CN109725340A - Direct geographic positioning and device - Google Patents
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Abstract
The present invention relates to photogrammetry and remote-sensing technique field, a kind of direct geographic positioning and device are provided, which comprises obtain image to be processed, image to be processed is shot to obtain by the video camera on carrier；Obtain the photogrammetric spin matrix in image space-of image space coordinate system to photogrammetric coordinate system；Predefined image space auxiliary coordinates make the photogrammetric spin matrix in image space-and the image space-comprising exterior orientation angle element as assisting spin matrix to meet equivalence relation, and calculate the exterior orientation angle element of image to be processed；According to exterior orientation angle element, the exterior orientation line element of image to be processed and preset elements of interior orientation, the target picture point in image to be processed is transformed into photogrammetric coordinate system, obtains the first geographical location of target picture point.Compared with prior art, direct geographic positioning and device provided by the invention can be realized the remote sensing system of geographic positioning functionality when having high-precision real.
Description
Technical field
The present invention relates to photogrammetry and remote-sensing technique field, in particular to a kind of direct geographic positioning and
Device.
Background technique
Direct geo-location (Direct Geo-referencing) technology, is exactly taken using mobile vehicle or mission payload
The satellite inertial guidance integrated positioning system (GPS and INS Integrated Positioning System) of load, in operation
Direct geo-location directly is carried out to photo or photographic in journey.
In the prior art, not high to the precision of the direct geo-location of photo.
Summary of the invention
The purpose of the present invention is to provide a kind of direct geographic positioning and devices, above-mentioned right in the prior art to improve
The not high problem of the direct geographical positioning accuracy of photo.
To achieve the goals above, technical solution used in the embodiment of the present invention is as follows:
In a first aspect, the embodiment of the invention provides a kind of direct geographic positionings, which comprises obtain wait locate
Image is managed, the image to be processed is shot to obtain by the video camera on carrier；Image space coordinate system is obtained to photogrammetric coordinate system
The photogrammetric spin matrix in the image space-of system；Predefined image space auxiliary coordinates make the photogrammetric rotation in the image space-
Matrix and image space-comprising exterior orientation angle element meet equivalence relation as auxiliary spin matrix, and calculate described to be processed
The exterior orientation angle element of image, wherein the image space-characterizes the image space coordinate system to the picture as auxiliary spin matrix
The rotation transformation relationship of space auxiliary coordinates；According to the exterior orientation angle element, the exterior orientation line element of the image to be processed
Element and preset elements of interior orientation, are transformed into the photogrammetric coordinate system for the target picture point in the image to be processed,
Obtain the first geographical location of the target picture point.
Second aspect, the embodiment of the invention provides a kind of direct geographic locating device, described device includes: acquisition mould
Block, for obtaining image to be processed, the image to be processed is shot to obtain by the video camera on carrier；
Processing module, the photogrammetric spin moment in image space-for obtaining image space coordinate system to photogrammetric coordinate system
Battle array；Predefined image space auxiliary coordinates make the photogrammetric spin matrix in the image space-and the picture comprising exterior orientation angle element
Space-meets equivalence relation as auxiliary spin matrix, and calculates the exterior orientation angle element of the image to be processed, wherein institute
Image space-is stated as the rotation transformation that auxiliary spin matrix characterizes the image space coordinate system to the image space auxiliary coordinates is closed
System；It, will according to the exterior orientation angle element, the exterior orientation line element of the image to be processed and preset elements of interior orientation
Target picture point in the image to be processed is transformed into the photogrammetric coordinate system, and obtain the target picture point first is geographical
Position.
Compared with the prior art, the embodiment of the present invention has the advantages that
A kind of direct geographic positioning and device provided in an embodiment of the present invention, by making the photogrammetric rotation in image space-
Torque battle array and the predefined image space-comprising exterior orientation angle element solve image to be processed as auxiliary spin matrix equivalence
Exterior orientation angle element, obtained exterior orientation angle element, then according to the exterior orientation angle element, line element and elements of interior orientation,
The first position coordinate of the target picture point in image to be processed is obtained, the high-precision direct geography to image to be processed is realized
Positioning, and then realize the remote sensing system of geographic positioning functionality when having high-precision real.
To enable the above objects, features and advantages of the present invention to be clearer and more comprehensible, preferred embodiment is cited below particularly, and cooperate
Appended attached drawing, is described in detail below.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range without creative efforts, can also basis for ordinary skill user person
These attached drawings obtain other relevant attached drawings.
Fig. 1 shows the block diagram of electronic equipment provided in an embodiment of the present invention.
Fig. 2 shows the flow charts of direct geographic positioning provided in an embodiment of the present invention.
Fig. 3 is that Fig. 2 shows the sub-step flow charts of step S2.
Fig. 4 shows the schematic diagram of camera coordinate system provided in an embodiment of the present invention.
Fig. 5 shows the schematic diagram of photo coordinate system provided in an embodiment of the present invention.
Fig. 6 shows the block diagram of direct geographic locating device provided in an embodiment of the present invention.
Icon: 100- electronic equipment；101- processor；102- memory；103- bus；104- communication interface；105- is aobvious
Display screen；The direct geographic locating device of 200-；201- obtains module；202- processing module.
Specific embodiment
Below in conjunction with attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Usually exist
The component of the embodiment of the present invention described and illustrated in attached drawing can be arranged and be designed with a variety of different configurations herein.Cause
This, is not intended to limit claimed invention to the detailed description of the embodiment of the present invention provided in the accompanying drawings below
Range, but it is merely representative of selected embodiment of the invention.Based on the embodiment of the present invention, art technology user person is not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.Meanwhile of the invention
In description, term " first ", " second " etc. are only used for distinguishing description, are not understood to indicate or imply relative importance.
In recent years, with the rise of the applications such as robot and unmanned plane, part also is engaged in robot and unmanned plane positioning
The engineer of airmanship research begins to focus on and studies direct geographic positioning technology.
Direct geo-location originates from aerophotogrammetry, application more mature at present be professional remote sensing software (such as
Smart3D, Pix4Dmapper) in, the elements of exterior orientation of photo is roughly calculated using it, is the processing such as subsequent bundle adjustment
Process provides iterative initial value.
Theoretically, direct geographic positioning technology can generate map products to real-time and near real-time；And this is unique
Possible mode, because it estimates the elements of exterior orientation of photo independent of intensive tie point matching；But it is limited to sense
The data acquisition and processing (DAP) precision of device, the application for generating to real-time and near real-time map products are still immature.
Current direct geographic positioning technology still has following technical problem:
First, in robot and unmanned plane positioning and navigation field, the research of the engineer of non-photographic measurement and remote sensing profession,
In terms of coordinate system definition, sport technique segment, the existing definition of incompatible photogrammetry, theory and method, this is given
Direct positioning result output is that surveying and mapping result brings difficulty.
Second, in Photogrammetry and Remote Sensing field, the research object of direct geographic positioning technology is all the fixed peace just taken the photograph
Fill video camera, only position coordinates and over the ground attitude angle totally 6 freedom degrees, for the gondola of more freedom, electric platform or
The video camera of inclined fixed holder is all not applicable.
Third carries out vision positioning under general condition, at least needs binocular vision system since image space is two-dimensional space
System is calculated the 3 d space coordinate of photographic by space intersection to establish stereoscopic vision, to realize that directly geography is fixed
Position.However, monocular remote sensing system can not be applicable in.
The technical problem to be solved by the present invention is to realize in view of the above-mentioned problems, providing a kind of direct geographic positioning
The direct geo-location of monocular remote sensing system.Direct geographic positioning provided by the invention and the direct geographic positioning of tradition
Difference, firstly, by make the photogrammetric spin matrix in image space-and the predefined image space-comprising exterior orientation angle element as
It assists spin matrix of equal value, solves the exterior orientation angle element of image to be processed, obtained exterior orientation angle element, then according to described in
Exterior orientation angle element, line element and elements of interior orientation obtain the first position coordinate of the target picture point in image to be processed, realize
To the high-precision direct geo-location of image to be processed, and then realize the remote sensing of geographic positioning functionality when having high-precision real
System；Secondly, calculating video camera by the first pitch angle, the first roll angle and the rotation attitude angle of drift angle three that increase video camera
Coordinate system to carrier coordinate system video camera-carrier spin matrix, with gondola, the electric platform or inclined to more freedom
The video camera of fixed holder can be applicable in；Finally, shooting to obtain image to be processed by a video camera, and to figure to be processed
It is positioned as upper target picture point carries out directly reason, the central projection relationship and surface model according to picture point and object point are come
To the geographical position coordinates of target object point, the direct geo-location of monocular remote sensing system is realized.
On this basis, image space coordinate system is obtained to the image space of camera coordinate system-camera rotation matrix；It obtains
Video camera-carrier spin matrix of the camera coordinate system to carrier coordinate system；The carrier coordinate system is obtained to lead to part
Carrier-Local Navigation spin matrix of boat coordinate system；The Local Navigation coordinate system is obtained to the part of photogrammetric coordinate system
Navigation-photogrammetric spin matrix；According to the image space-camera rotation matrix, video camera-carrier spin matrix, carrier-
Local Navigation spin matrix and the photogrammetric spin matrix of the Local Navigation-calculate the photogrammetric spin matrix in image space-, make
The photogrammetric spin matrix in image space-and image space-comprising exterior orientation angle element are of equal value as auxiliary spin matrix, obtain wait locate
Manage the exterior orientation angle element of image, the existing definition of compatibility photogrammetry, theory and method.
It is provided below the application scenarios that a kind of possibility of direct geographic positioning is implemented, direct geographic positioning can be with
Using that can also be used in other possible application scenarios in this application scenarios, it is not construed as limiting in the embodiment of the present invention.
Direct geographic positioning provided in an embodiment of the present invention can apply to the electronic equipment 100 on carrier, can also
With on electronic equipment 100 on the ground.
Carrier may be, but not limited to, aircraft and unmanned plane.Satellite inertial guidance integrated positioning system is installed on carrier, is carried
Gondola is installed on body and is perhaps provided with video camera on holder gondola or holder.Holder can be two axis holders or three axis
Holder, video camera may be, but not limited to, charge coupled cell (Charge Coupled Device, CCD) video camera or
Metal oxide semiconductor device (Complementary Metal-Oxide Semiconductor, CMOS) video camera.
Electronic equipment 100 is connect with gondola/holder, is connect with satellite inertial guidance integrated positioning system, and is connected with video camera
It connects, connection here can be electrical connection, is also possible to communicate to connect, be not construed as limiting in embodiments of the present invention.
Referring to Fig. 1, Fig. 1 shows the block diagram of electronic equipment provided in an embodiment of the present invention, electronic equipment 100
Including processor 101, memory 102, bus 103 and communication interface 104.Processor 101, memory 102 and communication interface 104
It is connected by bus 103, processor 101 is for executing the executable module stored in memory 102, such as computer program.
Processor 101 may be a kind of IC chip, the processing capacity with signal.During realization, directly
Each step of geographic positioning can pass through the integrated logic circuit of the hardware in processor 101 or the instruction of software form
It completes.Above-mentioned processor 101 can be general processor 101, including central processing unit (Central Processing
Unit, abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；It can also be digital signal processor
(Digital Signal Processor, abbreviation DSP), specific integrated circuit (Application Specific
Integrated Circuit, abbreviation ASIC), ready-made programmable gate array (Field-Programmable Gate Array,
Abbreviation FPGA) either other programmable logic device, discrete gate or transistor logic, discrete hardware components.
Memory 102 may include high-speed random access memory (RAM:Random Access Memory), it is also possible to
It further include non-labile memory (non-volatile memory), for example, at least a magnetic disk storage.Memory 102
It may be, but not limited to, random access memory (Random Access Memory, RAM), read-only memory (Read Only
Memory, ROM), programmable read only memory (Programmable Read-Only Memory, PROM) is erasable read-only to deposit
Reservoir (Erasable Programmable Read-Only Memory, EPROM), electricallyerasable ROM (EEROM)
(Electric Erasable Programmable Read-Only Memory, EEPROM) etc..
Bus 103 can be ISA (Industry Standard Architecture) bus, PCI (Peripheral
Component Interconnect) bus or EISA (Extended Industry Standard Architecture) be total
Line etc..It is only indicated with a four-headed arrow in Fig. 1, it is not intended that an only bus 103 or a type of bus 103.
Electronic equipment 100 realizes the electronic equipment by least one communication interface 104 (can be wired or wireless)
Communication connection between 100 and external equipment (for example, video camera, holder, satellite inertial guidance integrated positioning system etc.).Memory
102 for storing program, such as direct geographic locating device 200.Direct geographic locating device 200 includes at least one can be soft
The form of part or firmware (firmware) is stored in the memory 102 or is solidificated in the operating system of electronic equipment 100
Software function module in (operating system, OS).The processor 101 executes institute after receiving and executing instruction
Program is stated to realize direct geographic positioning.
For display screen 105 for showing to image, the content of display can be some processing results of processor 101.
Display screen 105 can be the display screen 105 etc. of touch display screen, no interactions function.Display screen 105 can by image to be processed,
First geographical location or the second geographical location are shown.
It should be understood that structure shown in FIG. 1 is only the structure application schematic diagram of electronic equipment 100, electronic equipment 100
It may also include than shown in Fig. 1 more perhaps less component or with the configuration different from shown in Fig. 1.Shown in Fig. 1
Each component can using hardware, software, or its combination realize.
Based on above-mentioned electronic equipment 100, a kind of possible implementation of direct geographic positioning, the party is given below
The executing subject of method can be above-mentioned electronic equipment 100, referring to Fig. 2, Fig. 2 shows provided in an embodiment of the present invention a kind of straight
Connect the flow chart of geographic positioning.Direct geographic positioning the following steps are included:
S1, obtains image to be processed, and image to be processed is shot to obtain by the video camera on carrier.
In embodiments of the present invention, image to be processed can be what the video camera on carrier was shot.It obtains to be processed
The step of image, it can be understood as, electronic equipment 100 sends control instruction to video camera, and video camera shoots to obtain figure to be processed
Picture, and image to be processed is sent to electronic equipment 100.
S2 obtains the photogrammetric spin matrix in image space-of image space coordinate system to photogrammetric coordinate system.
In embodiments of the present invention, image space coordinate system can be using photo centre as coordinate origin, image space coordinate system
The first reference axis XiWith the second reference axis YiIt is parallel with the x-axis of photo coordinate system and y-axis respectively, the of image space coordinate system
Three axes ZiPerpendicular to the first reference axis XiWith the second reference axis Yi, and meet right-hand rule.
The coordinate origin of photogrammetric coordinate system can be photo centre along the friendship of earth's surface inter normal direction projection to ground
The point of contact of point and earth's surface local tangential plane, the first reference axis X of photogrammetric coordinate systempIt is directed toward due east, photogrammetric seat
Mark the second reference axis Y of systempIt is directed toward due north, the third reference axis Z of photogrammetric coordinate systempAlong earth surface exterior normal direction, take the photograph
First reference axis X of shadow measurement coordinate systemp, the second reference axis YpAnd third reference axis ZpIt is mutually perpendicular to, and meets right-hand rule.
The rotation that the photogrammetric spin matrix in image space-can be characterization image space coordinate system to photogrammetric coordinate system becomes
Relationship is changed, specifically, the photogrammetric spin matrix in image space-can be image space-camera rotation matrix, video camera-carrier
The product of spin matrix, carrier-Local Navigation spin matrix, the photogrammetric spin matrix of Local Navigation-.
Referring to Fig. 3, step S2 may include following sub-step:
S21 obtains image space coordinate system to the image space of camera coordinate system-camera rotation matrix.
Referring to Fig. 4, camera coordinate system can be using photo centre as coordinate origin, the first of camera coordinate system is sat
Parameter XcAlong key light axis direction, the second reference axis Y of camera coordinate systemcIt is parallel to the screen transverse coordinate axis of video camera, also
Screen pixels coordinate system row to u axis, and with the first reference axis XcVertically, the third reference axis Z of camera coordinate systemcWith first
Reference axis Xc, the second reference axis YcIt is mutually perpendicular to, and meets right-hand rule.Image space-camera rotation matrix can characterize picture
Rotation transformation relationship of the space coordinates to camera coordinate system.
Referring to Fig. 5, corresponding image space coordinate system is also different under different photo coordinate systems, below
Introduce three kinds of different photo coordinate systems:
1. the photo coordinate system BLUH: origin that Hanoverian, Germany university (Hannover) defines is located in photo geometry
The heart, x-axis is parallel with pixel ordinate v axis reversed, and y-axis is parallel with pixel abscissa u axis reversed, z-axis perpendicular to x and y-axis and
Meet right-hand rule；
2. the photo coordinate system PATB: origin that Stuttgart University, Germany (Stuttgart) defines is located at photo geometry
Center, x-axis is parallel with pixel ordinate v axis in the same direction, and y-axis is parallel with pixel abscissa u axis in the same direction, z-axis perpendicular to x and y-axis simultaneously
And meet right-hand rule；
The photo coordinate system CCHZ that Chinese 3. " low latitude digital photogrammetry specification (CH/Z3005-2010) " defines: former
Point is located at photo geometric center, and x-axis is parallel with pixel abscissa u axis in the same direction, and y axis is parallel with pixel ordinate v axis in the same direction, z-axis
Perpendicular to x and y-axis and meet right-hand rule.
It is defined according to photogrammetry, photo coordinate system is moved into photo centre S point along z-axis opposite direction, shafting is flat
Image space coordinate system is established capablely.
Under three kinds of different definition, corresponding image space coordinate system is also different, then image space coordinate system arrives
The image space of camera coordinate system-camera rotation matrix is also different.For different picture planes, image space-video camera
Spin matrix can be respectively:
S22, video camera-carrier spin matrix of acquisition camera coordinate system to carrier coordinate system.
In embodiments of the present invention, carrier coordinate system can be in the satellite inertial guidance integrated positioning system on carrier
Position sensor is coordinate origin, the first reference axis X of carrier coordinate systembCan along carrier axis direction (for example, unmanned plane
Axis), the second reference axis Y of carrier coordinate systembIt can be perpendicular to the first reference axis XbAnd it is directed toward the right side of carrier direction of travel
Side, the third reference axis Z of carrier coordinate systembAxis is perpendicular to the first reference axis XbWith the second reference axis Yb, and meet right-hand rule.
Video camera-carrier spin matrix can characterize camera coordinate system to the rotation transformation relationship of carrier coordinate system.
The step of obtaining video camera-carrier spin matrix of the camera coordinate system to carrier coordinate system, it can be understood as, it is first
First, the first pitch angle, the first roll angle and rotation drift angle, the first pitch angle for obtaining video camera can be video camera relative to carrier
The pitch angle of coordinate system, the first roll angle can be roll angle of the video camera relative to carrier coordinate system, and rotation angle is video camera
Rotation angle relative to carrier coordinate system.Due to video camera by holder perhaps gondola be connected on carrier so holder or
The rotational angle of gondola be it is controllable, then first pitch angle, first roll angle and rotation of the video camera relative to carrier coordinate system
Drift angle can know.Then, it according to the first pitch angle, the first roll angle and rotation drift angle, calculates camera coordinate system and is sat to carrier
Mark video camera-carrier spin matrix of system:
Wherein,For video camera-carrier spin matrix, θ is the first pitch angle,For the first roll angle, ψ is rotation drift angle.
S23, carrier-Local Navigation spin matrix of acquisition carrier coordinate system to Local Navigation coordinate system.
In embodiments of the present invention, the position biography that Local Navigation coordinate system can be with satellite inertial guidance integrated positioning system
Sensor is coordinate origin, the first reference axis X of Local Navigation coordinate systemnCan along direct north, the of Local Navigation coordinate system
Two reference axis YnIt can be along due east direction, the third reference axis Z of Local Navigation coordinate systemnCan be along earth's surface inter normal direction, part
First reference axis X of navigational coordinate systemn, the second reference axis YnWith third reference axis ZnIt is mutually perpendicular to, and meets right-hand rule, it can
To be interpreted as, with east northeast the reference axis of coordinate system is parallel for the reference axis of Local Navigation coordinate system.Carrier-Local Navigation spin moment
Battle array can characterize carrier coordinate system to the rotation transformation relationship of Local Navigation coordinate system.
The step of obtaining carrier-Local Navigation spin matrix of the carrier coordinate system to Local Navigation coordinate system, it is possible to understand that
For firstly, obtaining the second pitch angle, the second roll angle and the azimuth of carrier, the second pitch angle can be carrier relative to office
The pitch angle of portion's navigational coordinate system, the second roll angle can be roll angle of the carrier relative to Local Navigation coordinate system, azimuth
It can be azimuth of the carrier relative to Local Navigation coordinate system.Satellite inertial guidance integrated positioning system is installed on carrier, is passed through
The second pitch angle, the second roll angle and the side of the available carrier of inertial navigation system in satellite inertial guidance integrated positioning system
Parallactic angle.Then, according to the second pitch angle, the second roll angle and azimuth, carrier coordinate system is calculated to Local Navigation coordinate system
Carrier-Local Navigation spin matrix:
Wherein,For carrier-navigation spin matrix, Θ is the second pitch angle of carrier, and Φ is the second roll angle of carrier,
Ψ is the azimuth of carrier.
S24 obtains the photogrammetric spin matrix of Local Navigation-of Local Navigation coordinate system to photogrammetric coordinate system.
In embodiments of the present invention, the coordinate origin of photogrammetric coordinate system can be photo centre along earth's surface normal negative side
To the point of contact of the intersection point and earth's surface local tangential plane that project to ground, the first reference axis X of photogrammetric coordinate systempIt is directed toward
Due east, the second reference axis Y of photogrammetric coordinate systempIt is directed toward due north, the third reference axis Z of photogrammetric coordinate systempAlong earth table
Face exterior normal direction, the first reference axis X of photogrammetric coordinate systemp, the second reference axis YpAnd third reference axis ZpIt is mutually perpendicular to,
And meet right-hand rule.The photogrammetric spin matrix of Local Navigation-can characterize Local Navigation coordinate system to photogrammetric coordinate system
The rotation transformation relationship of system.
As an implementation, the photogrammetric spin matrix of Local Navigation-may is that
S25, according to image space-camera rotation matrix, video camera-carrier spin matrix, carrier-Local Navigation spin moment
Battle array and the photogrammetric spin matrix of Local Navigation-calculate the photogrammetric spin matrix in image space-.
In embodiments of the present invention, image space-videographic measurment spin matrix can characterize image space coordinate system and survey to photography
The rotation transformation relationship of coordinate system is measured, the photogrammetric spin matrix expression formula in image space-:
Wherein,For the photogrammetric spin matrix in image space-,For the photogrammetric spin matrix of Local Navigation-,
For carrier-Local Navigation spin matrix,For video camera-carrier spin matrix,For image space-camera rotation matrix.
S3, predefined image space auxiliary coordinates make the photogrammetric spin matrix in image space-and comprising exterior orientation angle element
Image space-meet equivalence relation as auxiliary spin matrix, and calculate the exterior orientation angle element of image to be processed, wherein as
Rotation transformation relationship of the space-as auxiliary spin matrix characterization image space coordinate system to image space auxiliary coordinates.
In embodiments of the present invention, image space auxiliary coordinates can be using photo centre as coordinate origin, and image space is auxiliary
Help the first reference axis X of coordinate systemaIt is directed toward due east, the second reference axis Y of image space auxiliary coordinatesaIt is directed toward due north, image space is auxiliary
Help the third reference axis Z of coordinate systemaAlong earth surface exterior normal direction, the first reference axis X of image space auxiliary coordinatesa, second
Reference axis YaAnd third reference axis ZaIt is mutually perpendicular to, and meets right-hand rule.Image space-characterizes image space as auxiliary spin matrix
Rotation transformation relationship of the coordinate system to image space auxiliary coordinates.
Image space-is as follows as the derivation of auxiliary spin matrix:
1. photo coordinate system BLUH is derived: using Z axis as main shaftCorner system, image space coordinate system
The spin matrix of opposite image space auxiliary coordinates are as follows:
2. being derived by photo coordinate system PATB: using Z axis as main shaftCorner system, image space coordinate
It is the spin matrix of opposite image space auxiliary coordinates are as follows:
3. being derived by photo coordinate system CCHZ: common using Y-axis as main shaftCorner system, image space
Spin matrix of the coordinate system with respect to image space auxiliary coordinates are as follows:
Since the reference axis of photogrammetric coordinate system is parallel with the reference axis of image space auxiliary coordinates, photogrammetric coordinate system
System is that image space auxiliary coordinates are reversely moved to " ground " along Z axis, then image space coordinate system assists sitting to image space
The image space-for marking system is taken the photograph as auxiliary spin matrix should be equivalent to image space coordinate system to the image space-of photogrammetric coordinate system
Shadow measures spin matrix.
That is the photogrammetric spin matrix in image space-and the image space-comprising exterior orientation angle element is as assisting spin matrix full
Sufficient equivalence relation:
Wherein,For the photogrammetric spin matrix in image space-,It is image space-as assisting spin matrix.
There is following relational expression:
It derives accordingly:
1. the corresponding exterior orientation angle element calculation method of photo coordinate system BLUH is as follows:
2. the corresponding exterior orientation angle element calculation method of photo coordinate system PATB is as follows:
3. the corresponding exterior orientation angle element calculation method of photo coordinate system CCHZ is as follows:
So that image space-is equal with the photogrammetric spin matrix in image space-as auxiliary spin matrix, can solve wait locate
Manage image exterior orientation angle element κ, ω and
S4 will according to exterior orientation angle element, the exterior orientation line element of image to be processed and preset elements of interior orientation
Target picture point in image to be processed is transformed into photogrammetric coordinate system, obtains the first geographical location of target picture point.
In embodiments of the present invention, the exterior orientation line element of image to be processed can be photo centre in object coordinates system
Coordinate, can be obtained by the GPS measurement in satellite inertial guidance integrated positioning system (needed between different object coordinates systems into
The simple conversion of row), preset elements of interior orientation can be with the positional relationship between photo centre and photo (image i.e. to be processed)
Parameter, i.e., photo centre to photo hang down away from and coordinate of the principal point in photo coordinate system.Elements of interior orientation can be
It is preset in electronic equipment 100, can also be preset in video camera, what electronic equipment 100 went to acquire, it does not limit herein
System.
First geographical location can be position coordinates of the target picture point under photogrammetric coordinate system in image to be processed.
Target picture point can be any picture point in image to be processed, and target picture point can be the customized selection of user, can also be with
It is the picture point of predeterminated position in image to be processed.
It, will be wait locate according to exterior orientation angle element, the exterior orientation line element of image to be processed and preset elements of interior orientation
It target picture point the step of being transformed into photogrammetric coordinate system, obtaining the first geographical location of target picture point in reason image, can be with
It is interpreted as, firstly, the coordinate of target picture point is transformed into image space coordinate system by elements of interior orientation, obtains the first coordinate, so
Afterwards, the first coordinate is transformed by photogrammetric coordinate system by exterior orientation angle element and exterior orientation line element, obtains target picture point
The first geographical location under photogrammetric coordinate system.
S5, according to the first geographical location, central projection relationship and the default surface model of picture point and object point, iteration meter
Calculate second geographical location of the target object point in photogrammetric coordinate system, wherein target picture point and target object point are corresponding.
In embodiments of the present invention, default surface model can be digital surface model (Digital Surface
Model, DSM), it is also possible to digital elevation model (Digital Elevation Model, DEM), can also be digital terrain
Model (Digital Terrain Model, DTM), is not limited thereto.
Second geographical location can be position coordinates of the corresponding target object point of target picture point in photogrammetric coordinate system.
By the transformation of image space coordinate system to photogrammetric coordinate system, center throwing is restored in photogrammetric coordinate system
Thus the imaging geometry of shadow obtains the target picture point mapping relations one-to-many to object point；Target picture point further to be obtained to mesh
Mark the one-to-one mapping relations of object point, it is necessary to which the mathematics surface where introducing object point is constrained.Generally, object point was used
Default surface model, intersection operation is carried out with the light beam of central projection, to determine one-to-one mapping relations.
If target picture point is in the coordinate vector V of image space coordinate systemi=[xi yi -f]T, wherein f be camera shooting owner away from；If
Coordinate vector V of the target picture point in image space auxiliary coordinatesa=[Xa Ya Za]TIf the subpoint of target picture point mapping
In the coordinate vector V of photogrammetric coordinate systemP=[XP YP ZP]TIf photo centre is in the coordinate vector of photogrammetric coordinate system
VS=[XS YS ZS]T, according to imaging geometry, meet following relational expression:
The digital surface model DSM of introducing is expressed as XPAnd YPBinary function, then have:
ZP=DSM (XP,YP)
To avoid binary function DSM (XP,YP) it is introduced directly into equation solver, actually calculating VPWhen, it can be with referenced patents
" a kind of object localization method (application number CN201810409853.9) of combination offline elevation and airborne photoelectric gondola ", passes through
Iterative approach calculates VP, basic step is as follows:
(1) present carrier location parameter is inputted, the high coordinate of the longitude and latitude being generally under WGS84 earth coordinates needs to join
According to algorithm known (the geodetic2enu function of such as Matlab), seat of the photo centre S in photogrammetric coordinate system is converted to
Mark vector VS=[XS YS ZS]T, the intersection point on ground is projected to as coordinate origin along earth's surface normal opposite direction using photo centre, first
Reference axis XpIt is directed toward due east, the second reference axis YpIt is directed toward due north, third reference axis ZpAlong earth surface exterior normal direction, foundation is taken the photograph
Shadow measures coordinate system.
(2) according to the attitude of carrier of input and video camera relative attitude parameter, image space coordinate system is acquired to photogrammetric
The spin matrix of coordinate system
(3) a target picpointed coordinate (x is giveni, yi), current focus F is calculated according to the field angle of input, it is main away from f ≈
F can be calculated (u is object distance, i.e. distance of the photo centre S to model projection point in formula) by f=u × F/ (u-F),
Then corresponding image space coordinate vector is Vi=[xi yi -f]T；
(4) position coordinates in the auxiliary coordinates of image space of target picture point are calculatedAnd then obtain target
The Z of picture pointaCoordinate value；
(5) one Z of model projection point of target picture point is givenPCoordinate initial value takes if current point is the first point calculated
Default value (generally 0)；If current point is not the first point calculated, the projection that iterative calculation is completed can be taken
Point ZPCoordinate value is as initial value；
(6) according to the Z of "current" model subpointPCoordinate value calculates original zoom multiple λ, and then V is calculatedP, and take
Obtain (XP,YP) coordinate；
(7) according to (XP,YP) enquiring digital surface model acquisition ZP', judgement | ZP-ZP' | whether meet expected precision: such as
Fruit meets then precision and then takes ZP=(ZP+ZP')/2, return to VP=[XP YP ZP]TAnd exit iteration；If being unsatisfactory for precision, take
ZP=ZP', and repeat step (6)~(7).
The V finally obtainedP=[XP YP ZP]TAs the second geographical location of target object point.
In order to further increase precision, coordinate system can be compensated, need between coordinate system displacement or angle
Degree deviation measures.Offset deviation compensation is it is contemplated that GNSS receiver camera center (satellite inertial guidance integrated positioning system
In position sensor) to the offset vector T of gondola or holder axial centerdb, it is also contemplated that gondola or holder axial center
To the offset vector T of photo centrecd, it is also contemplated that principal point (x0,y0), and the deviation T of photo geometric center0=[- x0 -
y0 0]T；Angular deviation compensation is it is contemplated that the established angle compensation matrix of gondola or holder relative to carrierBy above-mentioned deviation
After taking into account, video camera-carrier spin matrixIt is equivalent toAnd there are following relational expressions:
Compared with prior art, the embodiment of the present invention has the advantage that
Firstly, by making the photogrammetric spin matrix in image space-and the predefined image space-comprising exterior orientation angle element
As auxiliary spin matrix equivalence, the exterior orientation angle element of image to be processed is solved, has obtained exterior orientation angle element, then according to institute
Exterior orientation angle element, line element and elements of interior orientation are stated, the first position coordinate of the target picture point in image to be processed is obtained, it is real
Show the high-precision direct geo-location to image to be processed, and then realizes the distant of geographic positioning functionality when having high-precision real
Sensing system.
Secondly, this 3 kinds of photo coordinate system definition of BLUH, PATB and CCHZ are taken into account, it can be according to specifically used coordinate system
Type, configurationIn equationWithMatrix realizes different coordinates by algorithm branches
Output under definition, the freedom degree parameter of input do not need to be adapted to coordinate system definition in advance, realize the unification of external interface, simultaneous
Hold the existing definition of photogrammetry, theory and method.
Then, it by the first pitch angle of video camera, the first roll angle, the rotation attitude angle of drift angle three, calculates video camera and sits
Mark system arrives video camera-carrier spin matrix of carrier coordinate system, with gondola, the electric platform or inclined solid to more freedom
The video camera for determining holder can be applicable in.
Finally, shooting to obtain image to be processed by a video camera, and the target picture point on image to be processed is carried out
Geo-location, and geo-location is carried out to target picture point corresponding object point, the second geographical location is obtained, it is distant to realize monocular
The direct geo-location of sensing system.
For the method flow of above-mentioned Fig. 2-Fig. 3, a kind of possible reality of direct geographic locating device 200 is given below
Existing mode, the direct geographic locating device 200 can use the device architecture of the electronic equipment 100 in above-described embodiment to realize,
Or the electronic equipment 100 in processor 101 realize, referring to Fig. 6, Fig. 6 show it is provided in an embodiment of the present invention
The block diagram of direct geographic locating device.Direct geographic locating device 200 includes obtaining module 201 and generation module.
Module 201 is obtained, for obtaining image to be processed, image to be processed is shot to obtain by the video camera on carrier；
Processing module 202, the photogrammetric rotation in image space-for obtaining image space coordinate system to photogrammetric coordinate system
Matrix；Predefined image space auxiliary coordinates make the photogrammetric spin matrix in image space-and the picture sky comprising exterior orientation angle element
It is m- as auxiliary spin matrix meets equivalence relation, and calculate the exterior orientation angle element of image to be processed, wherein image space-as
Assist spin matrix characterization image space coordinate system to the rotation transformation relationship of image space auxiliary coordinates；According to foreign side's parallactic angle member
The exterior orientation line element of image plain, to be processed and preset elements of interior orientation convert the target picture point in image to be processed
To photogrammetric coordinate system, the first geographical location of target picture point is obtained.
In embodiments of the present invention, processing module 202 is specifically used for: using photo centre as coordinate origin, image space auxiliary
First reference axis of coordinate system is directed toward due east, and the second reference axis of image space auxiliary coordinates is directed toward due north, and image space auxiliary is sat
The third reference axis of system is marked along earth surface exterior normal direction, establishes image space auxiliary coordinates, wherein image space auxiliary coordinate
The first reference axis, the second reference axis and the third reference axis of system are mutually perpendicular to and meet right-hand rule；The photogrammetric rotation in image space-
Torque battle array and image space-comprising exterior orientation angle element meet equivalence relation as auxiliary spin matrix:
Wherein,For the photogrammetric spin matrix in image space-,It is image space-as assisting spin matrix.
Processing module 202 can also be specifically used for: obtain image space-camera shooting of image space coordinate system to camera coordinate system
Machine spin matrix；Video camera-carrier spin matrix of the acquisition camera coordinate system to carrier coordinate system；Carrier coordinate system is obtained to arrive
The carrier of Local Navigation coordinate system-Local Navigation spin matrix；Office of the acquisition Local Navigation coordinate system to photogrammetric coordinate system
Portion's navigation-photogrammetric spin matrix；According to image space-camera rotation matrix, video camera-carrier spin matrix, carrier-office
Navigate spin matrix and the photogrammetric spin matrix calculating photogrammetric spin matrix in image space-of Local Navigation-in portion.
In embodiments of the present invention, camera coordinate system is using photo centre as coordinate origin, and the first of camera coordinate system
Reference axis is parallel to the screen transverse coordinate axis of video camera along key light axis direction, the second reference axis of camera coordinate system, camera shooting
The third reference axis of machine coordinate system is mutually perpendicular to the first reference axis, the second reference axis, and meets right-hand rule, and image space-is taken the photograph
Camera spin matrix includes:
One of.
Processing module 202 can also be specifically used for: obtain the first pitch angle, the first roll angle and rotation drift angle of video camera；
According to the first pitch angle, the first roll angle and rotation drift angle, video camera-carrier rotation of camera coordinate system to carrier coordinate system is calculated
Torque battle array:
Wherein,For video camera-carrier spin matrix, θ is the first pitch angle,For the first roll angle, ψ is rotation drift angle.
Processing module 202 can also be specifically used for: the photogrammetric spin matrix expression formula in image space-:
Wherein,For the photogrammetric spin matrix in image space-,For the photogrammetric spin matrix of Local Navigation-,For
Carrier-Local Navigation spin matrix,For video camera-carrier spin matrix,For image space-camera rotation matrix.
Processing module 202 can be also used for: according to the first geographical location, picture point and object point central projection relationship and
Default surface model, iterates to calculate out second geographical location of the target object point in photogrammetric coordinate system, wherein target picture point
It is corresponding with target object point.
In conclusion the embodiment of the present invention provides a kind of direct geographic positioning and device, which comprises obtain
Image to be processed, image to be processed are shot to obtain by the video camera on carrier；Image space coordinate system is obtained to photogrammetric coordinate system
The photogrammetric spin matrix in the image space-of system；Predefined image space auxiliary coordinates make the photogrammetric spin matrix in image space-
With the image space-comprising exterior orientation angle element as assisting spin matrix to meet equivalence relation, and calculate the outer of image to be processed
Azimuth element, wherein image space-characterizes the rotation of image space coordinate system to image space auxiliary coordinates as auxiliary spin matrix
Transformation relation；It, will be to according to exterior orientation angle element, the exterior orientation line element of image to be processed and preset elements of interior orientation
Target picture point in processing image is transformed into photogrammetric coordinate system, obtains the first geographical location of target picture point.With existing skill
Art is compared, by making the photogrammetric spin matrix in image space-and the predefined image space-comprising exterior orientation angle element as auxiliary
Spin matrix is of equal value, solves the exterior orientation angle element of image to be processed, has obtained exterior orientation angle element, then according to the foreign side
Parallactic angle element, line element and elements of interior orientation obtain the first position coordinate of the target picture point in image to be processed, realize pair
The high-precision direct geo-location of image to be processed, and then can be realized the remote sensing of geographic positioning functionality when having high-precision real
System.
In several embodiments provided herein, it should be understood that disclosed device and method can also pass through
Other modes are realized.The apparatus embodiments described above are merely exemplary, for example, flow chart and block diagram in attached drawing
Show the device of multiple embodiments according to the present invention, the architectural framework in the cards of method and computer program product,
Function and operation.In this regard, each box in flowchart or block diagram can represent the one of a module, section or code
Part, a part of the module, section or code, which includes that one or more is for implementing the specified logical function, to be held
Row instruction.It should also be noted that function marked in the box can also be to be different from some implementations as replacement
The sequence marked in attached drawing occurs.For example, two continuous boxes can actually be basically executed in parallel, they are sometimes
It can execute in the opposite order, this depends on the function involved.It is also noted that every in block diagram and or flow chart
The combination of box in a box and block diagram and or flow chart can use the dedicated base for executing defined function or movement
It realizes, or can realize using a combination of dedicated hardware and computer instructions in the system of hardware.
In addition, each functional module in each embodiment of the present invention can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It, can be with if the function is realized and when sold or used as an independent product in the form of software function module
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.It needs
Illustrate, herein, relational terms such as first and second and the like be used merely to by an entity or operation with
Another entity or operation distinguish, and without necessarily requiring or implying between these entities or operation, there are any this realities
The relationship or sequence on border.Moreover, the terms "include", "comprise" or its any other variant are intended to the packet of nonexcludability
Contain, so that the process, method, article or equipment for including a series of elements not only includes those elements, but also including
Other elements that are not explicitly listed, or further include for elements inherent to such a process, method, article, or device.
In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including the element
Process, method, article or equipment in there is also other identical elements.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any to repair
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.It should also be noted that similar label and letter exist
Similar terms are indicated in following attached drawing, therefore, once being defined in a certain Xiang Yi attached drawing, are then not required in subsequent attached drawing
It is further defined and explained.
Claims (10)
1. a kind of direct geographic positioning, which is characterized in that the described method includes:
Image to be processed is obtained, the image to be processed is shot to obtain by the video camera on carrier；
Obtain the photogrammetric spin matrix in image space-of image space coordinate system to photogrammetric coordinate system；
Predefined image space auxiliary coordinates make the photogrammetric spin matrix in the image space-and comprising exterior orientation angle element
Image space-meets equivalence relation as auxiliary spin matrix, and calculates the exterior orientation angle element of the image to be processed, wherein
The image space-characterizes the rotation transformation of the image space coordinate system to the image space auxiliary coordinates as auxiliary spin matrix
Relationship；
It, will according to the exterior orientation angle element, the exterior orientation line element of the image to be processed and preset elements of interior orientation
Target picture point in the image to be processed is transformed into the photogrammetric coordinate system, and obtain the target picture point first is geographical
Position.
2. the method as described in claim 1, which is characterized in that the predefined image space auxiliary coordinates make described as empty
M- photogrammetric spin matrix and image space-comprising exterior orientation angle element meet the step of equivalence relation as auxiliary spin matrix
Suddenly, comprising:
Using photo centre as coordinate origin, the first reference axis of image space auxiliary coordinates is directed toward due east, image space auxiliary coordinate
Second reference axis of system is directed toward due north, and the third reference axis of image space auxiliary coordinates is established along earth surface exterior normal direction
Image space auxiliary coordinates, wherein the first reference axis, the second reference axis and the third of the image space auxiliary coordinates are sat
Parameter is mutually perpendicular to and meets right-hand rule；
The photogrammetric spin matrix in the image space-and image space-comprising exterior orientation angle element meet as auxiliary spin matrix
Equivalence relation:
Wherein,For the photogrammetric spin matrix in the image space-,It is the image space-as assisting spin matrix.
3. the method as described in claim 1, which is characterized in that the acquisition image space coordinate system to photogrammetric coordinate system
The step of photogrammetric spin matrix in image space-, comprising:
Image space coordinate system is obtained to the image space of camera coordinate system-camera rotation matrix；
Obtain the camera coordinate system to carrier coordinate system video camera-carrier spin matrix；
Obtain the carrier coordinate system to Local Navigation coordinate system carrier-Local Navigation spin matrix；
Obtain the photogrammetric spin matrix of Local Navigation-of Local Navigation coordinate system to the photogrammetric coordinate system；
According to the image space-camera rotation matrix, video camera-carrier spin matrix, carrier-Local Navigation spin matrix and
The photogrammetric spin matrix of Local Navigation-calculates the photogrammetric spin matrix in image space-.
4. method as claimed in claim 3, which is characterized in that the camera coordinate system using photo centre as coordinate origin,
First reference axis of camera coordinate system is parallel to the video camera along key light axis direction, the second reference axis of camera coordinate system
Screen transverse coordinate axis, the third reference axis of camera coordinate system is mutually perpendicular to first reference axis, the second reference axis,
And meeting right-hand rule, the image space-camera rotation matrix includes:
One of.
5. method as claimed in claim 3, which is characterized in that the acquisition camera coordinate system arrives carrier coordinate system
The step of video camera-carrier spin matrix, comprising:
Obtain the first pitch angle, the first roll angle and rotation drift angle of the video camera；
According to first pitch angle, the first roll angle and the rotation drift angle, calculates camera coordinate system and arrive carrier coordinate system
Video camera-carrier spin matrix:
Wherein,For the video camera-carrier spin matrix, θ is first pitch angle,For first roll angle, ψ
For the rotation drift angle.
6. method as claimed in claim 3, which is characterized in that described according to the image space-camera rotation matrix, camera shooting
Machine-carrier spin matrix, carrier-Local Navigation spin matrix and the photogrammetric spin matrix of the Local Navigation-are calculated as empty
The step of m- photogrammetric spin matrix, comprising:
The photogrammetric spin matrix expression formula in image space-:
Wherein,For the photogrammetric spin matrix in the image space-,For the photogrammetric spin matrix of the Local Navigation-,For the carrier-Local Navigation spin matrix,For the video camera-carrier spin matrix,For the image space-
Camera rotation matrix.
7. the method as described in claim 1, which is characterized in that the method also includes:
Central projection relationship and default surface model according to first geographical location, picture point and object point, iterate to calculate out
Second geographical location of the target object point in the photogrammetric coordinate system, wherein the target picture point and the target object point
It is corresponding.
8. a kind of direct geographic locating device, which is characterized in that described device includes:
Module is obtained, for obtaining image to be processed, the image to be processed is shot to obtain by the video camera on carrier；
Processing module, the photogrammetric spin matrix in image space-for obtaining image space coordinate system to photogrammetric coordinate system；In advance
Image space auxiliary coordinates are defined, the photogrammetric spin matrix in the image space-and the image space-comprising exterior orientation angle element are made
As assisting spin matrix to meet equivalence relation, and calculate the exterior orientation angle element of the image to be processed, wherein described as empty
M- picture auxiliary spin matrix characterizes the image space coordinate system to the rotation transformation relationship of the image space auxiliary coordinates；According to
According to the exterior orientation angle element, the exterior orientation line element of the image to be processed and preset elements of interior orientation, will it is described to
Target picture point in processing image is transformed into the photogrammetric coordinate system, obtains the first geographical location of the target picture point.
9. device as claimed in claim 8, which is characterized in that the processing module is specifically used for:
Image space coordinate system is obtained to the image space of camera coordinate system-camera rotation matrix；
Obtain the camera coordinate system to carrier coordinate system video camera-carrier spin matrix；
Obtain the carrier coordinate system to Local Navigation coordinate system carrier-Local Navigation spin matrix；
Obtain the photogrammetric spin matrix of Local Navigation-of Local Navigation coordinate system to the photogrammetric coordinate system；
According to the image space-camera rotation matrix, video camera-carrier spin matrix, carrier-Local Navigation spin matrix and
The photogrammetric spin matrix of Local Navigation-calculates the photogrammetric spin matrix in image space-.
10. device as claimed in claim 8, which is characterized in that the processing module is also used to:
Central projection relationship and default surface model according to first geographical location, picture point and object point, iterate to calculate out
Second geographical location of the target object point in the photogrammetric coordinate system, wherein the target picture point and the target object point
It is corresponding.
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