CN105931200A - Quick geometric precise correction method for small area array spaceborne TDI CCD camera - Google Patents
Quick geometric precise correction method for small area array spaceborne TDI CCD camera Download PDFInfo
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- G—PHYSICS
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Abstract
The invention discloses a quick geometric precise correction method for a small area array spaceborne TDI CCD camera, and the method comprises the following basic steps: (1), calculating all pixel coordinates of a footprint image through the exterior orientation elements and topographic data which are obtained through a spaceborne attitude determining system; (2), employing a small area image, near an image principal point, on the footprint image to be matched with a standard reference image, and obtaining a horizontal positioning error of the camera; (3), correcting the coordinates of all pixels of the footprint image through employing the horizontal error; (4), calculating and obtaining more accurate geographic positions of image points according to the corrected coordinates and the elevation of topographic data, and achieving a purpose of the precise correction of the camera. The method does not need to measure the precise exterior orientation elements, is higher in efficiency, and can obtain a more accurate geometric correction result while meeting the real-time processing demands.
Description
Technical field
The invention belongs to Global observation by remote sensing field, relate to a kind of partial array star load TDICCD camera
Fast geometric fine correction method.
Background technology
Owing on star, star sensor survey appearance is forbidden, the CCD camera of a new generation's one earth observation of the passing of satelline,
By with ground control point Image Matching obtain ground be accurately directed to data.
Due to the restriction of satellite gravity anomaly with the technology of measurement, attitude measurement result during CCD camera imaging is deposited
A relatively large deviation, raw pose data that system records carries out geometry to image directly to use satellite to carry
Correction, can there is bigger systematic bias in result in the horizontal direction.And by the deviation of original measurement attitude,
The picture point elevation obtained by DEM when resolving geographical coordinate is also the most accurate, and the elevation of each picture point is estimated
Calculation there will be mistake, then the image after correction there will be irregular deformation, obtains by the mode of images match
Control point, it is likely that reach the error of several pixel.
There is provided footmark camera geometric accurate correction result accurately to process for stereoplotting satellite data to have very
Important meaning.One is when laser induced breakdown, and the irregular deformation of footmark camera geometric correction may be given complete
The return laser beam component of waveform brings interference, affects the result that waveform decomposes, results even in the ripple after decomposition
Shape and the associated errors of atural object.Second impact is that laser alignment relies on mating of footmark camera and reference, if
Coarse geometric correction result is used to mate, it is likely that the deviation having several pixel is the biggest
Error hiding result, the result of calculation causing laser alignment is inaccurate, the life of the Generalized Control point the most also affected
Become.
Stereoplotting satellite data processing system needs to process in the short period of time the laser data of million grades,
And each laser facula is required for the result of a geometric accurate correction, this is accomplished by the algorithm of geometric accurate correction
There is high efficiency and could meet the speed requirement of whole data handling system.
Summary of the invention
Problem to be solved by this invention is: provide the most several of a kind of partial array star load TDICCD camera
What fine correction method.
The technical scheme employing following steps that the present invention provides:
(1) camera principal point and close on picpointed coordinate calculate；Concrete grammar step is as follows:
(1-1) the transient posture data of satellite platform, the pixel of ccd image when obtaining ccd image imaging
Distortion parameter, it is thus achieved that survey the dem data in district, for 128 × 128 wicket images centered by principal point,
Direct location is used to obtain the floor coordinate points of each pixel of little image；
(1-2) coordinate points is transferred under WGS84 coordinate system；
(1-3) calculated coordinate figure is all added a unified plane geography skew, for the first time during iteration
Initial value is set to<0,0>；
(1-4) from DEM, obtain elevation according to the plane coordinates after adding geography skew, recalculate picture
Point coordinates；
(2) according to the coordinate that obtains, nearest neighbor method is used to principal point and to close on picture point and carry out resampling；Make
With bilinear interpolation, according to the WGS84 coordinate of each picture point, image is carried out resampling, heavily adopts
Resolution after sample is identical with the resolution with reference to image；
(3) resampling image is carried out mating under geographic constraint with reference to twin-line array image；Method step is such as
Under:
(3-1) carry out template matching with correction resampling image with the subgraph with reference to image, obtain it in reference
Position on image；
(3-2) the principal point position obtained according to (1-1) in step (1) determines that it is on resampling image
Image point position；
(3-3) principal point position, the basis (3-2) on resampling image obtained according to step (2) obtains
To resampling image with reference to the position on image, be calculated principal point position on reference to image；
(3-4) according to reference to self geometry location result, the geography of principal point position in reference is calculated
Coordinate；
(4) the plane error skew of resampling image is calculated；With the true geographical coordinate of calculated principal point
Deduct principal point and mate the geographical coordinate obtained, obtain the plane error skew of principal point；
(5) algorithm iteration controls, it is judged that the planar offset that new planar offset error obtains with last iteration
The most identical, if two times result is identical, or difference is less than 1 pixel, then it is assumed that algorithm tends towards stability,
Enter next step to process；Otherwise carry out step (2) to process；According to limit difference evaluation algorithm carry out next step or
Rebound step (1) re-starts calculating；
(6) using the plane error skew obtained that image is carried out geometric accurate correction, step is as follows:
(6-1) the transient posture data of satellite platform, the pixel of ccd image when obtaining ccd image imaging
Distortion parameter, it is thus achieved that survey the dem data in district, for 128 × 128 wicket images centered by principal point,
Direct location is used to obtain the floor coordinate points of each pixel of little image；
(6-2) coordinate points is transferred under WGS84 coordinate system；
(6-3) calculated coordinate figure is all added a unified plane geography skew, for the first time during iteration
Initial value is set to<0,0>；
(6-4) from DEM, obtain elevation according to the plane coordinates after adding geography skew, recalculate picture
Point coordinates；
(6-5) use bilinear interpolation, according to the WGS84 coordinate of each picture point, image is carried out weight
Sampling, obtains final geometric accurate correction result.
The present invention is with good expansibility, and can meet all similar spaceborne high-resolution TDI CCD camera
The business demand of fine correction, has feature quick, high-precision.
Accompanying drawing explanation
Fig. 1 is the fast geometric fine correction method flow diagram of satellite TDI CCD camera.
Fig. 2 is pixel distortion schematic diagram, and figure (a) is the ccd image geometry deformation that attitude error causes
Figure (b) is image point position deviation schematic diagram.
Fig. 3 is the flow chart calculating picture point plane geographical coordinate.
Fig. 4 is to use offset distance correcting process accurate to camera image figure.
Detailed description of the invention
For preferably illustrating technical scheme and advantage, below in conjunction with the accompanying drawing enforcement to the present invention
Process is further described.
The theoretical basis of the present invention is that to neglect rink corner image each pixel horizontal offset approximately the same.Fig. 2 is picture
Unit's horizontal error situation of change, Fig. 2 (a) is the geometric correction caused due to the error of attitude measurement equipment on star
The geographical skew of rear image.Figure showing, attitude will definitely not cause all pixels to offset toward same direction.
Fig. 2 (b) is the deformation of any two picture point of CCD camera.Wherein O is image center, G
Being substar, A1, B1 are ground two points, and due to the error of attitude, the position after its correction exists
At A2, B2.
Wherein the geometric distortion situation between A1 and A2 is represented by:
LA=H* [tan (θA+Δθ)-tanθA]
Owing to viewing field of camera angle is less, i.e. θA≈ 0, Δ θ ≈ 0 then:
LA≈H*tanΔθ
Then it is believed that some A is identical with the geometry deformation length of some B:
LA≈H*tanΔθ≈LB
According to the derivation of above-mentioned formula, owing to the angle of visual field of camera is less, each pixel after geometric correction its
Geographical deviation can be assumed that approximately the same.If the planar offset of principal point can be found, then can be to image institute
The coordinate of some picture points corrects, and is corrected result accurately.The method need not the sensing to camera
Carry out accurate calibration, it is possible to quickly realize the fine correction of camera.
The first step of the present invention relates to the thick correction of ccd image, and Fig. 3 is that the present invention uses collinearity equation, root
According to elements of interior orientation, the attitude of satellite, camera angle of setting, the schematic diagram of initial grid DEM picture point plane coordinates.
Comprise the steps of
The transient posture data of satellite platform, the pixel distortion parameter of ccd image when obtaining ccd image imaging,
Obtain the dem data surveying district.
The floor using direct location to obtain each pixel in the window of 128 × 128 around principal point is sat
Punctuate.First the elements of interior orientation of this picture point is calculated according to focal length, pixel dimension, pixel distortion calibration value；
Use the initial value that the height value of the DEM of substar positions as direct method, use collinearity equation, root
According to elements of interior orientation, the attitude of satellite, camera angle of setting, the plane coordinates of initial grid DEM pixel；
Calculated coordinate figure all adds a unified plane geography skew, and (during iteration, initial value can set for the first time
For<0,0>)；
From DEM, height value is read, new using this height value as picture point according to calculated horizontal coordinate
Height value；
Use new height value Calculation Plane coordinate again and repeat preceding step, until new elevation changes with previous step
The elevation that generation obtains is identical.
Geodetic coordinates point is transferred under WGS84 coordinate system.
Use bilinear interpolation, according to the WGS84 coordinate of each picture point, image carried out resampling,
Resolution after resampling is identical with the resolution with reference to image.
Second step of the present invention is the horizontal offset values obtaining principal point according to coupling, and Fig. 4 is for obtaining principal point plane
The flow chart of skew.Comprise the steps of
Geographical coordinate according to camera principal point obtains camera principal point corresponding to reference to the position on image, joining
According to extracting a certain size image on the relevant position of image.
Carry out template matching with the CCD resampling image of previous step gained with the subgraph with reference to image, obtain it
Position on reference to image；
The correction chart obtained according to template matching, as subgraph position on reference to image, can obtain subgraph center
Point position on reference to image, calculates with reference to the plane geographical coordinate on picture position；
Calculate the plane geographical coordinate of each picture point of correction chart picture, and then available original image control point pixel pair
The plane geographical coordinate answered；
Calculation Plane error deviation, the 1st step the geographical coordinate of the principal point obtained (has added the knot that skew is corrected
Really) calculate its position on correction resampling image
Obtain principal point according to images match to correspond to reference to the position on image, and then by referring to the seat of image
Mark obtains the accurate geographical coordinate of principal point；
The picture point geographical coordinate (being not added with the result that skew is corrected) that the 1st step obtains is deducted with accurate geographical coordinate,
Obtain new having added plane error skew.
Next step operation of evaluation algorithm: judge that new planar offset error and last iteration obtain flat
Face skew is the most identical, if two times result is identical, or difference is less than 1 pixel, then it is assumed that algorithm tends to
Stable, enter next step and process.
The present invention the 6th step relates to a kind of ccd image fine correction method.The method includes following step:
The transient posture data of satellite platform, the pixel distortion parameter of ccd image when obtaining ccd image imaging,
Obtain the dem data surveying district.
Direct location is used to obtain the floor coordinate points of each pixel.First according to focal length, pixel chi
Very little, pixel distortion calibration value calculates the elements of interior orientation of this picture point；
Use the initial value that the height value of the DEM of substar positions as direct method, use collinearity equation, root
According to elements of interior orientation, the attitude of satellite, camera angle of setting, the plane coordinates of initial grid DEM pixel；
Calculated coordinate figure all adds a unified plane geography skew, and (during iteration, initial value can set for the first time
For<0,0>)；
From DEM, height value is read, new using this height value as picture point according to calculated horizontal coordinate
Height value；
Use new height value Calculation Plane coordinate again and repeat preceding step, until new elevation changes with previous step
The elevation that generation obtains is identical.
Geodetic coordinates point is transferred under WGS84 coordinate system.
Use bilinear interpolation, according to the WGS84 coordinate of each picture point, image carried out resampling,
Resolution after resampling is identical with the resolution with reference to image.
According to plane geographical coordinate, obtain the height value of corresponding pixel on DEM, using this value as this plane
The elevation of coordinate, obtains Three dimensions control point.The present invention uses DEM to originate as the elevation at control point, keeps away
Exempt to solve the adverse effect that twin-line array data elevation deficiency is brought.
The main purpose of CCD camera is to carry out mating obtaining with twin-line array image.Owing to landform rises
The impact of volt, if using the elements of exterior orientation of non-calibration that camera is carried out geometric correction, image there will be does not advises
Geometry deformation then.This image containing irregular deformation is used to mate with twin-line array image, even if
Being made into merit, irregular deformation is likely to result in the impact point of coupling and deviates real position, causes final
CCD points to the error of the result calculated.It is considered herein that the geometry location error of all pixels is approximately the same,
Obtained the deviant of geometry location by images match, and then being accurately positioned of image can be realized, for laser instrument
Sensing accurately measure and provide effective data supporting.
Claims (1)
1. the fast geometric fine correction method of a partial array star load TDICCD camera, it is characterised in that bag
Include following steps:
(1) CCD camera principal point and close on picpointed coordinate calculate；Concrete grammar step is as follows:
(1-1) the transient posture data of satellite platform, the pixel of ccd image when obtaining ccd image imaging
Distortion parameter, it is thus achieved that survey the dem data in district, for 128 × 128 wicket images centered by principal point,
Direct location is used to obtain the floor coordinate points of each pixel of little image；
(1-2) coordinate points is transferred under WGS84 coordinate system；
(1-3) calculated coordinate figure is all added a unified plane geography skew, for the first time during iteration
Initial value is set to<0,0>；
(1-4) from DEM, obtain elevation according to the plane coordinates after adding geography skew, recalculate picture
Point coordinates；
(2) according to the coordinate that obtains, nearest neighbor method is used to principal point and to close on picture point and carry out resampling；Make
With bilinear interpolation, according to the WGS84 coordinate of each picture point, image is carried out resampling, resampling
After resolution identical with reference to the resolution of image；
(3) resampling image is carried out mating under geographic constraint with reference to twin-line array image；Method step is such as
Under:
(3-1) carry out template matching with correction resampling image with the subgraph with reference to image, obtain it in reference
Position on image；
(3-2) the principal point position obtained according to (1-1) in step (1) determines that it is on resampling image
Image point position；
(3-3) principal point position, the basis (3-2) on resampling image obtained according to step (2) obtains
To resampling image with reference to the position on image, be calculated principal point further on reference to image
Position；
(3-4) according to reference to self geometry location result, the geography of principal point position in reference is calculated
Coordinate；
(4) the plane error skew of resampling image is calculated；With the true geographical coordinate of calculated principal point
Deduct principal point and mate the geographical coordinate obtained, obtain the plane error skew of principal point；
(5) algorithm iteration controls, it is judged that the planar offset that new planar offset error obtains with last iteration
The most identical, if two times result is identical, or difference is less than 1 pixel, then it is assumed that algorithm tends towards stability,
Enter next step to process；Otherwise carry out step (2) to process；According to limit difference evaluation algorithm carry out next step or
Rebound step (1) re-starts calculating；
(6) using the plane error skew obtained that image is carried out geometric accurate correction, step is as follows:
(6-1) the transient posture data of satellite platform, the pixel of ccd image when obtaining ccd image imaging
Distortion parameter, it is thus achieved that survey the dem data in district, for 128 × 128 wicket images centered by principal point,
Direct location is used to obtain the floor coordinate points of each pixel of little image；
(6-2) coordinate points is transferred under WGS84 coordinate system；
(6-3) calculated coordinate figure is all added a unified plane geography skew, for the first time during iteration
Initial value is set to<0,0>；
(6-4) from DEM, obtain elevation according to the plane coordinates after adding geography skew, recalculate picture
Point coordinates；
(6-5) use bilinear interpolation, according to the WGS84 coordinate of each picture point, image is entered
Row resampling, obtains final geometric accurate correction result.
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Cited By (4)
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| 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 |
| CN108898565A (en) * | 2018-07-10 | 2018-11-27 | 中国科学院长春光学精密机械与物理研究所 | The inverse transform method of TDI CCD camera sweeping imaging image geometric distortion reduction |
| CN110622213A (en) * | 2018-02-09 | 2019-12-27 | 百度时代网络技术（北京）有限公司 | System and method for depth localization and segmentation using 3D semantic maps |
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| CN105551053A (en) * | 2015-12-01 | 2016-05-04 | 中国科学院上海技术物理研究所 | Fast geometric precise correction method of mini-planar array satellite-borne TDI CCD camera |
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| 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 |
| CN110622213A (en) * | 2018-02-09 | 2019-12-27 | 百度时代网络技术（北京）有限公司 | System and method for depth localization and segmentation using 3D semantic maps |
| CN110622213B (en) * | 2018-02-09 | 2022-11-15 | 百度时代网络技术（北京）有限公司 | System and method for depth localization and segmentation using 3D semantic maps |
| CN108898565A (en) * | 2018-07-10 | 2018-11-27 | 中国科学院长春光学精密机械与物理研究所 | The inverse transform method of TDI CCD camera sweeping imaging image geometric distortion reduction |
| CN108898565B (en) * | 2018-07-10 | 2021-09-24 | 中国科学院长春光学精密机械与物理研究所 | Inverse transformation method for geometrical distortion reduction of TDI CCD camera swing scanning imaging image |
| CN112258406A (en) * | 2020-10-16 | 2021-01-22 | 中国人民解放军空军航空大学 | Linear array push-broom CCD image rapid automatic geometric correction method |
| CN112258406B (en) * | 2020-10-16 | 2022-11-25 | 中国人民解放军空军航空大学 | Linear array push-broom CCD image rapid automatic geometric correction method |
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