CN102564401B - Real-time photogrammetry processing system of airborne aerial image - Google Patents
Real-time photogrammetry processing system of airborne aerial image Download PDFInfo
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Abstract
The invention discloses a real-time photogrammetry processing system of an airborne aerial image. The real-time photogrammetry processing system comprises a data transmission and control board and three data processing boards, wherein a camera and a POS (Point Of Sale) system are used for respectively obtaining data; the data transmission and control board is used for receiving the data obtained by the camera and the POS system and respectively sending the received data to the three data processing boards; the three data processing boards are used for respectively carrying out image colour quality evaluation, image geometric quality evaluation and panoramic image mosaic processing; and a processing result is stored in a hard disk and displayed on a display. With regard to airborne photogrammetry real-time processing, the real-time photogrammetry processing system disclosed by the invention has a clear goal and a more fixed data processing content; the airborne photogrammetry real-timeprocessing is realized by adopting an embedded system orienting to special application; the real-time photogrammetry processing system has strong advantages, such as small system volume, low power consumption and high processing speed; and the real-time photogrammetry processing system is convenient to install on a machine.
Description
Technical field
The present invention relates to Photogrammetry and Remote Sensing field and embedded computer technology, particularly a kind of airborne aviation image real-time photogrammetry disposal system.
Background technology
As one of main means of geospatial information, photogrammetricly develop into present concentrating type digital Photogrammetric System of new generation, treatment effeciency is greatly improved, but still lag behind property now is obtained in socio-economic development to spatial data requirement, especially work as disaster, when accident takes place, " time is life; the time is exactly property ", at this moment carrying out the requirement of geographical spatial data of every work is very urgent, hope is that aircraft flies to where just can get three-dimensional space data where, aircraft lands and just can utilize carrying out of these data-guiding related works, even the fastest concentrating type Digital Photogrammetric System of new generation also can't satisfy such requirement at present.
Than the periodicity characteristics that the satellite remote-sensing image data are obtained, obtaining of airborne aviation image has advantages such as flexible, quick, convenient, where where need just to fly to, and be the preference data source that real time data is obtained.Data source so that airborne aviation image is handled as real-time photogrammetry has remarkable advantages.Obviously, airborne aviation image real-time photogrammetry is handled and (is flown in the journey in boat and handle while obtaining data, aircraft lands can submit result to), can realize quick, monitoring in real time to accident, understand the situation of the area of observation coverage rapidly, no matter be to civilian or national defense and military, to tradition mapping or emergency response, all have great importance.
Development and the development of computer of photogrammetric technology are closely related, we can say the development that does not have computing machine, just do not have photogrammetric present development.The foundation of a new generation's concentrating type digital Photogrammetric System has taken full advantage of the newest fruits of current multi-purpose computer technical development just, comprise trunking computer, mass memory, Fast Ethernet etc., the efficient that photogrammetric data is handled reaches a new high, and improves 8～l0 doubly than the photogrammetric workstation of conventional digital.But be based on the Digital Photogrammetric System of new generation of cluster computer, because volume is big, power consumption is big, and exists repeatedly data access, therefore the data handling procedure complexity is not suitable for airborne operation and handles in real time.
At the problems referred to above, propose to be convenient to airborne aviation image real-time photogrammetry treating apparatus and the method for practical application, be the great difficult problem that solution is badly in need of in this area.
Summary of the invention
The present invention is directed to the prior art defective, proposed a kind of airborne aviation image real-time photogrammetry disposal system.
Technical scheme of the present invention is a kind of airborne aviation image real-time photogrammetry disposal system, comprise data transmission and control panel and three data disposable plates, three data disposable plates be respectively for colors of image grade estimation the data disposable plates, be used for image geometry grade estimation the data disposable plates, be used for the data disposable plates of Panoramagram montage;
Described data transmission and control panel comprise the FPGA control module, reaching with the FPGA control module is data memory module, image data input interface, POS Data Input Interface, three PCIE interfaces that core arranges, and three data disposable plates are connected with control panel with data transmission by a PCIE interface respectively; The ground image data of aerial camera collection deposits data memory module through the input of image data input interface in by the FPGA control module, and the boat that POS system produces is synchronously taken the photograph the elements of exterior orientation data and deposited data memory module through the input of POS Data Input Interface in by the FPGA control module; Ground image data and boat that the FPGA control module reads in the data memory module are taken the photograph the elements of exterior orientation data, after face carries out pre-service as data over the ground, gained image preprocessed data and boat are taken the photograph the integration of elements of exterior orientation data, and the gained integral data sends to three data disposable plates respectively through the PCIE interface;
Described data disposable plates comprises control module, and is data memory module, HDMI display interface, hard-disk interface and PCIE interface that core arranges with the control module, and described control module adopts the chip of integrated ARM microprocessor and DSP microprocessor; The integral data that data transmission and control panel send is through PCIE interface input ARM microprocessor, and the ARM microprocessor is taken the photograph the elements of exterior orientation data from the isolated image preprocessed data of integral data and boat and deposited data memory module in; The ARM microprocessor calls the DSP microprocessor and reads image preprocessed data in the data memory module and boat and take the photograph the elements of exterior orientation data and handle, DSP microprocessor gained result return data memory module, the DSP microprocessor is sent completely message in the back of finishing dealing with to the ARM microprocessor, the ARM microprocessor reads result from data memory module after receiving and finishing message, and result is sent into through hard-disk interface hard disk is stored and send into display through the HDMI display interface shows; Image preprocessed data and boat that the DSP microprocessor reads in the data memory module are taken the photograph the processing that the elements of exterior orientation data are carried out, be colors of image grade estimation, image geometry grade estimation or Panoramagram montage, the boat that directly adopts POS system to produce synchronously when image geometry grade estimation or Panoramagram montage is taken the photograph the elements of exterior orientation data and is resolved.
And the image data input interface of data transmission and control panel adopts the CameraLink interface, and the POS Data Input Interface adopts the RS484 interface.
Airborne aviation image real-time photogrammetry disposal system provided by the present invention is installed on the aviation flight platform, taken pictures in ground by aerial camera and to obtain the ground image data, POS system produces position and the attitude data of aerial surveying camera synchronously simultaneously, these two kinds of data directly are transferred to data transmission and control panel by CameraLink and RS484 interface respectively, data transmission and control panel carry out corresponding pre-service to image, then two kinds of data are sent to three PCIE ports simultaneously, three blocks of data disposable plates receive from the data of PCIE port simultaneously and carry out colors of image grade estimation respectively and handle, image geometry grade estimation processing and Panoramagram montage are handled, and last three blocks of data disposable plates store result respectively and show result at display.Technical scheme of the present invention is measured in real time for airborne photography and is handled, it is with clearly defined objective, the data contents processing is more fixing, employing is that the embedded system of purpose realizes airborne photography measurement processing in real time with the specialized application, has very strong advantage, comprise advantages such as system bulk is little, low in energy consumption, processing speed is fast, be convenient to equip on the machine.And the boat that the present invention can directly adopt POS system to produce is synchronously taken the photograph the elements of exterior orientation data and is resolved, and the sky three that substitutes in the traditional photography measuring method resolves, and realizes real-time photogrammetry and obtains result.
Description of drawings
Fig. 1 is the system construction drawing of the embodiment of the invention.
Fig. 2 is the airborne real-time photogrammetry processing flow chart of the embodiment of the invention.
Fig. 3 is high speed data transfer and the control flow chart of the embodiment of the invention.
Fig. 4 is the real time data processing process flow diagram of the embodiment of the invention.
Fig. 5 is the schematic diagram of the embodiment of the invention.
Fig. 6 is data transmission and the control panel structural drawing of the embodiment of the invention.
Fig. 7 is the data disposable plates structural drawing of the embodiment of the invention.
Embodiment
Describe technical solution of the present invention in detail below in conjunction with drawings and Examples.
Referring to Fig. 1, the airborne aviation image real-time photogrammetry disposal system that provides of the embodiment of the invention comprises integrated circuit boards such as data transmission and control panel, data disposable plates, when specifically implementing, can also be equipped with peripheral hardwares such as external power supply, memory device, display device.Be used for the data disposable plates of colors of image grade estimation, the data disposable plates that is used for image geometry grade estimation, the data disposable plates that is used for Panoramagram montage and be designated as data disposable plates 1, data disposable plates 2, data disposable plates 3 in the drawings respectively.Referring to Fig. 2, in the time of boat camera filmed image, POS system produces boat synchronously and takes the photograph elements of exterior orientation data (comprising position and attitude data), data transmission and control panel reads the ground image data and boat is taken the photograph the elements of exterior orientation data, transfer to data disposable plates 1, data disposable plates 2, data disposable plates 3 then and carry out colors of image grade estimation, image geometry grade estimation and Panoramagram montage processing in real time etc. respectively, set up special running environment.Result is output to memory device, display device, and the memory device of embodiment adopts hard disk, and display device adopts display.
Referring to Fig. 6, the data transmission of embodiment and control panel are based on the FPGA(field programmable gate array) chip design, fpga chip has very strong parallel processing capability, is conducive to receive fast and distributing data.In data transmission and the control panel, adopt fpga chip to realize control module, be that the peripheral circuit of core setting all is connected respectively with the FPGA control module with the FPGA control module, comprise the CameraLink interface that connects aerial camera, receive the RS484 interface of elements of exterior orientation that POS system produces, be used for storing the data memory module (DDR2) of data as internal memory, be used for also having external power supply input interface (DC IN) in addition to the PCIE interface of data disposable plates transmission data, power output interface (DC OUT) for the power supply of data disposable plates, the jtag interface of fpga chip downloads, circuit reset key (RESET) etc.Total interface all is connected with fpga chip, carries out unified control scheduling by FPGA, finally can carry out high speed processing to big data quantity, and realize quick reception and the distribution of data.
Referring to Fig. 3, the data volume that is transferred to data transmission and control panel from navigate camera and POS system is very big, needs be received by data transmission and control panel at short notice the internal memory of integrated circuit board, re-sends to three PCIE ports after treatment.The Data Transmission Controlling and the pre-service detailed process that are realized by data transmission and control panel comprise: receive from the boat camera and take the photograph elements of exterior orientation by ground image data and POS system that the CameraLink interface transmits by the boat that the RS484 interface transmits, and deposit in the data memory module of data transmission and control panel; By integrated circuit board control center, namely the FPGA control module reads data memory module interior ground image data and boat and takes the photograph the elements of exterior orientation data, then the geographical image data in the data memory module is carried out pre-service; The FPGA control module is taken the photograph gained image preprocessed data and boat the integration of elements of exterior orientation data and is sent to three PCIE ports simultaneously.During concrete enforcement, those skilled in the art can design preprocessor in advance, download to the FPGA control module by jtag interface, can be undertaken the geographical image data in the data memory module is carried out pre-service by the FPGA control module.During concrete enforcement, pretreatment operation can adopt processing such as image convergent-divergent, image filtering, make the FPGA engineering with corresponding preprocessing function as required by those skilled in the art after, download to the FPGA control module by jtag interface and get final product.
Referring to Fig. 7, the data disposable plates of embodiment is based on the ARM+DSP technical design, and control module adopts the chip of integrated ARM microprocessor and DSP microprocessor, is that the peripheral circuit of core setting all is connected respectively with control module with the control module.In the side circuit, control module is the integrated chip of an ARM+DSP, peripheral circuit directly is connected with this chip block, and specifically all peripheral interface communication all is that the ARM microprocessor is handled, the main effect of DSP microprocessor is to do high-speed computation, and the cooperating operation of ARM microprocessor and DSP microprocessor can be undertaken by software in actual applications.Peripheral circuit comprises data memory module (DDR2), be used for to show the HDMI display interface (HDMI (High Definition Multimedia Interface)) of result, be used for the stores processor result hard-disk interface (SATA interface), be used for receiving the PCIE interface from the integral data of data transmission and control panel, in addition also be useful on to the SD clamping mouth of operating system on the data disposable plates, the jtag interface that downloads, circuit reset key (RESET), external power supply input end (DC IN), store chip external memory FLASH of the used enforcement handling procedure of DSP microprocessor etc.For the ease of debugging, also can be provided for connecting the RS232 interface of debug terminal, debug terminal can adopt multi-purpose computer.After the RS232 interface is set, in the embedded development process, just can realize that by a Serial Port Line integrated circuit board is connected with multi-purpose computer, the operation terminal software just can be controlled integrated circuit board on the multi-purpose computer, can revise the integrated circuit board configuration easily, download, and the intermediate information in the demonstration integrated circuit board operational process.During concrete enforcement, can in the data disposable plates linux operating system be installed by SD clamping mouth, can conveniently realize the driving to various interface, and the DSP microprocessor have the real time data processing ability.Operating system on the ARM microprocessor is to be stored in SD card the inside, be written into by the SD card after powering on, the algorithm routine that the used realization of DSP microprocessor is handled then is to download among the chip external memory FLASH of DSP correspondence by jtag interface, when the ARM microprocessor calls the DSP microprocessor, the DSP microprocessor is written into the respective algorithms program from chip external memory FLASH, reads image preprocessed data in the data memory module and boat then and takes the photograph the elements of exterior orientation data and handle.The PCIE interface of data disposable plates and the PCIE interface of data transmission and control panel are pegged graft, and can realize being connected of data disposable plates and data transmission and control panel.The data disposable plates is handled after obtaining data by the PCIE interface, and result is saved in hard disk and is shown to display.The data disposable plates of embodiment has three, finishes colors of image grade estimation, image geometry grade estimation and Panoramagram montage respectively, and three blocks of data disposable plates are just the same on hardware, and the handling procedure that just calls is had any different.Notice that the panorama sketch that splicing here generates is not orthography, but the Geographic Reference with certain precision can satisfy emergent needs.
Referring to Fig. 4, the data that realized by the data disposable plates receive and the high speed processing process, be used for handling from the data transmission plate in real time receiving the data of coming, process comprises: the integral data that data transmission and control panel send is through PCIE interface input ARM microprocessor, and the ARM microprocessor is resolved isolated image preprocessed data and boat from integral data and taken the photograph the elements of exterior orientation data and deposit data memory module in; The ARM microprocessor calls the DSP microprocessor and reads image preprocessed data in the data memory module and boat and take the photograph the elements of exterior orientation data and handle, DSP microprocessor gained result return data memory module, after finishing, the DSP microprocessor processes is sent completely message to the ARM microprocessor, the ARM microprocessor reads result from data memory module after receiving and finishing message, and result is sent into through hard-disk interface hard disk is stored and send into display through the HDMI display interface shows; Image preprocessed data and boat that the DSP microprocessor reads in the data memory module are taken the photograph the processing that the elements of exterior orientation data are carried out, be colors of image grade estimation, image geometry grade estimation or Panoramagram montage, the boat that directly adopts POS system to produce synchronously when image geometry grade estimation or Panoramagram montage is taken the photograph the elements of exterior orientation data and is resolved.
During concrete enforcement, those skilled in the art can adopt software engineering designing image chromaticity evaluation in advance, image geometry quality assessment, spliced panoramic figure to divide other algorithm routine, download to three data disposable plates separately in the FLASH storer of dsp chip correspondence by jtag interface, can load corresponding algorithm routine in the FLASH storer by the DSP microprocessor when calling the DSP microprocessor, realize corresponding colors of image grade estimation, image geometry grade estimation or Panoramagram montage processing.Colors of image grade estimation is intended to that the sharpness of obtaining image, brightness, contrast, tone saturation degree are reached the part that whether exists shade and obnubilation to keep off and detects in real time; Image geometry grade estimation be intended to detect may exist leak clap, the image overlap degree is not enough, revolve situations such as the drift angle is excessive, if can calculate the aerial photographic gap zone in flight course in real time, instructs to mend in real time to fly, and then can significantly save the data procurement cost; Panoramagram montage elements of exterior orientation and the image data be intended to utilize POS system to provide is provided each image is inlayed in real time, realize digital image graph at splicing, boat is taken the photograph task and is finished and can obtain regional panorama sketch.Specific algorithm realizes belonging to prior art, because hardware of the present invention has the advantage of real-time image data, has the high speed processing ability, can realize the real-time photogrammetry disposal route.The traditional photography measuring method needs empty three to resolve, and empty three resolve and could implement under the situation that needs all data to be all on board, and can't realize real-time photogrammetry.The elements of exterior orientation that the present invention utilizes POS system to provide directly resolves in conjunction with image, can avoid sky three, can handle when data are obtained.When image geometry grade estimation or Panoramagram montage, the boat that all directly adopts POS system to produce is synchronously taken the photograph the elements of exterior orientation data and is resolved.This method is different with traditional photography measurement disposal route essence, namely adopts direct directed method to replace traditional photogrammetric survey method, realizes directly orientation, finishes the real-time photogrammetry processing.Though it is precision is slightly lost like this, significant aspect real-time.
In fact, colors of image grade estimation only needs the image preprocessed data, image geometry grade estimation only need be navigated and be taken the photograph the elements of exterior orientation data, Panoramagram montage is handled needs image preprocessed data and boat to take the photograph the elements of exterior orientation data, but it is convenient in order to transmit with deal with data, data transmission and control panel are dealt into three blocks of data disposable plates with same integral data after still image preprocessed data and boat being taken the photograph the elements of exterior orientation data and integrated.The DSP microprocessor reads image preprocessed data in the data memory module and boat take the photograph the elements of exterior orientation data after, select the data of needs to handle according to algorithm routine.
Referring to Fig. 5, during practical application, airborne real-time photogrammetry treatment scheme is: the camera that navigates at set intervals in the process of taking photo by plane can be taken ground and obtain original ground image data, POS system is obtained boat and is taken the photograph elements of exterior orientation (position and attitude) simultaneously, send to data transmission and control panel together with the ground image data, data transmission and control panel receive in the data to data memory module, carry out the image pre-service, send to three PCIE ports simultaneously after integrating then, three blocks of data disposable plates receive data respectively and carry out high speed processing, comprise the image color quality assessment, image geometry quality assessment and image joint are handled, and storage is also exported result at display device.Above-mentioned all processes will be taken the photograph the elements of exterior orientation data in the ground image data of taking photo by plane and boat next time and dispose before all arriving data transmission and control panel.
Specific embodiment described herein only is that the present invention's spirit is illustrated.Those skilled in the art can make various modifications or replenish or adopt similar mode to substitute described specific embodiment, but can't depart from spirit of the present invention or surmount the defined scope of appended claims.
Claims (2)
1. airborne aviation image real-time photogrammetry disposal system, it is characterized in that: comprise data transmission and control panel and three data disposable plates, three data disposable plates be respectively for colors of image grade estimation the data disposable plates, be used for image geometry grade estimation the data disposable plates, be used for the data disposable plates of Panoramagram montage;
Described data transmission and control panel comprise the FPGA control module, reaching with the FPGA control module is data memory module, image data input interface, POS Data Input Interface, three PCIE interfaces that core arranges, and three data disposable plates are connected with control panel with data transmission by a PCIE interface respectively; The ground image data of aerial camera collection deposits data memory module through the input of image data input interface in by the FPGA control module, and the boat that POS system produces is synchronously taken the photograph the elements of exterior orientation data and deposited data memory module through the input of POS Data Input Interface in by the FPGA control module; Ground image data and boat that the FPGA control module reads in the data memory module are taken the photograph the elements of exterior orientation data, after face carries out pre-service as data over the ground, gained image preprocessed data and boat are taken the photograph the integration of elements of exterior orientation data, and the gained integral data sends to three data disposable plates respectively through the PCIE interface;
Described data disposable plates comprises control module, and is data memory module, HDMI display interface, hard-disk interface and PCIE interface that core arranges with the control module, and described control module adopts the chip of integrated ARM microprocessor and DSP microprocessor; The integral data that data transmission and control panel send is through PCIE interface input ARM microprocessor, and the ARM microprocessor is taken the photograph the elements of exterior orientation data from the isolated image preprocessed data of integral data and boat and deposited data memory module in; It is that image preprocessed data in the data memory module of core setting and boat are taken the photograph the elements of exterior orientation data and handled that the ARM microprocessor calls that the DSP microprocessor reads with the control module, DSP microprocessor gained result return data memory module, the DSP microprocessor is sent completely message in the back of finishing dealing with to the ARM microprocessor, the ARM microprocessor reads result from data memory module after receiving and finishing message, and result is sent into through hard-disk interface hard disk is stored and send into display through the HDMI display interface shows; It is that image preprocessed data and boat in the data memory module of core setting taken the photograph the processing that the elements of exterior orientation data are carried out that the DSP microprocessor reads with the control module, be colors of image grade estimation, image geometry grade estimation or Panoramagram montage, when image geometry grade estimation or Panoramagram montage, directly adopt with the control module be in the data memory module of core setting institute's POS system of depositing synchronously the boat of generation take the photograph the elements of exterior orientation data and resolve.
2. airborne aviation image real-time photogrammetry disposal system according to claim 1, it is characterized in that: the image data input interface of data transmission and control panel adopts the CameraLink interface, and the POS Data Input Interface adopts the RS484 interface.
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| CN103235600A (en) * | 2013-04-10 | 2013-08-07 | 东南大学 | Electric traffic observation device for fixed-wing model airplanes |
| CN103900575B (en) * | 2014-04-16 | 2016-09-14 | 立得空间信息技术股份有限公司 | A kind of two CSTR multiple step format POS real-time navigation resolving system |
| CN106791328B (en) * | 2017-01-09 | 2017-12-05 | 中国科学院长春光学精密机械与物理研究所 | A kind of aviation CCD imaging systems and aircraft |
| CN108063907A (en) * | 2017-11-24 | 2018-05-22 | 中国航天科工集团八五研究所 | Distributed photo-sensor signal processing and storage system and its processing method |
| CN110940318A (en) * | 2019-10-22 | 2020-03-31 | 上海航遥信息技术有限公司 | Aerial remote sensing real-time imaging method, electronic equipment and storage medium |
| CN113791637A (en) * | 2021-08-31 | 2021-12-14 | 梅州市励图空间信息技术有限公司 | Unmanned aerial vehicle-based aerial survey system intelligent rapid processing method |
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