CN103076005A - Optical imaging method integrating three-dimensional mapping and broad width imaging - Google Patents
Optical imaging method integrating three-dimensional mapping and broad width imaging Download PDFInfo
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- CN103076005A CN103076005A CN2012105905398A CN201210590539A CN103076005A CN 103076005 A CN103076005 A CN 103076005A CN 2012105905398 A CN2012105905398 A CN 2012105905398A CN 201210590539 A CN201210590539 A CN 201210590539A CN 103076005 A CN103076005 A CN 103076005A
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Abstract
The invention discloses an optical imaging method integrating three-dimensional mapping and broad width imaging. According to the invention, two or three line-scan digital cameras are installed on a satellite within certain interaction angles; each line-scan digital camera is provided with a first imaging detector for three-dimensional mapping and a second imaging detector for broad width imaging, and the conversion between the two imaging detectors are realized by cutting in a reflecting mirror; when the three-dimensional mapping is performed, the satellite flies in a normal attitude, and the imaging detection is realized through the first imaging detector of each line-scan digital camera; and when the broad width monitoring is performed, the satellite flies by yawing a certain angles and converts light paths by cutting in the reflecting mirror, adjacent air strips on the ground are sequentially imaged through the second imaging detector of each line-scan digital camera, and equivalently a wide air strip on the ground is imaged in a segmentation spliced manner, and accordingly the imaging width is remarkably increased. The optical imaging method integrating three-dimensional mapping and broad width imaging realizes multiplexing of the single-satellite function and improves the utilization ratio of on-orbit resources.
Description
Technical field
The invention belongs to the remote optical sensing technical field of imaging, relate to a kind ofly based on three linear arrays or two linear array mapping principles, can utilize a satellite to satisfy simultaneously the optical imaging method of stereo mapping and wide cut imaging demand.
Background technology
Modern operational system is tending towards variation to the intelligence support demand of space-based battle reconnaissance and supervision, difference according to remote sensing object and information gathering intention, detection load and the specific satellite of multiple special use launched in China's development, when promoting space-based remote sensing ability, have also that system is too numerous and jumbled, the satellite function and application is single, in problems such as the rail imaging utilization of resources are insufficient.
A typical example is exactly land cartographic satellite and ocean surveillance satellite.Ocean surveillance satellite is mainly realizes marine site search on a large scale, according to ocean scope wide, the characteristics such as target scale is large that distribute, determined that it must preferentially ensure wide covering, the imaging resolution demand is relatively low, as ocean surveillance satellite being directly applied to land observation, its resolution is slightly inadequate for the ability of identification ground routine target, and bearing accuracy is low, and accurate geography information can't be provided; And review the land cartographic satellite, major function provides accurately full and accurate land Fundamental Geographic Information System, resolution height but the imaging fabric width is partially narrow can't satisfy the demand that marine site wide cut on a large scale monitors, and the advantage of its stereo mapping ability has little significance in targets in ocean monitors.
The difference of application demand and load-carrying ability has determined to adopt stereo mapping satellite and the ocean surveillance satellite of traditional system can't realize sharing, so that suitable imaging region and the working time of each comfortable rail greatly reduced, limited imaging resource is not fully utilized, and has affected the effective utilization of space-based equipment.
Summary of the invention
Technical matters to be solved by this invention is: for the deficiencies in the prior art, a kind of stereo mapping and the integrated optical imaging method of wide cut imaging are provided, thereby realize the multiplexing of single satellite function, improve in the rail resource utilization.
The present invention includes following technical scheme:
A kind of stereo mapping and the integrated optical imaging method of wide cut imaging are installed two or three line-scan digital cameras with certain intersection angle on satellite; Every line-scan digital camera is separately installed with for the first imaging detector of stereo mapping and is used for the second imaging detector of wide cut imaging, realizes the switching of two imaging detectors by the incision catoptron;
When carrying out stereo mapping, satellite is just to fly attitude flight, and every line-scan digital camera is surveyed by the first imaging detector, and two or three line-scan digital cameras successively carry out imaging to same air strips, ground with different observation angles, thereby realize stereo mapping;
When carrying out the wide cut imaging, the certain angle flight so that satellite is gone off course by adjusting the attitude of satellite, and change light path by the incision catoptron and realize image detection so that every line-scan digital camera passes through the second imaging detector, the second imaging detector linear array orientation is vertical with heading; Two or three line-scan digital cameras successively carry out imaging to the adjacent part of wider air strips on the ground, and the image of described adjacent part is spliced the image that obtains described wider air strips, thus the imaging of realization wide cut.
The second imaging detector is larger than the imaging fabric width of the first imaging detector.
The present invention compared with prior art has following advantage:
(1) the present invention has proposed the integrated optical imagery New System of a kind of stereo mapping and wide cut imaging for expansion cartographic satellite application category.It passes through the flexible transformation of satellite mode of operation and the optimal design of load, change the stereo mapping ability of mapping camera into wide cut splicing ability, the imaging fabric width promotes 2～3 times, the use restriction of large quantum jump tradition imaging system, so that single star adopts the application demand that can take into account stereo mapping and wide cut supervision once cover load, thereby realize the multiplexing of single star function, significantly promote the service efficiency of space-based imaging resource.
(2) the wide cut imaging capability realized of the present invention is not limited only to marine surveillance and uses, and according to actual needs, also can be used for the imaging on a large scale on land, under particular demands, can promote the wide cut generaI investigation ability to land resources.
(3) innovative approach of the present invention is simple and easy to do, and do not affect the assembly and adjust parameters of original mapping light path, degradation problem under the stereo mapping precision index of having avoided bringing because of multiplexing functions, the engineering cost is little, reliability is high, has good engineering realizability.
Description of drawings
Fig. 1 is the imaging mode synoptic diagram of stereo mapping pattern;
Fig. 2 is the imaging mode synoptic diagram of wide cut imaging pattern;
Fig. 3 is that the stereo mapping pattern is to the conversion synoptic diagram of wide cut imaging pattern;
Fig. 4 is for being used for the first imaging detector installation site synoptic diagram of stereo mapping;
Fig. 5 is for being used for the second imaging detector installation site synoptic diagram of wide cut imaging;
Fig. 6 is that the satellite crab angle under the wide cut imaging is calculated synoptic diagram;
Fig. 7 is attitude of satellite coordinate system synoptic diagram.
Embodiment
Below just by reference to the accompanying drawings the present invention is done further introduction.
The below take the ocean wide cut monitor and the integrated optical imaging method of land stereo mapping the present invention will be described as example.
Spacecraft orbit coordinate system O
1x
1y
1z
1That it is initial point O that this coordinate system is got the spacecraft barycenter by the coordinate system of spacecraft orbit and the earth's core definition
1, by O
1Line to the earth's core is O
1z
1Axle, the velocity reversal of spacecraft are O
1x
1Axle, O
1y
1Axle is determined according to right hand Normal rule.The O of this coordinate
1x
1And O
1z
1Axle in orbit plane, O
1y
1Axle is vertical with orbit plane, i.e. the negative normal direction of track.
As shown in Figure 7, spacecraft attitude coordinate system Oxyz is used for describing spacecraft self attitude motion, does not have when spacecraft in the situation of spin and attitude misalignment, and each axle of this coordinate system overlaps with orbital coordinate system.When spacecraft when orbital motion is disturbed or be controlled moment loading, then spacecraft can produce angular motion, and the Oxyz coordinate system is no longer overlapped with the O1x1y1z1 coordinate system.At this moment the corner around the Ox axle becomes roll angle, and Ox is called the axis of rolling; Corner around Oy axle and Oz axle is called the angle of pitch and crab angle, and Oy axle and Oz axle are called pitch axis and yaw axis.The satellite driftage β angle of this instructions indication refers to that namely satellite is around Oz axle rotation β angle.Because the satellite flight direction is determined by track, irrelevant with the attitude of satellite body, therefore, the Ox axle of attitude frame of reference will become with the satellite flight direction β angle after the driftage.
Based on conventional three-wire battle array mapping principle, at single satellite three line-scan digital cameras are installed, be respectively rear view camera 3, face camera 2 and forward sight camera 1 along the celestial body X-direction.Rear view camera 3, forward sight camera 1 are intersection angle with the angle of facing camera 2 respectively, are generally the 20-25 degree.Every line-scan digital camera is separately installed with for the first imaging detector of stereo mapping and is used for the second imaging detector of wide cut imaging, realizes the switching of two imaging detectors by the incision catoptron.
As shown in Figure 1, when carrying out the land stereo mapping, satellite just flies, satellite flight direction (orbital coordinate system O
1The x axle) overlapping with attitude of satellite coordinate system Ox axle, three cameras successively carry out imaging to the same air strips A in ground with certain intersection angle in the satellite flight process, thereby realize stereo mapping.As shown in Figure 1, the principle of stereo mapping is: obtain same strips A through satellite 3 different constantly imagings of (T1, T2, T3 are constantly) and get forward sight, face and the overlapping air strips image of backsight three degree, thereby consist of stereopsis.
As shown in Figure 2, when carrying out ocean wide cut supervision, by adjusting the attitude of satellite with the satellite β angle of going off course, this moment, the Ox axle of attitude of satellite coordinate system became the β angle with the satellite flight direction, thereby change the linear field that three cameras forward lap into front and back adjacent linear field, be equivalent to and use three cameras to piece together width of cloth imaging, significantly promote whole star imaging fabric width.As shown in Figure 2, the principle of wide cut imaging is:, successively obtain three adjacent segment B1, B2 and the B3 of a band B, thereby finish the wide cut splicing 3 different constantly imagings of (T1, T2, T3 are constantly) through satellite.
As shown in Figure 3, under the stereo mapping pattern, satellite is just to fly attitude flight, and every line-scan digital camera successively carries out imaging to same air strips, ground with different observation angles, thereby realizes stereo mapping.When needs are transformed into the wide cut imaging pattern, satellite driftage β angle, three cameras successively obtain the image of three adjacent air strips, finish the over the ground splicing push-scanning image of face width air strips, and fabric width is about three times of stereo mapping.(annotate: because earth rotation, mapping camera reality need be carried out the drift angle correction when the rail imaging, belong to conventional measure.For ease of the explanation inventive concept, the drift angle problem is not explained especially that i.e. supposition has been taked appropriate counter-measure for the impact of earth rotation)
As shown in Figure 4, the first imaging detector of each line-scan digital camera is installed on the image planes 11 of the front light path 10 of optical system, and only uses the linear field 12 in the complete image planes (circle visual field 11) to carry out imaging.When carrying out the wide cut imaging, owing to introduced extra yaw angle β, the angle of the linear field 12 the when linear field 13 during the wide cut imaging and stereo mapping is β; Therefore, the linear array orientation of the first imaging detector that originally was used for stereo mapping is no longer vertical with heading, causes and can't use.Make its normal operation such as need, need detector deflection β angle, use another linear field 13 imagings, again to keep vertical with heading.
Owing to directly can bring a lot of extra error components to original mapping light path to detector operation, and have the risk of reliability aspect.Therefore, when concrete Project Realization, not that the image planes of original stereo mapping are adjusted, but by catoptron 41 of incision before the image planes of original stereo mapping, so that light path is turned back 90 °, in formed new image planes 42 the new imaging detector of a cover is installed, i.e. the second imaging detector, the employed linear field of the second imaging detector during with stereo mapping employed linear field become the β angle, thereby guarantee that new detector and heading keep vertical, satisfy the imaging demand after satellite is gone off course.The concrete light path of wide cut imaging comprises light path 40 before the optical system that is comprised of a plurality of lens as shown in Figure 5, catoptron 41 and be installed in the second imaging detector on the image planes 42.
When carrying out the conversion of stereo mapping pattern and wide cut imaging pattern, satellite only need do initial driftage motor-driven and in the mapping light path catoptron of incision, and do not change the state of debuging of original three line-scan digital cameras, guarantee to survey and draw required elements of interior orientation and debug precision, avoided the negative effect that brings because of multiplexing functions.
Aforesaid Integral imaging method, when specific implementation, the design parameter design need to be followed following several respects principle:
(1) satellite is carrying out stereo mapping and wide cut when splicing, use be the different linear fields of camera, there is certain angle in two linear fields, whole star yaw angle was identical when corner dimension switched with mode of operation;
(2) whole star yaw angle and base length, single camera imaging fabric width are relevant, and cardinal rule is to satisfy under the prerequisite of splicing condition guaranteeing, make the overlapping region of imaging air strips of adjacent two cameras minimum;
(3) will there be sufficiently long rear cut-off distance in the camera optics system, to guarantee leaving enough installations and activity space to the catoptron that switching-over light path is used;
(4) the mapping light path is very high to the requirement of camera geometric accuracy, and the actual linear field width that uses is the part in the width of active line visual field, and target only need be found and detect to marine surveillance, utilizes the visual field, edge can satisfy imaging demand equally.Therefore, when carrying out the wide cut splicing, the whole apparent field width that can take full advantage of camera carries out imaging, the second imaging detector is by selecting the more massive detector that is complementary with camera apparent field width (namely guaranteeing under the constant prerequisite of the single pixel dimension of detector, increase the pixel number, cover wider linear field, thereby realize larger imaging fabric width), the cover width that single camera is realized can surpass the stereo mapping fabric width, and the imaging fabric width that three cameras are pieced together behind the width of cloth also will reach more than 3 times of stereo mapping fabric width.
Embodiment
The leading indicator parameter of setting satellite is as follows: satellite orbit adopts the sun synchronization regression orbit, orbit altitude 500km, three TDICCD line-scan digital cameras with 21 ° of intersection angles form forward sights, face, the backsight layout, single camera imaging fabric width 100km, formed stereo mapping fabric width also is 100km, forward sight and the interval S=500 * tan that faces camera ground covering band
21 °=192km.Base length is the twice of interval S.
When carrying out the wide cut joining image-forming, the initial angle β that whole star need to be gone off course certain, and switching imaging detector.The cover width W that single line-scan digital camera is realized when setting the wide cut splicing is similarly 100km, and the β value is β=arcsin (W/S)=arcsin (100/192)=31.4 °, as shown in Figure 6.The forward sight camera pushed away the band of sweeping formation and did not have overlappingly with facing camera on ground this moment, considered the demand of Image Mosaics, and the β angle need to suitably reduce.To round star crab angle β=30 ° as example, correspondingly, the linear field that the corresponding linear field of imaging detector of new incision also requires to use with original stereo mapping becomes 30 ° of angles, and this moment, overlapping band fabric width was 4km, and the imaging bandwidth is 292km behind three cameras assemblies of whole star width of cloth.Fabric width when comparing stereo mapping promotes 3 times nearly, can satisfy the demand that the ocean wide cut monitors imaging.
The above example is concrete condition of the invention process, those skilled in the art are when facing the different application demand, can be according to realization thought of the present invention, carry out corresponding change design according to specific targets, as to the twin-line array cartographic satellite, can pass through the design's thought equally, realize the assembly width of cloth imaging of two cameras, be lifted at the rail result of use.
The unspecified part of the present invention belongs to general knowledge as well known to those skilled in the art.
Claims (2)
1. a stereo mapping and the integrated optical imaging method of wide cut imaging are installed two or three line-scan digital cameras with certain intersection angle on satellite; Every line-scan digital camera is separately installed with for the first imaging detector of stereo mapping and is used for the second imaging detector of wide cut imaging, realizes the switching of two imaging detectors by the incision catoptron;
When carrying out stereo mapping, satellite is just to fly attitude flight, and every line-scan digital camera is surveyed by the first imaging detector, and two or three line-scan digital cameras successively carry out imaging to same air strips, ground with different observation angles, thereby realize stereo mapping;
When carrying out the wide cut imaging, the certain angle flight so that satellite is gone off course by adjusting the attitude of satellite, and change light path by the incision catoptron and realize image detection so that every line-scan digital camera passes through the second imaging detector, the second imaging detector linear array orientation is vertical with heading; Two or three line-scan digital cameras successively carry out imaging to the adjacent part of wider air strips on the ground, and the image of described adjacent part is spliced the image that obtains described wider air strips, thus the imaging of realization wide cut.
2. a kind of stereo mapping according to claim 1 and the integrated optical imaging method of wide cut imaging is characterized in that, the second imaging detector is larger than the imaging fabric width of the first imaging detector.
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| CN104296726A (en) * | 2014-10-10 | 2015-01-21 | 中国科学院长春光学精密机械与物理研究所 | Double-area array push-broom three-dimensional surveying and mapping method and system |
| CN105043353A (en) * | 2015-07-31 | 2015-11-11 | 上海卫星工程研究所 | Reflecting mirror swing wide imaging system and imaging method |
| CN105547256A (en) * | 2015-12-02 | 2016-05-04 | 上海宇航***工程研究所 | Spacial whole scene sensing satellite, design method and application method thereof |
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| CN106233330A (en) * | 2014-01-24 | 2016-12-14 | 罗伯特·博世有限公司 | For in the method and control equipment identifying that in the three-dimensional video-frequency system of vehicle relative yaw angle changes |
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| CN105043353A (en) * | 2015-07-31 | 2015-11-11 | 上海卫星工程研究所 | Reflecting mirror swing wide imaging system and imaging method |
| CN105043353B (en) * | 2015-07-31 | 2017-08-29 | 上海卫星工程研究所 | Mirror tilt wide cut imaging system and imaging method |
| CN105547256A (en) * | 2015-12-02 | 2016-05-04 | 上海宇航***工程研究所 | Spacial whole scene sensing satellite, design method and application method thereof |
| CN105547256B (en) * | 2015-12-02 | 2018-01-12 | 上海宇航***工程研究所 | Space panorama stance perceives satellite and its design method and methods for using them |
| WO2018157550A1 (en) * | 2017-03-01 | 2018-09-07 | 哈尔滨工业大学 | Method and apparatus for ultra-wide circular scanning imaging by optical satellite |
| US11015928B2 (en) | 2017-03-01 | 2021-05-25 | Harbin Institute Of Technology | Method and apparatus for ultra-wide circular scanning imaging by optical satellite |
| CN106989727A (en) * | 2017-03-21 | 2017-07-28 | 苏州光之翼智能科技有限公司 | A kind of distributed real-time three-dimensional geographical mapping system based on unmanned plane cluster |
| CN109108594A (en) * | 2018-07-16 | 2019-01-01 | 中国科学院光电研究院 | A kind of splicing construction based on three pieces sCMOS detector |
| CN109672880A (en) * | 2018-12-29 | 2019-04-23 | 中国科学院长春光学精密机械与物理研究所 | A kind of grouping drift angle method of real-time adjustment of wide cut space camera |
| CN110906906A (en) * | 2019-12-02 | 2020-03-24 | 王睿 | Method for increasing mapping precision of remote sensing image |
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