标和灰度信息，进而得到动目标和动态现象的预测位置并将其发送至控制单元；另一方面根据提取出的动目标和动态现象的红外光谱指纹与典型的红外光谱库进行匹配，根据光谱匹配结果与红外图像对动目标和动态现象进行识别，并将识别结果传递给控制单元。
控制单元接收数据处理单元传输的数据，得到各动目标和动态现象的预测位置，进而控制二维伺服电机以及方位混转测量陀螺和光纤陀螺使二维伺服转台转动，带动红外反射镜实现偏转和倾斜两个维度的运动，使动目标和动态现象的影像始终落在低轨卫星星载图谱关联探测载荷的视场中心，实现视场扫描和目标跟踪。
为使本领域技术人员更好地理解本发明，下面结合具体实施例，对采用本发明的探测载荷实现上述低轨卫星星载图谱关联探测方法的过程进行详细说明。
如图6所示，按照卫星移动轨迹在固定视场内连续三帧检测提取疑似目标。为了减少图谱关联探测载荷的摆动次数，固定视场，按照卫星移动轨迹对连续三帧图像进行检测；对获取的每一帧图像进行背景杂波抑制，然后进行门限分割提取疑似动目标和动态现象，将高于门限值的像素点灰度值置为最高，将低于门限值的像素点灰度值置为0，进而提取疑似动目标和动态现象。
通过像素偏移补偿和多帧关联从所有疑似动目标和动态现象中确定真实的动目标和动态现象，按照连通域规则标记出真实的动目标和动态现象，然后计算每个动目标或动态现象的质心位置，通过坐标关联初步确定各真实动目标或动态现象的位置和像面速度信息或灰度信息，从而降低虚警。
计算所有动目标和动态现象的平均像面速度和灰度变化，判断其类型。若动目标或动态现象的位置具有不变性，且灰度特征具有时变性则可确定其为动态现象，否则就确定其为动目标；若确定为动态现象类型，则进入专注模式，即控制扫描镜中心光轴对准其位置进行长时间测谱。
因为低轨卫星运行速度较快，同时为了避免二维伺服转台转动太大的角度，那么我们可从实际情况出发，从已发现的真实动目标和动态现象中选择离视场中心最近的5个动目标或动态现象进行跟踪测谱，若不足5个，则对所有的动目标或动态现象都进行跟踪测谱，对筛选出的动目标和动态 现象按照从下到上，从左到右的原则测量它们的红外光谱并进行数据处理和目标识别。如图7所示，按照从下到上，从左到右的原则对动目标和动态现象进行跟踪测谱，那么顺序为，由初始视场①首先移动到最下方的目标②，跟踪测谱之后再移动到其稍上的目标③进行跟踪测谱，最后移动到最上方的目标④进行跟踪测谱。
包括如下步骤：
由红外图像检测得到动目标和动态现象的坐标和运动特征，对动目标和动态现象的位置进行卫星和地球运动补偿以及动目标和动态现象运动补偿预测定位；
根据当前动目标或动态现象的位置和像面速度信息判断转镜是否能跟踪上此动目标或动态现象。若可以跟踪上，则进入下面的步骤；若跟踪不上，则根据优先级对下一动目标或动态现象进行跟踪测谱；
控制二维伺服转台，带动红外反射镜指向此动目标或动态现象的预测坐标位置；
对当前视场中心附近区域进行3～5帧精检测、跟踪，同时测量动目标或动态现象的背景光谱，计算像素偏移补偿，控制多谱段红外光学系统的中心精对准此动目标或动态现象；
锁定当前的动目标或动态现象，并对其测谱；
对测到的谱线数据进行在线补偿矫正处理，若光谱指纹库中无此光谱数据，则添加此动目标或动态现象的红外光谱特征数据；否则，即可对光谱进行匹配，进而实现动目标或动态现象的识别与确认；
对下一动目标或动态现象重复上述步骤的操作，直至对所有筛选出来的动目标和动态现象都进行了红外光谱采集和匹配。
转动二维伺服转台，恢复到初始方向，重复上述所有操作。
上述低轨卫星星载图谱关联探测载荷中，红外成像单元的分辨率为(a*a)，帧频为f1，多谱段红外光学系统的焦距为f2，图像像元尺寸为(b,b)， 图像大小(n,m)，探测卫星的最大运行速度为Vsmax，动目标或动态现象的运行速度为Vtmax，视场中心周围的测谱区域大小为(N,M)，测量红外光谱需要的积分时间为t1。
要求动目标和动态现象在测谱时间内不能跑出测谱区域外，则有a满足如下约束条件：
Figure PCTCN2015072669-appb-000001
多帧检测动目标和动态现象，则需要动目标和动态现象在多帧图像内移动的位移是大于一个像素且小于图像的对角线长度，这样才能使目标不在一帧图像内立马跑丢又能保证其被检测到，则有约束方程如下：
Figure PCTCN2015072669-appb-000002
Figure PCTCN2015072669-appb-000003
载荷若要测量动目标和动态现象的红外光谱则需要摆动的最大角度为四帧后摆动的角度，所以二维伺服转台的转动角度的精度Δθ满足如下条件：
Figure PCTCN2015072669-appb-000004
将载荷放置在某一低轨卫星(如MSX)上，则卫星运行最大速度为7.6km/s，当前超音速飞机速度在1km/s以内，则我们的装置采用1024*1024的图像，测量光谱区域大小5*5，测谱积分时间为0.1s，则需要的分辨率大小为400m*400m，图像产生的帧率为50fps。因此，本载荷具有高性价比，高捕获率的特点。
本领域的技术人员容易理解，以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (4)

  1. 一种低轨卫星星载图谱关联探测方法，其特征在于，包括如下步骤：
    (1)检测并跟踪动目标和动态现象；进一步包括如下子步骤：
    (1-1)对红外图像进行背景杂波抑制；
    (1-2)将抑制后的图像进行门限分割，提取疑似动目标和动态现象；
    (1-3)以疑似动目标和动态现象为处理对象，通过执行步骤(A1)～(A4)，检测出真实的动目标和动态现象，并将视场中心置于动目标或动态现象的预测位置对其进行跟踪；
    (1-4)测量视场中心周围区域的红外宽光谱，得到与动目标或动态现象对应的区域光谱；
    (1-5)以步骤(1-3)跟踪的动目标或动态现象为处理对象，重复执行步骤(A1)～(A4)，实现对动目标或动态现象的跟踪；
    其中，所述步骤(A1)～(A4)分别为：
    (A1)对多帧图像的处理对象进行坐标变换的像素偏移补偿；
    (A2)对像素偏移补偿后的多帧图像进行关联，检测出真实的处理对象；
    (A3)在处理对象为动目标时，计算其像面速度特征，得到其预测位置；在处理对象为动态现象时，计算其灰度特征，得到其预测位置；
    (A4)定位下一帧处理对象的位置到其预测位置，将视场中心置于处理对象的预测位置；
    (2)对动目标和动态现象的红外光谱进行多维度特性分析，以识别动目标和动态现象；进一步包括如下子步骤：
    (2-1)定位动目标和动态现象并测量其红外光谱；
    (2-2)对动目标和动态现象的红外光谱进行补偿校正；
    (2-3)从校正后的动目标和动态现象的红外光谱中剔除与其对应的区域光谱，进而提取动目标和动态现象的红外光谱指纹；
    (2-4)将动目标和动态现象的红外光谱指纹与典型的红外光谱库进行匹配，以识别动目标和动态现象。
  2. 如权利要求1所述的低轨卫星星载图谱关联探测方法，其特征在于，所述步骤(A1)中，对相邻两帧图像的处理对象进行坐标变换的像素偏移补偿通过如下方法实现：
    (B1)根据探测卫星和太阳的位置，确定地心固联坐标系到卫星坐标系的转换关系矩阵M1；根据小孔成像原理，确定卫星坐标系到图像坐标系的转换关系矩阵M2；根据不同时刻探测卫星的位置，确定不同时刻卫星坐标系间的转换关系矩阵M3；
    其中，地心固联坐标系中，地心为原点O，X轴指向本初子午线，Z轴指向北极点，对X轴和Z轴按照右手螺旋法得到的方向为Y轴方向；卫星坐标系中，探测卫星指向北极点的方向l1为Z′轴方向，探测卫星指向太阳的方向为l2，由l1和l2叉乘得到的向量方向为Y′轴方向，对Y′轴和Z′轴按照右手螺旋法则得到的方向为X′轴方向；图像中的单个像素点在图像坐标系中的坐标是该像素点所在的行数和列数；
    (B2)根据卫星和太阳的位置，利用转换关系矩阵M1、M2和M3，求出像素偏移划分曲线，根据相邻两帧图像中的像素点由探测卫星和地球运动引起的偏移大小，将图像划分成不同的区域；根据当前帧检测出的处理对象在图像坐标系中的位置(u0,v0)，确定处理对象所在的区域，进而得到相邻两帧图像中处理对象由探测卫星和地球运动引起的像素偏移(Δu0,Δv0)；
    (B3)计算相邻两帧图像中处理对象由其自身运动引起的像素偏移(Δu1,Δv1)＝k*(unx,vny)，(unx,vny)为通过全视场扫描计算得到的处理对象的平均像面速度，k为相邻两帧的时间间隔；
    (B4)对卫星和地球运动以及处理对象运动引起的像素偏移进行补偿，预测下一帧处理对象在图像坐标系中的位置为(un,vn)＝(u0+Δu0+Δu1,v0+Δv0+Δv1)。
  3. 如权利要求1或2所述的低轨卫星星载图谱关联探测方法，其特征在于，所述步骤(2-4)中，对任一动目标或动态现象，若典型的红外光谱库中不存在其红外光谱指纹，则将其红外光谱指纹添加进典型的红外光谱库中；若典型的红外光谱库中存在其红外光谱指纹，则识别出动目标或动态现象，并根据识别结果做出相应的决策与处理。
  4. 一种低轨卫星星载图谱关联探测载荷，其特征在于，包括二维伺服转台、红外反射镜、多谱段红外光学系统、红外成像单元、宽波段红外测谱单元、数据处理单元和控制单元；
    所述红外反射镜置于所述二维伺服转台上，用于将动目标和动态现象辐射的红外光线反射到所述多谱段红外光学系统中；所述多谱段红外光学系统用于将红外入射光分为两路红外出射光，一路到达所述红外成像单元，进行红外成像，另一路到达所述宽波段红外测谱单元，用于对动目标和动态现象进行测谱，提取其红外光谱指纹；
    所述数据处理单元用于对所述红外成像单元得到的红外图像和所述宽波段红外测谱单元提取的红外光谱指纹进行实时处理，得到动目标和动态现象的预测位置以及其识别结果；
    所述控制单元用于根据动目标和动态现象的预测位置，控制所述二维伺服转台转动，使动目标和动态现象的影像始终落在所述载荷的视场中心，实现视场扫描和目标跟踪。
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