CN106897962B - The disk projection of big view field space earth observation image and joining method - Google Patents
The disk projection of big view field space earth observation image and joining method Download PDFInfo
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Abstract
The disk projection of big view field space earth observation image and joining method, belong to space remote sensing detection technology field.This method specifically includes that the transition matrix calculated between geocentric coordinate system GEO and projection disk coordinate system OPC；Disk projection grid is established on the reference spherical surface in OPC coordinate system；The longitude and latitude of mesh point, grid element center point is calculated, and is converted simultaneously to GEO coordinate system；Establish two-dimensional array NpStorage lattice point is actually projected number of dots and two-dimensional array RpStore the total intensity value for being actually projected picture point of lattice point；The visual direction amount under each picture point co-ordinates of satellite system is calculated, and is gradually converted into OPC coordinate system, projecting image data matrix, mesh point geographic latitude and longitude data matrix and mesh point center geographic latitude and longitude data matrix are finally obtained.For this method by the observed image projection splicing of time series into the same grid with reference to spherical surface, resulting projected image truely and accurately describes the space distribution situation of observation object.
Description
Technical Field
The invention belongs to the technical field of space remote sensing detection, and particularly relates to a disc projection and splicing method for a large-view-field space earth observation image.
Background
The ionized layer is an atmosphere layer 60km to 1000km above the earth surface, the main components of the ionized layer comprise electrons, oxygen ions (accounting for more than 80 percent), hydrogen ions, helium ions and other trace heavy ions, the ion components are mainly controlled by a photochemical process caused by ultraviolet and X-ray radiation in the sun, and the ionized layer is electrically neutral as a whole. The main properties of the ionosphere are the effects of reflection, scattering, absorption and refraction of radio waves passing through the ionosphere. Changes in the ionosphere can affect radio waves propagating in the ionosphere, which in turn can affect terrestrial communications, satellite navigation, and the like. Oxygen ions in the ionized layer can generate radiation of a far ultraviolet band under the action of solar radiation, and the state of the ionized layer can be obtained by performing remote sensing imaging on the radiation. The aurora is mainly a luminous phenomenon generated by injecting high-energy charged particles in solar wind and an earth magnetic layer into a high-latitude area along an earth magnetic field line and ionizing and exciting high-rise atmospheric molecules or atoms, and the aurora is generated above the high-magnetic-latitude area of the earth, namely a south-north dipolar area of the earth and is generally an area more than 60 degrees of magnetic latitude. The shape and position of the aurora ova are of great significance for explaining the activity state of the geospatial environment.
A large number of ionosphere remote sensing satellites are launched in European and American countries, such as a spectral imager SSUSI on a U.S. DMSP satellite, a GUVI on a TIMED satellite and the like, and the instruments adopt a small-field cross-orbit scanning mode. For research and analysis convenience, the observation image is projected into a coordinate grid of a reference spherical surface. For a disc projection and splicing method of images with large visual fields and different observation modes, no solution is available at present.
Disclosure of Invention
The invention aims to provide a disc projection and splicing method for a large-view-field space earth observation image.
The disc projection and splicing method of the large-view-field space earth observation image comprises the following steps:
firstly, extracting track parameters of observation images of a time sequence and calculating a conversion matrix between a geocentric coordinate system GEO and a projection disc coordinate system OPC;
step two, according toProjection spherical space resolution and cross-track direction field angle F1And field angle F along the track2Establishing a disc projection grid on a reference spherical surface of a projection disc coordinate system OPC to obtain the number N of grid points along the track direction and the number M of grid points in the cross-track direction;
step three, calculating a grid point longitude and latitude matrix and a grid center point longitude and latitude matrix under the projection disc coordinate system OPC, and converting the grid point longitude and latitude matrix and the grid center point longitude and latitude matrix of the projection disc coordinate system OPC into a grid point longitude and latitude matrix and a grid center point longitude and latitude matrix of the geocentric coordinate system GEO according to the conversion matrix between the geocentric coordinate system GEO and the projection disc coordinate system OPC obtained in the step one;
step four, establishing a two-dimensional array N for storing the number of the actual projected image points of the grid pointspThe size is [ MXN]And establishing a two-dimensional array R storing the total intensity values of the actual projected image points of the grid pointspThe size is [ MXN]；
Calculating the view vector of each image point of the image under the satellite coordinate system according to the principal distance and the pixel size of the observation instrument and the conversion matrix from the instrument coordinate system to the satellite coordinate system;
calculating a conversion matrix from the satellite coordinate system to the orbit coordinate system according to the satellite attitude, and converting the view vector of each image point under the satellite coordinate system into the view vector of each image point under the orbit coordinate system;
step seven, calculating a conversion matrix from the orbit coordinate system to the geocentric coordinate system GEO according to the orbit parameters, and converting the visual vector of each image point under the orbit coordinate system into the visual vector of each image point under the geocentric coordinate system GEO;
step eight, converting the visual vector of each image point under the geocentric coordinate system GEO into the visual vector of each image point in the projection disc coordinate system OPC according to a conversion matrix from the geocentric coordinate system GEO to the projection disc coordinate system OPC;
step nine, calculating the visual vector of each image point in the projection disc coordinate system OPCCoordinates i and j of grid points of projection points on the reference sphere, let Np[i,j]＝Np[i,j]+1，Rp[i,j]＝Rp[i,j]+ I, I is the intensity of the current projected image point;
step ten, after the projection of all the image points of the image is finished, calculating the intensity average value of all the projection points in each grid point to obtain a grid point geographical longitude and latitude data matrix, a grid point center geographical longitude and latitude data matrix and a projection image data matrix.
Compared with the prior art, the invention has the beneficial effects that:
the disc projection and splicing method of the large-view-field space earth observation image comprises the steps of projecting and splicing observation images of a time sequence into the same grid of a reference spherical surface, and truly and accurately describing the space distribution condition of an observation object by the obtained projection image, thereby providing a solution for processing the detection data of the space environment in China.
Drawings
FIG. 1 is a schematic diagram of the coordinate system setup of the disk projection and stitching method for large-field-of-view space earth observation images of the present invention;
FIG. 2 is a schematic diagram of cross-orbit geocentric angle calculation of the disk projection and stitching method of large-field-of-view space-to-earth observation images of the present invention, wherein (a) the field-of-view range does not exceed the adjacent edge, and (b) the field-of-view range exceeds the adjacent edge;
FIG. 3 is a schematic diagram of the calculation of the along-the-earth cardiac angle of the disk projection and stitching method of the large field-of-view space-to-earth observation image of the present invention, wherein (a) is the staring imaging mode, (b) is the forward scanning imaging mode, and (c) is the reverse scanning imaging mode;
FIG. 4 is a grid coordinate diagram of a disk projection and stitching method for a large-field-of-view space-to-ground observation image according to the present invention;
FIG. 5 is a flow chart of the disk projection and stitching method of the large field-of-view space-to-ground observation image of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided with reference to the accompanying drawings, but should not be construed as limiting the scope of the present invention.
Taking a large-view-field far ultraviolet imager on a polar-orbit sun synchronous orbit as an example: the height H of the sun synchronous orbit is 830km, and the projection is referenced to the spherical radius Rr6485.0km, earth mean radius RE6375.0km, the projection spherical space resolution delta is 10km, and the cross-track field angle F of the instrument1130 DEG, instrument along-track field angle F210 degrees, main distance f 18.18mm, and virtual image element size delta of detectord0.035 mm. The working modes of the instrument comprise: in a staring imaging mode between the magnetic latitude +/-60 degrees, the optical axis of the instrument points to the geocentric; the magnetic latitude of the north and south poles is more than 60 degrees or less than-60 degrees, and the optical axis scanning range is omega1＝60°，ω2＝60°。
As shown in fig. 5, the implementation steps of the disc projection and stitching method for large-field-of-view space earth observation image of the present invention are as follows:
step one, as shown in fig. 1, the starting point of the track parameter of the time series isThe end point isAll located in the geocentric coordinate system GEO, calculating a conversion matrix between the geocentric coordinate system GEO and the projection disc coordinate system OPC by extracting track parameters of observation images of a time sequence, wherein a track vector of a starting point of the time sequence is an X axis of the projection disc coordinate system OPC, and a unit vector of the X axis of the projection disc coordinate system OPC in the geocentric coordinate system GEO is expressed asThe normal line of a large circle determined by the track vectors of the starting point and the ending point of the time sequence is the Z axis of the projection disc coordinate system OPC, and the unit vector of the Z axis of the projection disc coordinate system OPC in the geocentric coordinate system GEO is expressed asThe Y axis of the projection disc coordinate system OPC is determined according to the right-hand rule, and the unit vector of the Y axis of the projection disc coordinate system OPC in the geocentric coordinate system GEO is expressed asObtaining:
the transformation matrix from the geocentric coordinate system GEO to the projection disk coordinate system OPC is as follows:
the transformation matrix from the projection disk coordinate system OPC to the geocentric coordinate system GEO is:
the invention defines that the angle change in XY plane in the projection disc coordinate system OPC is longitude, + X axis represents 0 degree, the angle change relative to XY plane is latitude, XY plane represents 0 degree, and positive latitude is towards + Z axis direction.
Step two, as shown in FIG. 2, according to the spatial resolution Δ (unit: km) of the projection sphere and the cross-track field angle F1And field angle F along the track2Establishing a disc projection grid on a reference spherical surface in a projection disc coordinate system OPC to obtain the grid point number N along the Y direction (along the track direction) and the grid point number M along the Z direction (across the track direction);
the number of lattice points in the cross-track direction isThe number of lattice points along the direction of the track is N-N1+N2+1，
Wherein [ ] represents rounding;
the spatial resolution delta of the projection sphere is corresponding to the earth's center angle delta on the reference sphere as delta/Rr；
On the reference sphere, when the field of view does not exceed the critical edge (fig. 2(a)), half of the geocentric angle covered by the cross-track field of view isWhen the field of view exceeds the critical edge (FIG. 2(b)), half of the geocentric angle covered by the cross-track field of view isConsidering that the orbit plane is not strictly in a large circle, phi should be increased appropriately to ensure that the images at different orbit positions in the time series can be projected into the gridcrIncrease by Δ ΦcrFor polar solar synchronous orbit, Δ Φ depending on the orbit shiftcrGenerally take phicr10% of the total amount of the active ingredients;
as shown in fig. 3, in the along-track direction, the geocentric angle of all time-series image coverage is composed of two parts:
for the gaze imaging mode (fig. 3 (a)):
for the forward scan mode (scan direction coincides with satellite heading, as in fig. 3 (b)):
for the reverse scan mode (scan direction opposite to satellite heading, as in fig. 3 (c)):
step three, calculating a grid point longitude matrix, a grid point latitude matrix, a grid center point longitude matrix and a grid center point latitude matrix in the projection disc coordinate system OPC, and respectively converting the grid point longitude matrix, the grid point latitude matrix, the grid center point longitude matrix and the grid center point latitude matrix in the projection disc coordinate system OPC into a grid point longitude matrix, a grid point latitude matrix, a grid center point longitude matrix and a grid center point latitude matrix in the geocentric coordinate system GEO according to the conversion matrix conversion from the projection disc coordinate system OPC to the geocentric coordinate system GEO established in the step one;
wherein, the grid point latitude matrix in the projection disc coordinate system OPC is Λ, and the size is [ (M +1) × (N +1)]Grid point longitude matrix is Σ, and has a size of [ (M +1) × (N +1)]And is provided with i＝0,1,…,M，j＝0,1,…,N。Grid central latitude matrix is ΛCThe size is [ MXN]Grid center longitude matrix is ∑CThe size is [ MXN]And is provided withΣ[i,j]＝-N2δ+jδ，i＝0,1,…,M-1，j＝0,1,…,N-1。
Step four, establishing the size of [ MXN]Two-dimensional array N ofpThe number and size of the actual projected image points for storing grid points is [ M × N]Two-dimensional array R ofpFor storing the total intensity values of the actual projected image points of the grid points;
step five, the coordinate of a certain image point P in the image is [ P ]x，py]The view vector of the image point P in the instrument coordinate system is
Wherein,xc、ycrespectively the central coordinates of the image in the X direction and the Y direction;
conversion matrix T according to instrument coordinate system and satellite coordinate system1Calculating the visual vector of the image point in the satellite coordinate system
T1The calculation process is the prior art according to the calculation of the included angle between the ground calibration satellite reference cubic mirror and the reference cubic mirror on the instrument.
Step six, calculating the visual vector of the image point under the orbit coordinate system
Transformation matrix T from satellite coordinate system to orbit coordinate system2For the transformation matrix from the satellite coordinate system to the orbital coordinate system, calculated from the satellite attitude, T2Expressed as:
cy＝cosθy,sy＝sinθy,
cr＝cosθr,sr＝sinθr,
cp＝cosθp,sp＝sinθp
in the formula, thetapIs satellite pitch angle thetarFor satellite roll angle and thetayIs the satellite yaw angle.
Seventhly, the X axis of the orbital coordinate system ORB is the direction of the flying speed of the satellite, the Z axis of the orbital coordinate system ORB points to the geocentric from the satellite, and the Y axis of the orbital coordinate system ORB is determined according to the right-hand rule;
extracting the orbit parameters corresponding to the current image, and setting the orbit position of the satellite in the geocentric coordinate system GEO asThe satellite velocity vector isThe unit vector of the Z-axis of the orbital coordinate system ORB in the geocentric coordinate system GEO isThe unit vector of the X-axis of the orbital coordinate system ORB in the geocentric coordinate system GEO isThe unit vector of the Y-axis of the orbital coordinate system ORB in the geocentric coordinate system GEO isObtaining a transformation matrix T from the orbit coordinate system ORB to the geocentric coordinate system GEO3，T3Expressed as:
then calculating the visual vector of the image point under the geocentric coordinate system GEO
Step eight, calculating the visual vector of the image point under the projection disc coordinate system OPC
Step nine, as shown in fig. 4, calculating the view vector of the image point under the projection disc coordinate system OPCGrid point coordinates i and j of projection points on the reference sphere of the projection disk coordinate system OPC, let Np[i,j]＝Np[i,j]+1，Rp[i,j]＝Rp[i,j]+ I, I is the intensity of the current projected image point;
and step ten, after the projection of all the image points of the image is finished, obtaining the intensity in each grid point by adopting an averaging method in each grid point, and finally obtaining a projection image data matrix, a grid point geographical longitude and latitude data matrix and a grid point center geographical longitude and latitude data matrix.
Claims (9)
1. The disc projection and splicing method of the large-view-field space earth observation image is characterized by comprising the following steps of:
firstly, extracting track parameters of observation images of a time sequence and calculating a conversion matrix between a geocentric coordinate system GEO and a projection disc coordinate system OPC;
step two, according to the spatial resolution of the projection spherical surface and the field angle F in the cross-track direction1And field angle F along the track2Establishing a disc projection grid on a reference spherical surface of a projection disc coordinate system OPC to obtain the number N of grid points along the track direction and the cross-track directionThe number of grid points is M;
step three, calculating a grid point longitude and latitude matrix and a grid center point longitude and latitude matrix under the projection disc coordinate system OPC, and converting the grid point longitude and latitude matrix and the grid center point longitude and latitude matrix of the projection disc coordinate system OPC into a grid point longitude and latitude matrix and a grid center point longitude and latitude matrix of the geocentric coordinate system GEO according to the conversion matrix between the geocentric coordinate system GEO and the projection disc coordinate system OPC obtained in the step one;
step four, establishing a two-dimensional array N for storing the number of the actual projected image points of the grid pointspThe size is [ MXN]And establishing a two-dimensional array R storing the total intensity values of the actual projected image points of the grid pointspThe size is [ MXN]；
Calculating the view vector of each image point of the image under the satellite coordinate system according to the principal distance and the pixel size of the observation instrument and the conversion matrix from the instrument coordinate system to the satellite coordinate system;
calculating a conversion matrix from the satellite coordinate system to the orbit coordinate system according to the satellite attitude, and converting the view vector of each image point under the satellite coordinate system into the view vector of each image point under the orbit coordinate system;
step seven, calculating a conversion matrix from the orbit coordinate system to the geocentric coordinate system GEO according to the orbit parameters, and converting the visual vector of each image point under the orbit coordinate system into the visual vector of each image point under the geocentric coordinate system GEO;
step eight, converting the visual vector of each image point under the geocentric coordinate system GEO into the visual vector of each image point in the projection disc coordinate system OPC according to a conversion matrix from the geocentric coordinate system GEO to the projection disc coordinate system OPC;
step nine, calculating grid point coordinates i and j of projection points of view vectors of all image points in the projection disc coordinate system OPC on the reference spherical surface, and enabling N to be Np[i,j]＝Np[i,j]+1，Rp[i,j]＝Rp[i,j]+ I, I is the intensity of the current projected image point;
step ten, after the projection of all the image points of the image is finished, calculating the intensity average value of all the projection points in each grid point to obtain a grid point geographical longitude and latitude data matrix, a grid point center geographical longitude and latitude data matrix and a projection image data matrix.
2. The disc projection and stitching method for the large-field-of-view spatial geodetic image according to claim 1, wherein in the first step, the track vector of the start point of the time sequence is an X-axis of the projection disc coordinate system OPC, the normal of the large circle defined by the track vectors of the start point and the end point of the time sequence is a Z-axis of the projection disc coordinate system OPC, and the Y-axis of the projection disc coordinate system OPC is determined according to the right-hand rule.
3. The disc projection and stitching method for the large-field-of-view space-to-earth observation image according to claim 2, wherein the starting point of the orbit parameter of the time series isThe end point isThe unit vector of the X axis of the projection disk coordinate system OPC in the geocentric coordinate system GEO is expressed asThe unit vector of the Z axis of the projection disk coordinate system OPC in the geocentric coordinate system GEO is expressed asThe unit vector of the Y axis of the projection disk coordinate system OPC in the geocentric coordinate system GEO is expressed asObtaining:
the transformation matrix from the geocentric coordinate system GEO to the projection disk coordinate system OPC is as follows:
the transformation matrix from the projection disk coordinate system OPC to the geocentric coordinate system GEO is:
4. the disc projection and stitching method for the large-field-of-view spatial geodetic image according to claim 1, wherein in the second step, the number of grid points in the cross-track directionThe number of lattice points along the direction of the track is N-N1+N2+1，
Wherein [ ] represents rounding;
the earth's central opening angle delta on the reference sphere is delta/Rr；
When the field of view does not extend beyond the adjacent edge,
when the field of view is beyond the adjacent edge,
for gaze imaging mode:
for the forward scan mode:
for the reverse scan mode:
where Δ is the spatial resolution of the projected sphere, RrFor reference spherical radius, H is track height, REIs the mean radius of the earth, F1For cross-track field angle, F2Angle of view in the direction of the track, ω1To start the scan angle, ω2In order to end the scan angle,is the starting point of the track parameter of the time series,is the track parameter end point of the time series.
5. The disc projection and stitching method for the large-field-of-view spatial geodetic image according to claim 4, wherein ΦcrTaking 110% of the actual calculated value.
6. The disc projection and stitching method for large-field-of-view spatial geodetic images according to claim 1, wherein in the third step,
the latitude matrix of grid points in the projection disc coordinate system OPC is Λ, and the size is [ (M +1) × (N +1)]Grid point longitude matrix is Σ, and has a size of [ (M +1) × (N +1)]And is provided with i＝0,1,…,M，j＝0,1,…,N；
Grid center point latitude matrix in projection disc coordinate system OPC is lambdaCThe size is [ MXN]Grid center longitude matrix is ∑CThe size is [ MXN]And is provided withΣ[i,j]＝-N2δ+jδ，i＝0,1,…,M-1，j＝0,1,…,N-1；
Wherein the earth's central opening angle on the reference sphere is delta-delta/Rr，RrFor reference spherical radius, Δ is the projected spherical spatial resolution.
7. The disc projection and stitching method for the large-field-of-view space-to-earth observation image according to claim 1, wherein in the fifth step, the view vector quantity of each image point in the satellite coordinate systemT1Is a transformation matrix of an instrument coordinate system and a satellite coordinate system,is the visual vector of a certain image point P in the image in the instrument coordinate system, the coordinate [ P ] of Px，py]， Wherein xc、ycRespectively the central coordinates of the image in the X direction and the Y direction, f is the principal distance of the observation instrument, deltadIs the pixel size.
8. The disc projection and stitching method for the large-field-of-view spatial geodetic image according to claim 1, wherein in the sixth step, the view vector quantity of each image point in the orbital coordinate system For the view vector, T, in the satellite coordinate system of each image point2Is a transformation matrix from the satellite coordinate system to the orbital coordinate system, T2Expressed as:
cy＝cosθy,sy＝sinθy,
cr＝cosθr,sr＝sinθr,
cp＝cosθp,sp＝sinθp
in the formula, thetapIs satellite pitch angle thetarFor satellite roll angle and thetayIs the satellite yaw angle.
9. The disc projection and stitching method for the large-field-of-view space geodetic observation image according to claim 1, wherein in the seventh step, the visual vector of each image point under the geocentric coordinate system GEO For the apparent vector, T, of each image point in the orbital coordinate system3Is a transformation matrix, T, from the orbital coordinate system ORB to the geocentric coordinate system GEO3Expressed as:
the unit vector of the X-axis of the orbital coordinate system ORB in the geocentric coordinate system GEO isThe unit vector of the Y-axis of the orbital coordinate system ORB in the geocentric coordinate system GEO isThe unit vector of the Z axis of the orbital coordinate system ORB in the geocentric coordinate system GEO is
Position of satellite orbit in geocentric coordinate system GEOSatellite velocity vectorAre determined by the track parameters.
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| CN103279127A (en) * | 2013-05-22 | 2013-09-04 | 上海新跃仪表厂 | Autonomous control method for GEO (Geosynchronous) orbit satellite by using angle information only |
| CN103605887A (en) * | 2013-11-13 | 2014-02-26 | 北京航空航天大学 | Simulation model for space-time distribution of on-orbit satellite imagery wave water surface solar flares |
| CN103632360A (en) * | 2013-12-17 | 2014-03-12 | 中测新图(北京)遥感技术有限责任公司 | Mosaicing method for aerial images of unmanned aerial vehicle (UAV) |
| CN105550995A (en) * | 2016-01-27 | 2016-05-04 | 武汉武大卓越科技有限责任公司 | Tunnel image splicing method and system |
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