CN107316280B - Li Island satellite image RPC model high-precision geometry location method - Google Patents
Li Island satellite image RPC model high-precision geometry location method Download PDFInfo
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Abstract
A kind of high-precision geometry location method of Li Island satellite image RPC model: the mutual conversion between spaceborne optical sensor rigorous geometry model and RPC model is realized, utilize the imaging model of the satellite image of a small amount of control point amendment land part of satellite image and land part with the co-orbital land part of Li Island regional satellite image, and be modified by RPC model of the Orbit extrapolation mode to Li Island regional satellite image, to realize that Li Island satellite image is positioned without the precise geometrical at control point.
Description
Technical field
The present invention relates to satellite-remote-sensing images in the geometry location for lacking ground control point region, can apply ocean,
The remote sensing department such as meteorological, ecological environment and defense military.
Background technique
The precise geometrical positioning of remote sensing image is the basis that remote sensing image is further applied.Remote sensing image is in imaging process
It is influenced by various complicated factors, so that it is generated geometry deformation, it is therefore necessary to pass through the ground established in object space coordinate system
Millet cake coordinate and its geometrical relationship on image plane between picpointed coordinate determine the geometry location information of image.It is theoretical
On, under the support of accurate ground altitude data, image can be restored using the stringent imaging geometry model of satellite remote-sensing image
The true geometric position of upper each pixel, to realize the geometry location of image.But due to the error of measurement and spaceborne sensing
The presence of other uncertain factors in device imaging process, rigorous geometry model are usually unable to entirely accurate and inerrably restore shadow
The geological information of picture, thus the geometric positioning accuracy of satellite image is also restrained, it usually needs by ground control point ability
Correct the geometry location error of image.Under conditions of absolutely not ground control data, the autonomous geometry location of satellite image
Precision depends on the geometric calibration precision of sensor and the stability and measurement accuracy of Satellite attitude and orbit control system.With
The autonomous geometry of the development of satellite borne sensor technology and in-orbit geometric calibration technology, domestic and international spaceborne optical satellite image is fixed
Position precision is higher and higher, and wherein GeoEye-1 can reach the precision of 3 meters or so (about 10 pixels).Aspect at home, early stage
No. 1 (HJ-1) satellite of environment without control spot placement accuracy, at 1 kilometer or so, but in recent years, progress is significant, high score No.1 (GF-
1) satellite data is without control spot placement accuracy within 50 meters, and No.1 (TH-1) satellite is drawn in resource No. three, day can reach 10
Rice or so (about 5 pixels).But such positioning accuracy is not able to satisfy the needs of practical application still.
China, region island, the South Sea are numerous, and area is small, ground surface type is complicated, strong by human interference, need using high-resolution
Rate satellite remote sensing date carries out continuous monitoring.In recent years, No. two satellites of China's sequential transmissions high score No.1 and high score, to Nan Haidao
Small island region carries out high frequency time observation, provides image data abundant.The geometry location of image is high resolution ratio satellite remote-sensing island
The basis of monitoring, meanwhile, multi-source satellite multidate is observed, and spatial position is also required to keep higher between atural object.Usually obtain compared with
High image positioning accuracy needs ground control point data, but field survey distance in island is remote, the period is long, at high cost, it is difficult on the spot
Obtain ground control point data.Realize the satellite remote-sensing image precise geometrical for lacking control point position a kind of scheme be strictly at
As using a small amount of control point, realizing no control point region in such a way that orbit parameter is extrapolated on the basis of geometrical model
Precise geometrical positioning.But the imaging geometry model of existing high-resolution satellite image with rational function model (RFM, also referred to as
RPC model) form provide, the extrapolation of orbit parameter can not be carried out.
It is limited in view of the positioning accuracy of the RPC model of high-resolution satellite image, and Li Island localized ground control point is difficult to
It obtains, therefore study Li Island satellite image RPC model there is important practical valence without the high-precision geometry location method at control point
Value.
Summary of the invention
It is an object of the invention to solve the deficiencies in the prior art, propose a kind of by Orbit extrapolation realization Li Island satellite
The method of image RPC model high-precision geometry location.Utilize the satellite with the co-orbital land part of Li Island regional satellite image
A small amount of control point of image and land part, so that it may the RPC model of Li Island regional satellite image is modified, to realize
The precise geometrical of Li Island satellite image positions.
Technical solution of the invention: a kind of high-precision geometry location method of Li Island satellite image RPC model, it is special
Sign is that steps are as follows:
(1) prepare satellite image (the same sensor with the land part of Li Island satellite image same rail to be positioned
The data obtained on the same day) and ground control point；
(2) it is directed to the satellite image of Li Island satellite image and land part respectively, according to RPC model RFM1And RFM2Restore
Respective rigorous geometry model RSM1And RSM2；
(3) the former RPC model RFM of ground dominating pair of vertices land part satellite image is used2Carry out image space affine Transform Model
Amendment, and by revised RPC model RFM '2Revert to rigorous geometry model RSM '2；
(4) the rigorous geometry model RSM of comparison land part satellite image amendment front and back2With RSM '2, using least square
Homing method estimates revised rigorous geometry model RSM '2Each elements of exterior orientation relative to the rigorous geometry model before amendment
RSM2Reduction；
(5) reduction of elements of exterior orientation is brought into the rigorous geometry model RSM of Li Island satellite image1, and with strictly at
As model RSM '2In direction of visual lines angle alternative model RSM1In direction of visual lines angle, it is modified stringent to obtain Li Island satellite image
Imaging model RSM '1；
(6) according to rigorous geometry model RSM '1Generate the unrelated RPC model RFM ' of landform1, model RFM '1As Li Island is defended
The revised RPC model of star image.
Detailed description of the invention
Fig. 1 is technical solution of the present invention flow chart；
Fig. 2 is Li Island satellite image and co-orbital land part satellite image schematic diagram.
Specific embodiment
The invention proposes a kind of high-precision geometry location methods of Li Island satellite image RPC model, below in conjunction with one
The present invention will be described in detail the technical solution of embodiment and attached drawing 1~2.It is several that example provides the extrapolation of Li Island satellite image RPC model rail
What localization method, techniqueflow is referring to attached drawing 1.
RPC model is the approximate fits to satellite image rigorous geometry model (RSM, Rigorous Sensor Model),
It is a kind of pure mathematics model for lacking physical significance, therefore directly can not carries out Orbit extrapolation using RPC model, it is necessary to first will
RPC model reverts to rigorous geometry model.A key technology basis of the invention be exactly rigorous geometry model and RPC model it
Between mutual conversion.Wherein rigorous geometry model can be generated by way of establishing 3 dimension virtual controlling grid points landform without
RPC model [Tao, C.Vincent and Yong Hu.A Comprehensive Study of the Rational of pass
Function Model for Photogrammetric Processing.Photogrammetric Engineering&
Remote Sensing, Vol.67, No.12, December 2001, pp.1347-1357.], illustrate below extensive by RPC model
The method of multiple rigorous geometry model.
1. rigorous geometry model (RSM model)
The star-loaded optical remote sensing image of mainstream mostly uses greatly linear charge-coupled array (CCD) push-broom type imaging side at present
Formula, rigorous geometry model may be expressed as:
Wherein [X, Y, Z]TIt indicates to consolidate the seat in (ECEF) coordinate system in ground heart as the corresponding ground point of planar point (x, y)
Mark；[Xsat,Ysat,Zsat]TFor coordinate of the imaging moment satellite projection centre in ECEF coordinate system；M is scale factor；
tan(ψx) and tan (ψy) it is respectively angle of the imaging sight in sensor (Sensor) coordinate system with x-axis and y-axis；
Indicate sensor coordinate system to the spin matrix between ECEF coordinate system, it by 3 directions rotation angleω and κ is logical
(2) formula is crossed to determine:
2. rational function model (RFM model or RPC model)
RPC model may be expressed as:
Wherein l and s be picture point as after the ranks value standardization in plane as a result, (X, Y, Z) is that the object space space of points is sat
Mark standardization after as a result,
Nl(X, Y, Z)=a0+a1Z+a2Y+a3X+a4ZY+a5ZX+a6YX+a7Z2+a8Y2+a9X2+a10ZYX+a11Z2Y+a12Z2X
+a13ZY2+a14Y2X+a15ZX2+a16YX2a17Z3+a18Y3+a19X3
Dl(X, Y, Z)=b0+b1Z+b2Y+b3X+b4ZY+b5ZX+b6YX+b7Z2+b8Y2+b9X2+b10ZYX+b11Z2Y+b12Z2X
+b13ZY2+b14Y2X+b15ZX2+b16YX2b17Z3+b18Y3+b19X3
Ns(X, Y, Z)=c0+c1Z+c2Y+c3X+c4ZY+c5ZX+c6YX+c7Z2+c8Y2+c9X2+c10ZYX+c11Z2Y+c12Z2X
+c13ZY2+c14Y2X+c15ZX2+c16YX2c17Z3+c18Y3+c19X3
Ds(X, Y, Z)=d0+d1Z+d2Y+d3X+d4ZY+d5ZX+d6YX+d7Z2+d8Y2+d9X2+d10ZYX+d11Z2Y+d12Z2X
+d13ZY2+d14Y2X+d15ZX2+d16YX2d17Z3+d18Y3+d19X3
In formula, ai,bi,ci,di(i=0,1 ..., 19) is RPC parameter, wherein b0And d0Value be 1.
To the standardization formula of image coordinate ranks value are as follows:
Wherein LINE_OFF, LINE_SCALE, SAMP_OFF and SAMP_SCALE are the normalization factor of image coordinate.
Line indicates that image row coordinate, Sample indicate the column coordinate of image.
To the standardization formula of ground point are as follows:
Wherein LONG_OFF, LONG_SCALE, LAT_OFF, LAT_SCALE, HEIGHT_OFF, HEIGHT_SCALE are ground
Areal coordinate normalization factor.Longitude indicates that the longitude of ground point, Latitude indicate latitude, the Height table of ground point
Show the elevation of ground point.
3. restoring RSM model from RPC model
1) restore coordinate of the imaging moment satellite projection centre in ECEF coordinate system
According to (3) formula can by picture point as in plane ranks coordinate l, s and, the elevation Z coordinate of corresponding object space point
Calculate the coordinate X and Y of object space point, as shown in (6) formula,
Wherein NX(l,s,Z)、DX(l,s,Z)、NY(l,s,Z)、DY(l, s, Z) is l, the cubic polynomial of s, Z.
For as planar point (l, s), any given 2 height value Z1And Z2, it can calculate separately to obtain 2 according to (6) formula
Coordinate [X of the point of object space corresponding to a height value in ECEF coordinate system1,Y1,Z1]T[X2,Y2,Z2]T, and this 2
A object space coordinate and coordinate [X of the imaging moment satellite projection centre in ECEF coordinate systemSat,YSat,ZSat]TTool
Just like [Huang WC, Zhang G, the Li D.Robust Approach for Recovery of of relationship shown in (7) formula
Rigorous Sensor Model Using Rational Function Model.IEEE Transactions on
Geoscience and Remote Sensing.2016Jul；54 (7): 4355-61.],
For certain one scan line k of satellite image, 100 pixels are uniformly chosen, remember that it as plane coordinates is (lk,si),
Wherein i=1,2 ..., 100, take elevation Z1=0 and Z2=10000, utilize (6) formula and (7) formula can be true by least-squares estimation
Determine coordinate [X of the imaging moment satellite projection centre in ECEF coordinate systemSat,YSat,ZSat]T。
2) restore imaging moment sensor coordinate system to the rotation angle between ECEF coordinate system
Given height value is 0, can calculate the corresponding object space point coordinate [X of two endpoint pixels of certain scan line according to (6) formula1,
Y1,Z1]T[X2,Y2,Z2]T, sight line vector of two endpoint pixels in ECEF coordinate system can determine according to (8) formula
With
Then each reference axis of sensor coordinate system can be calculated in ECEF coordinate system according to (9), (10), (11) formula
Direction vector[Huang WC,Zhang G,Li D.Robust Approach for Recovery of
Rigorous Sensor Model Using Rational Function Model.IEEE Transactions on
Geoscience and Remote Sensing.2016Jul；54 (7): 4355-61.],
Sensor coordinate system is to the rotation angle matrix between ECEF coordinate system,
Finally according to spin matrixIt can further determine that rotation angleω and κ [Slabaugh GG.Computing
Euler angles from a rotation matrix.Retrieved on August.1999Aug 6；6(2000):39-
63.]。
3) restore the observation angle of sight of each pixel in sensor coordinate system
To any pixel in Mr. Yu's scan line, its sight in ECEF coordinate system can determine according to (6) formula and (8) formula
Survey sight line vectorThen observing vector of the sight in sensor coordinate system is
Then the observation angle of sight of the pixel in sensor coordinate system can be further calculated
In conclusion by XSat、YSat、ZSat、、κ、ψxAnd ψyY is the rigorous geometry model that can determine satellite image,
Middle XSat、YSat、ZSat、ω and κ is elements of exterior orientation, ψxAnd ψyFor elements of interior orientation.
4. the extrapolation amendment of Li Island satellite image RPC model
Step 1: preparing satellite image (the same sensing with the land part of Li Island satellite image same rail to be positioned
The data that device obtains on the same day) and ground control point, satellite image range and image signal are referring to attached drawing 2；
Step 2: the satellite image of Li Island satellite image and land part is directed to respectively, according to RPC model RFM1And RFM2It is extensive
Multiple respective rigorous geometry model RSM1And RSM2；
Step 3: using ground control point to the former RPC model RFM of land part satellite image2Carry out image space affine transformation
Modifying model
Wherein, l, s, Nl(X,Y,Z)、Dl(X,Y,Z)、Ns(X,Y,Z)、DsIdentical, a is defined in (X, Y, Z) and (3) formula0,
a1,a2,b0,b1,b2Parameter is corrected for image space affine transformation；
Then by revised RPC model RFM '2Revert to rigorous geometry model RSM '2；
Step 4: the rigorous geometry model RSM of comparison land part satellite image amendment front and back2With RSM '2, using minimum two
Multiply homing method and estimates revised rigorous geometry model RSM '2Each elements of exterior orientation relative to the stringent imaging mould before amendment
Type RSM2Reduction, i.e. Δ Xsat,ΔYsat,ΔZsatWithΔω,Δκ；
Step 5: by the reduction Δ X of elements of exterior orientationsat,ΔYsat,ΔZsatWithΔ ω, Δ κ bring Li Island satellite into
The rigorous geometry model RSM of image1, and with rigorous geometry model RSM '2Direction of visual lines angle ψxAnd ψyAlternative model RSM1In
Direction of visual lines angle obtains the modified rigorous geometry model RSM ' of Li Island satellite image1；
Step 6: according to rigorous geometry model RSM '1Generate the unrelated RPC model RFM ' of landform1, model RFM '1As from
The revised RPC model of island satellite image.
Claims (1)
1. a kind of high-precision geometry location method of Li Island satellite image RPC model, it is characterised in that steps are as follows:
Step 1: preparing the satellite image and ground control point with the land part of Li Island satellite image same rail to be positioned；
Step 2: the satellite image of Li Island satellite image and land part is directed to respectively, according to RPC model RFM1And RFM2Restore each
From rigorous geometry model RSM1And RSM2；
Step 3: using ground control point to the former RPC model RFM of land part satellite image2Carry out the image space as shown in formula (1)
Affine Transform Model amendment, and by revised RPC model RFM '2Revert to rigorous geometry model RSM '2,
In formula, l and s be picture point as after the ranks value standardization in plane as a result, (X, Y, Z) is object space space of points coordinate mark
It is after standardization as a result, e0, e1, e2, f0, f1, f2Parameter is corrected for image space affine transformation,
Nl(X, Y, Z)=a0+a1Z+a2Y+a3X+a4ZY+a5ZX+a6YX+a7Z2+a8Y2+a9X2+a10ZYX+a11Z2Y+a12Z2X+
a13ZY2+a14Y2X+a15ZX2+a16YX2+a17Z3+a18Y3+a19X3
Dl(X, Y, Z)=b0+b1Z+b2Y+n3X+b4ZY+b5ZX+b6YX+b7Z2+b8Y2+b9X2+b10ZYX+b11Z2Y+b12Z2X+
b13ZY2+b14Y2X+b15ZX2+b16YX2+b17Z3+b18Y3+b19X3
Ns(X, Y, Z)=c0+c1Z+c2Y+c3X+c4ZY+c5ZX+c6YX+c7Z2+c8Y2+c9X2+c10ZYX+c11Z2Y+c12Z2X+
c13ZY2+c14Y2X+c15ZX2+c16YX2+c17Z3+c18Y3+c19X3
Ds(X, Y, Z)=d0+d1Z+d2Y+d3X+d4ZY+d5ZX+d6YX+d7Z2+d8Y2+d9X2+d10ZYX+d11Z2Y+d12Z2X+
d13ZY2+d14Y2X+d15ZX2+d16YX2+d17Z3+d18Y3+d19X3
Wherein, a0~a19, b0~b19, c0~c19, d0~d19For RPC parameter, b0And d0Value is 1,
Standardization formula to image coordinate ranks value is,
Wherein LINE_OFF, LINE_SCALE, SAMP_OFF and SAMP_SCALE are the normalization factor of image coordinate, Line table
Show that image row coordinate, Sample indicate the column coordinate of image,
Standardization formula to ground point is,
Wherein LONG_OFF, LONG_SCALE, LAT_OFF, LAT_SCALE, HEIGHT_OFF, HEIGHT_SCALE are ground seat
Normalization factor is marked, Longitude indicates that the longitude of ground point, Latitude indicate that the latitude of ground point, Height indicate ground
The elevation of millet cake；
Step 4: the rigorous geometry model RSM of comparison land part satellite image amendment front and back2With RSM '2, returned using least square
Method is returned to estimate revised rigorous geometry model RSM '2Each elements of exterior orientation relative to the rigorous geometry model before amendment
RSM2Reduction, i.e. imaging moment satellite projection centre coordinate correction amount Δ X in ECEF coordinate systemsat, Δ Ysat, Δ
ZsatAnd the reduction of each reference axis of sensor coordinate system rotation angle in ECEF coordinate systemΔ ω, Δ κ；
Step 5: by the reduction Δ X of elements of exterior orientationsat, Δ Ysat, Δ ZsatWithΔ ω, Δ κ bring Li Island satellite image into
Rigorous geometry model RSM1, and with rigorous geometry model RSM '2Direction of visual lines angle ψxAnd ψyAlternative model RSM1In sight
Deflection obtains the modified rigorous geometry model RSM ' of Li Island satellite image1；
Step 6: according to rigorous geometry model RSM '1Generate the unrelated RPC model RFM ' of landform1, model RFM '1As Li Island is defended
The revised RPC model of star image.
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| CN109506627B (en) * | 2018-10-31 | 2021-05-07 | 中国资源卫星应用中心 | RPC model-based satellite image system error correction method |
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