CN110441758A - A kind of spaceborne linear array multi-beam surveys the in-orbit geometric calibration method of high laser radar - Google Patents
A kind of spaceborne linear array multi-beam surveys the in-orbit geometric calibration method of high laser radar Download PDFInfo
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- G—PHYSICS
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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Abstract
A kind of spaceborne linear array multi-beam surveys the in-orbit geometric calibration method of high laser radar, comprising: inputs initial scaling parameter to spaceborne linear array multi-beam and surveys high laser radar geometrical model, calculates the corresponding laser footmark initial coordinate of each laser acquisition unit；Estimate plane deviation size and the direction of laser footmark；According to the plane deviation size and direction of laser footmark initial coordinate and laser footmark, the corresponding laser footmark control point coordinates of laser footmark initial coordinate are determined；Using the difference between the corresponding laser footmark initial coordinate of each laser acquisition unit and laser footmark control point coordinates, the ranging correction parameter of each laser acquisition unit is calculated；The integral position deviation of laser footmark is solved according to laser footmark control point coordinates, then the whole attitude updating parameter that spaceborne linear array multi-beam surveys high laser radar is obtained by integral position deviation.This method can realize that spaceborne linear array multi-beam surveys the on-orbit calibration of each laser acquisition unit ranging correction parameter of high laser radar and whole attitude updating parameter.
Description
Technical field
The present invention relates to satellite-bone laser radar field of detecting more particularly to a kind of spaceborne linear array multi-beam to survey high laser radar
In-orbit geometric calibration method.
Background technique
In surveying high laser radar development and test process, instrument generally has very high direction and survey after ground is demarcated
Away from precision.But vibration when due to the satellite launch and factors such as space environment variation influence after entering the orbit, surveys high laser radar
The system parameters such as direction, ranging can change relative to surface measurements before emitting, and laser footmark coordinate will be caused to calculate and missed
Difference.Therefore, to the high-precision spaceborne laser altimeter system data of acquisition, it is necessary to pass through in-orbit geometric calibration method and eliminate the high laser of survey
The systematic error of radar.
Currently, in-orbit geometric calibration method surveys high laser radar primarily directed to spaceborne simple beam, there is not spaceborne linear array also
Multi-beam surveys the report of the in-orbit geometric calibration method of high laser radar.It is fixed that the high in-orbit geometry of laser radar is surveyed for spaceborne simple beam
Mark method mainly has: airborne ir imaging method, ground finder scaling method, the motor-driven scanning method of satellite, return laser beam analytic approach.Machine
Carrying infrared imaging method will accomplish that aircraft and satellite synchronization fly over calibration field, and extracts laser footmark image from infrared image and compare
Difficulty, success rate are low.The shortcomings that ground finder scaling method is the position for needing accurate estimation laser footmark in advance, calibrates place
Construction requirements it is harsh, test difficulty is big, need to take considerable time and manpower and material resources.Posture of the motor-driven scanning method of satellite in satellite
It can not be used in the case that maneuverability is weaker.Return laser beam analytic approach need to be when surveying high laser radar offer ranging waveform data
Just it can be used.
The in-orbit direction calibration method of satellite borne laser based on Pyramidal search terrain match has been reported, and the direction is to spaceborne
The high in-orbit geometric calibration effect of laser radar of simple beam survey is preferable, and still, the spaceborne simple beam of this method recoverable surveys high laser
The direction angle error of radar, and range error is not corrected；This method is only applicable to spaceborne simple beam and surveys high laser radar,
It is not suitable for spaceborne linear array multi-beam and surveys high laser radar.Each laser beam that spaceborne linear array multi-beam surveys high laser radar is matched
Mutual independent single-element detector is had, there is a problem of that ranging scaling parameter is inconsistent, load needs afterwards in orbit for every
A probe unit demarcates ranging parameters.Spaceborne linear array multi-beam survey high laser radar exist it is unrelated with laser beam splitting angle whole
Body sexual stance angular error needs to carry out on-orbit calibration.
Summary of the invention
(1) technical problems to be solved
It is directed to existing technical problem, the present invention proposes that a kind of spaceborne linear array multi-beam surveys the in-orbit several of high laser radar
What calibrating method, at least partly solving above-mentioned technical problem.
(2) technical solution
One aspect of the present invention provides a kind of in-orbit geometric calibration method that spaceborne linear array multi-beam surveys high laser radar, spaceborne
Linear array multi-beam surveys high laser radar and is equipped with n mutually independent laser acquisition units, and method includes: S1, constructs spaceborne linear array
Multi-beam surveys high laser radar geometrical model, inputs initial scaling parameter to spaceborne linear array multi-beam and surveys high laser radar geometry mould
Type calculates the corresponding laser footmark initial coordinate of each laser acquisition unit；S2 estimates plane deviation size and the side of laser footmark
To；S3 determines laser footmark initial coordinate according to the plane deviation size and direction of laser footmark initial coordinate and laser footmark
Corresponding laser footmark control point coordinates；S4 utilizes the corresponding laser footmark initial coordinate of each laser acquisition unit and laser foot
The difference between control point coordinates is printed, the ranging correction parameter of each laser acquisition unit is calculated；S5, according to laser footmark control point
Coordinate solves the integral position deviation of laser footmark, obtains spaceborne linear array multi-beam according to integral position deviation and surveys high laser radar
Whole attitude updating parameter.
Optionally, the spaceborne linear array multi-beam of building surveys high laser radar geometrical model are as follows:
Wherein,For the corresponding laser footmark control point coordinates of each laser acquisition unit, (laser footmark exists
Coordinate under WGS84 referential),For the spin matrix of agreement celestial coordinate system to conventional terrestrial coordinate system,For rail
Road coordinate system to agreement celestial coordinate system spin matrix,For the spin matrix of body coordinate system to orbital coordinate system,ω,κ is that spaceborne linear array multi-beam surveys high laser radar entirety attitude updating parameter,
For the conversion of laser scanning coordinate system to body coordinate system, i is the number of laser pulse and laser acquisition unit, k1iIt is i-th
The corresponding ranging multiplying constant of laser acquisition unit, ρiFor the corresponding distance measurement value of i-th of laser acquisition unit, k2iFor i-th of laser
The corresponding additive constant of probe unit, θiFor the angle of linear array laser wave beam and laser Z axis,It is swept for laser
Retouch linear deflection of the center to body coordinate system center, [Xs Ys Zs]TThe position for being centroid of satellite in conventional terrestrial coordinate system
It sets.
Optionally, in step s 2, the single width image center coordinate and Satellite that will be generated simultaneously with laser-measured height data
Lower coordinate compares, and estimates size and the direction of laser footmark plane deviation.
Optionally, in step s3: in reference DEM image, according to the plane deviation size of laser footmark and direction, really
Determine the initial position of laser footmark control point search；
It is search boundary with maximum random planar deviation existing for sub-satellite point, using laser footmark initial coordinate structure
At elevation curve and carry out matching search with reference to DEM image, obtain laser footmark control point coordinates.
Optionally, the elevation curve constituted using laser footmark initial coordinate carries out matching search packet with DEM image is referred to
It includes: according to the corresponding laser footmark initial coordinate of present laser probe unit, extracting elevation set, form initial elevation curve；
The plane coordinates of present laser probe unit laser footmark initial coordinate is projected in Gaussian parabolic line system, is being slided
Upper window edge DEM grid presses default stepping translation, carries out interpolation processing, obtains DEM elevation curve；By initial elevation curve with
DEM elevation curve carries out best match, obtains laser footmark control point coordinates.
Optionally, laser footmark initial coordinate and laser footmark control point coordinates are brought into error equation group:
Resolving obtains k1And k2, whereinFor coordinate of the laser footmark under WGS84 referential, [X0 Y0
Z0]TFor the corresponding laser footmark initial coordinate of each laser acquisition unit,For each parameter
Inclined Tiny increment dt, ω,κ is that spaceborne linear array multi-beam surveys high laser radar entirety attitude updating parameter, k1For laser acquisition list
The corresponding ranging multiplying constant of member, k2For the corresponding additive constant of laser acquisition unit.
Optionally, in step s3, spaceborne linear array multi-beam is obtained according to integral position deviation and surveys the whole of high laser radar
Body attitude updating parameter includes: the influence component that integral position deviation is decomposed into three attitude errors, to three attitude errors
Influence component calculated, obtain whole attitude updating parameter.
Optionally, in step sl, calculating the corresponding laser footmark initial coordinate of each laser acquisition unit includes: to enablek1i=1, k2i=0.
Optionally, bent to initial elevation curve and DEM elevation using related coefficient maximal criterion or mean square deviation minimum criteria
Line carries out best match.
Optionally, the form of initial elevation curve or DEM elevation curve is scatterplot or the curve being fitted to by scatterplot.
(3) beneficial effect
The present invention proposes that a kind of spaceborne linear array multi-beam surveys the in-orbit geometric calibration method of high laser radar, beneficial effect
Are as follows:
This method can be without laying field calibration place, the spaceborne line of realization quick, efficiently, inexpensive
Battle array multi-beam surveys the on-orbit calibration of the ranging correction parameter of high laser radar entirety attitude updating parameter and each laser acquisition unit.
Detailed description of the invention
Fig. 1 diagrammatically illustrates the spaceborne linear array multi-beam of the embodiment of the present invention and surveys the high field-free in-orbit geometric calibration of laser radar
Method schematic.
Fig. 2 diagrammatically illustrates the spaceborne linear array multi-beam of the embodiment of the present invention and surveys the high field-free in-orbit geometric calibration of laser radar
Method flow diagram.
Fig. 3 diagrammatically illustrates the basic schematic diagram that the spaceborne linear array multi-beam of the embodiment of the present invention surveys high laser radar.
Fig. 4 diagrammatically illustrates laser point of the embodiment of the present invention and terrain match searches for schematic diagram.
Fig. 5, which diagrammatically illustrates attitude error of the embodiment of the present invention, influences decomposition diagram.
Specific embodiment
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with specific embodiment, and reference
Attached drawing, the present invention is described in more detail.
The embodiment of the present invention surveys high laser radar for spaceborne linear array multi-beam, proposes a kind of spaceborne linear array multi-beam survey
The high field-free in-orbit geometric calibration method of laser radar, method schematic is as shown in Figure 1, spaceborne linear array multi-beam surveys high laser thunder
Up to being equipped with n mutually independent laser acquisition units, by each laser acquisition unit (visit member 1, visit member 2 ..., visit member n)
Corresponding laser footmark carries out influence constraint, to estimate plane deviation size and the direction of laser footmark, according to laser footmark
Plane deviation size and direction carry out Curve Matching to the initial coordinate of laser footmark, obtain the control point coordinates of laser footmark,
The control point coordinates of initial coordinate and laser footmark further according to laser footmark, can be obtained the ranging school of each laser acquisition unit
Positive parameter and spaceborne linear array multi-beam survey the whole posture of high laser radar compared with correction parameter, to survey height to spaceborne linear array multi-beam
Laser radar carries out on-orbit calibration.This method can be quick, efficient, inexpensive without laying field calibration place
The spaceborne linear array multi-beam of realization survey the ranging correction ginseng of high laser radar entirety attitude updating parameter and each laser acquisition unit
Several on-orbit calibration, it is intended to be suitable for spaceborne linear array multi-beam and survey the high in-orbit geometric calibration of laser radar.
Fig. 2 is referred to, this method specifically includes:
S1 constructs spaceborne linear array multi-beam and surveys high laser radar geometrical model, inputs initial scaling parameter to spaceborne linear array
Multi-beam surveys high laser radar geometrical model, calculates the corresponding laser footmark initial coordinate of each laser acquisition unit.
Spaceborne linear array multi-beam surveys the basic schematic diagram of high laser radar as shown in figure 3, based on the principle, by whole posture
Correction parameter (ω,κ) and each laser acquisition unit ranging correction parameter (k1i, k2i) composition spaceborne linear array multi-beam survey it is high
The geometrical model of laser radar:
Wherein,For the corresponding laser footmark control point coordinates of each laser acquisition unit, (laser footmark exists
Coordinate under WGS84 referential),For the spin matrix of agreement celestial coordinate system to conventional terrestrial coordinate system, by surveying high number
According to being calculated.For orbital coordinate system to the spin matrix of agreement celestial coordinate system, it is calculated by surveying high data.
For the spin matrix of body coordinate system to orbital coordinate system,ω,κ is that spaceborne linear array is more
Wave beam surveys high laser radar entirety attitude updating parameter, calculates laser footmark initial coordinate season It is sharp
Optical scanning coordinate system uses unit matrix when calculating laser footmark initial coordinate to the conversion of body coordinate system.I is laser pulse
And the number of laser acquisition unit, k1iFor the corresponding ranging multiplying constant of i-th of laser acquisition unit, calculates laser footmark and initially sit
When mark, k is enabled1i=1.ρiThe corresponding distance measurement value of i-th of laser acquisition unit, k2iFor the corresponding ranging of i-th of laser acquisition unit
Additive constant enables k when calculating laser footmark initial coordinate2i=1.θiFor the angle of linear array laser wave beam and laser Z axis, in Fig. 3
It is shown, it is ground survey given value.It is laser scanning center to the linear deflection at body coordinate system center, is
Ground survey given value.[Xs Ys Zs]TThe position for being centroid of satellite in conventional terrestrial coordinate system is provided by surveying high data.
S2 estimates plane deviation size and the direction of laser footmark.
According to same platform image or altogether optical path image and laser footmark coordinate matching relationship, using with laser-measured height data
The single width image center coordinate generated simultaneously is compared with sub-satellite point coordinate, estimates the size of laser footmark plane deviation
And direction.With platform image or altogether optical path image center determination can using with existing history image carry out visual comparison or
Person is matched by computer characteristic and is completed.
S3, according to the plane deviation size and direction of laser footmark initial coordinate and laser footmark, at the beginning of determining laser footmark
The corresponding laser footmark control point coordinates of beginning coordinate.
It is utilized respectively the corresponding laser footmark initial coordinate of each laser acquisition unit, in reference number elevation model
Matching search corresponding laser footmark control point in (digital elevation modal, DEM) image.Wherein matching search
Specific steps are as follows:
In reference DEM image, according to the plane deviation size of the laser footmark and direction, determine that laser footmark controls
The initial position of point search；It is search boundary with sub-satellite point maximum random planar deviation that may be present, using laser
The elevation curve and search for determining laser footmark control point with reference to DEM Image Matching that footmark initial coordinate is constituted, as shown in figure 4,
Process such as a is matched, tri- steps of b, c:
A. by the laser footmark initial coordinate S (B of present laser probe unit0L0H0) extract elevation set S (H0), composition
Initial elevation curve figure curve-0；
B. by the plane coordinates S (B of the laser footmark initial coordinate of present laser probe unit0L0) project to Gaussian plane
It in rectangular coordinate system, is translated along DEM grid by certain stepping on sliding window, matching stepping is that 1 meter of setting (can also be 2
Rice, 3 meters etc., depending on laser footmark point spacing and DEM spatial resolution), interpolation obtains S (H) set, and forms n DEM high
Journey curve graph curve-1 ... ..., curve-n；
C. original elevation curve curve-0 and n DEM point height curve are subjected to best match, the differentiation of best match
Method is the mean square deviation minimum criteria etc. of related coefficient maximal criterion (COR) or depth displacement, is illustrated as shown in figure 4, best match
DEM point set participates in the calculating of scaling parameter as laser footmark control point.
S4, using between the corresponding laser footmark initial coordinate of each laser acquisition unit and laser footmark control point coordinates
Difference calculates the ranging correction parameter of each laser acquisition unit.
For each laser acquisition unit, using the in-orbit geometric calibration model of five parameters (ranging scaling parameter k1And k2、
And three posture scaling parameter ω,The ranging parameters of each laser acquisition unit can κ) be sought respectively, complete ranging
The calibration of parameter.The in-orbit geometric calibration model of five parameters are as follows:
Its each parameter definition is consistent with the spaceborne linear array multi-beam high laser radar geometrical model of survey.
The in-orbit geometric calibration model of above-mentioned five parameter is subjected to linear expansion with Taylor's formula, obtains error equation:
It brings laser footmark initial coordinate and laser footmark control point coordinates into error equation group, utilizes the principle of least square
It can resolve to obtain k1And k2, whereinFor coordinate of the laser footmark under WGS84 referential, [X0 Y0 Z0]T
For the corresponding laser footmark initial coordinate of each laser acquisition unit,For the inclined of each parameter
Tiny increment dt, ω,κ is that spaceborne linear array multi-beam surveys high laser radar entirety attitude updating parameter, k1For laser acquisition unit
Corresponding ranging multiplying constant, k2For the corresponding additive constant of laser acquisition unit.
S5 solves the integral position deviation of laser footmark according to laser footmark control point coordinates, according to integral position deviation
Obtain the whole attitude updating parameter that spaceborne linear array multi-beam surveys high laser radar.
The integral position deviation of laser footmark is decomposed into the influence component of three attitude errors, so inverse go out three it is whole
Body attitude updating parameter.As shown in figure 5, black open circle point, which is classified as, calculates resulting laser footmark position using original attitude parameter
It sets, black color solid dot is classified as the laser footmark control point position obtained using Curve Matching.Connected using laser footmark control point
Line and the angle in the vertical rail direction of satellite can obtain rotation angle β.Then the position deviation for removing the influence of the angle β is decomposed into along rail direction
The deviation dx and deviation dy in vertical rail direction, for linear array central laser probe unit footmark A point decomposes in Fig. 5.
After the decomposition amount that three angular errors for obtaining whole posture influence, estimating for attitude parameter can be carried out as the following formula
It calculates, completes the calibration work of whole attitude updating parameter.Formula are as follows:
κ≈β
In addition, the above-mentioned definition to each method is not limited in various specific structures, shape or the side mentioned in embodiment
Formula, those of ordinary skill in the art simply can be changed or be replaced to it, such as:
(1) plane deviation size and the direction of laser footmark can be estimated in S2 otherwise.
(2) form of elevation curve can be scatterplot in S3, be also possible to the curvilinear equation being fitted to using scatterplot.
(3) criterion of elevation curve best match can be replaced otherwise in S3.
(4) S4 and S5 step can be with reversed orders.
Particular embodiments described above has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
It describes in detail bright, it should be understood that the above is only a specific embodiment of the present invention, is not intended to restrict the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution, improvement and etc. done should be included in guarantor of the invention
Within the scope of shield.
Claims (10)
1. a kind of spaceborne linear array multi-beam surveys the in-orbit geometric calibration method of high laser radar, the spaceborne linear array multi-beam is surveyed high
Laser radar is equipped with n mutually independent laser acquisition units, and method includes:
S1 constructs spaceborne linear array multi-beam and surveys high laser radar geometrical model, inputs initial scaling parameter to the spaceborne linear array
Multi-beam surveys high laser radar geometrical model, calculates the corresponding laser footmark initial coordinate of each laser acquisition unit；
S2 estimates plane deviation size and the direction of laser footmark；
S3 is determined described sharp according to the plane deviation size and direction of the laser footmark initial coordinate and the laser footmark
The corresponding laser footmark control point coordinates of light footmark initial coordinate；
S4 utilizes the difference between the corresponding laser footmark initial coordinate of each laser acquisition unit and laser footmark control point coordinates
Value, calculates the ranging correction parameter of each laser acquisition unit；
S5 solves the integral position deviation of laser footmark according to the laser footmark control point coordinates, then by the integral position
Deviation obtains the whole attitude updating parameter that the spaceborne linear array multi-beam surveys high laser radar.
2. spaceborne linear array multi-beam according to claim 1 surveys the in-orbit geometric calibration method of high laser radar, building
Spaceborne linear array multi-beam surveys high laser radar geometrical model are as follows:
Wherein,For coordinate of the laser footmark under WGS84 referential,For agreement celestial coordinate system to agreement
The spin matrix of terrestrial coordinate system,For orbital coordinate system to the spin matrix of agreement celestial coordinate system,For ontology coordinate
It is the spin matrix to orbital coordinate system, ω,κ is that spaceborne linear array multi-beam surveys high laser
Radar entirety attitude updating parameter,For the conversion of laser scanning coordinate system to body coordinate system, i is laser pulse and laser
The number of probe unit, k1iFor the corresponding ranging multiplying constant of i-th of laser acquisition unit, ρiFor i-th of laser acquisition unit pair
The distance measurement value answered, k2iFor the corresponding additive constant of i-th of laser acquisition unit, θiFor linear array laser wave beam and laser Z axis
Angle,For laser scanning center to the linear deflection at body coordinate system center, [XS YS ZS]TFor centroid of satellite
Position in conventional terrestrial coordinate system.
3. spaceborne linear array multi-beam according to claim 1 surveys the in-orbit geometric calibration method of high laser radar, in step
In S2, the single width image center coordinate generated simultaneously with laser-measured height data is compared with sub-satellite point coordinate, is estimated
The size of laser footmark plane deviation and direction.
4. spaceborne linear array multi-beam according to claim 1 surveys the in-orbit geometric calibration method of high laser radar, in step
In S3:
In reference DEM image, according to the plane deviation size of the laser footmark and direction, determine that laser footmark control point is searched
The initial position of rope；
It is search boundary with maximum random planar deviation existing for sub-satellite point, using the laser footmark initial coordinate structure
At elevation curve and it is described carry out matching search with reference to DEM image, obtain the laser footmark control point coordinates.
5. spaceborne linear array multi-beam according to claim 4 surveys the in-orbit geometric calibration method of high laser radar, using institute
The elevation curve for stating laser footmark initial coordinate composition carries out matching search with the reference DEM image
According to the corresponding laser footmark initial coordinate of present laser probe unit, elevation set is extracted, initial elevation curve is formed；
The plane coordinates of present laser probe unit laser footmark initial coordinate is projected in Gaussian parabolic line system, In
Default stepping translation is pressed along DEM grid on sliding window, interpolation processing is carried out, obtains DEM elevation curve；
The initial elevation curve and the DEM elevation curve are subjected to best match, obtain laser footmark control point seat
Mark.
It, will be described 6. spaceborne linear array multi-beam according to claim 2 surveys the in-orbit geometric calibration method of high laser radar
Laser footmark initial coordinate and laser footmark control point coordinates bring error equation group into:
Resolving obtains k1And k2, whereinFor the corresponding laser footmark control point coordinates of each laser acquisition unit；[X0
Y0 Z0]TFor the corresponding laser footmark initial coordinate of each laser acquisition unit；For each parameter
Inclined Tiny increment dt；ω,κ is that spaceborne linear array multi-beam surveys high laser radar entirety attitude updating parameter；k1For laser acquisition list
The corresponding ranging multiplying constant of member, k2For the corresponding additive constant of laser acquisition unit.
7. spaceborne linear array multi-beam according to claim 1 surveys the in-orbit geometric calibration method of high laser radar, in step
In S3, the whole attitude updating parameter that the spaceborne linear array multi-beam surveys high laser radar is obtained according to the integral position deviation
Include:
The integral position deviation is decomposed into the influence component of three attitude errors, the influence to three attitude errors point
Amount is calculated, and the whole attitude updating parameter is obtained.
8. spaceborne linear array multi-beam according to claim 2 surveys the in-orbit geometric calibration method of high laser radar, in step
In S1, calculating the corresponding laser footmark initial coordinate of each laser acquisition unit includes:
It enablesk1i=1, k2i=0.
9. spaceborne linear array multi-beam according to claim 5 surveys the in-orbit geometric calibration method of high laser radar, using phase
Relationship number maximal criterion or mean square deviation minimum criteria carry out best to the initial elevation curve and the DEM elevation curve
Match.
10. spaceborne linear array multi-beam according to claim 5 surveys the in-orbit geometric calibration method of high laser radar, described first
The form of beginning elevation curve or DEM elevation curve is scatterplot or the curve being fitted to by the scatterplot.
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| CN114018293A (en) * | 2021-11-19 | 2022-02-08 | 中交第一航务工程局有限公司 | Precision detection method of multi-beam sounding system |
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