CN111508028A - Autonomous in-orbit geometric calibration method and system for optical stereo mapping satellite camera - Google Patents
Autonomous in-orbit geometric calibration method and system for optical stereo mapping satellite camera Download PDFInfo
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Abstract
The invention provides an autonomous in-orbit geometric calibration method and system for an optical stereo mapping satellite camera, which comprises the steps of selecting stereo pairs which are acquired by a stereo mapping satellite and have more than 50% of overlap in the same area, and matching homonymy points with multi-degree overlap in an image overlap area; fitting a probe pointing angle to construct a calibration model of the camera, and then introducing the calibration model into a strict geometric imaging model of an optical satellite image to establish an autonomous in-orbit geometric calibration model of the stereo mapping satellite camera; calculating an object space elevation value corresponding to each connecting point by adopting a multi-sheet front intersection method based on a stereo constraint condition of a stereo pair; for each camera, constructing an error equation by using the same name points on the corresponding acquired image pairs, calculating a calibration parameter correction value by adopting a least square method based on an elevation value, and updating camera parameters; and returning and repeating until the difference value of the internal parameters obtained by two successive times of calculation is smaller than a preset limit difference, and obtaining the autonomous in-orbit geometric calibration result of the stereo mapping satellite camera.
Description
Technical Field
The invention belongs to the field of remote sensing image processing, and relates to an autonomous in-orbit geometric calibration method and system for an optical stereo mapping satellite camera.
Background
The on-orbit geometric calibration is an important link of geometric preprocessing of the optical satellite and is an effective means for improving the geometric quality of images. The common on-orbit geometric calibration method optimizes imaging parameters of the satellite-borne camera by using a ground control field reference image as absolute constraint, and the method is developed and matured on the whole and obtains better engineering application effect. However, this method has inherent drawbacks due to its excessive dependence on the ground calibration field, mainly in the following four aspects: 1) the expensive construction and maintenance cost of the calibration field increases the cost of on-orbit geometric calibration; 2) with the increase of the satellite image width, the distribution of control points matched with the existing reference data cannot meet the requirement of covering the satellite image in the direction of a charge-coupled device (CCD) line, which undoubtedly reduces the accuracy of in-orbit calibration; 3) the selection of the cloud-free image in the border-crossing calibration field area is greatly influenced by weather, and the timeliness of in-orbit geometric calibration can be further reduced by the longer revisit period of the satellite; 4) calibration field data is typically produced by aerial photogrammetry, so the accuracy of the heterogeneous match between the satellite image and the reference data image affects the accuracy of the calibration within the geometry to some extent.
Aiming at the limitation of the traditional method under the condition of no calibration field, a new calibration technical scheme needs to be proposed in the field.
Disclosure of Invention
The invention aims to solve the problem of autonomous on-orbit geometric calibration of an optical stereo mapping satellite camera.
The technical scheme of the invention provides an autonomous in-orbit geometric calibration method for an optical stereo mapping satellite camera, which comprises the following steps,
step 1, selecting two stereopairs which are acquired by a stereo mapping satellite and have more than 50% overlap in the same area, and matching homonymy points with multi-degree overlap in an image overlapping area;
step 2, fitting a probe pointing angle by using a cubic polynomial to construct a calibration model of the camera, and then introducing the calibration model into a strict geometric imaging model of an optical satellite image to establish an autonomous in-orbit geometric calibration model of the stereoscopic surveying and mapping satellite camera;
step 3, calculating an object space elevation value corresponding to each connection point by adopting a multi-sheet intersection method based on a stereo constraint condition of a stereo pair according to the autonomous on-orbit geometric calibration model obtained in the step 2;
step 4, for each camera, constructing an error equation for calibrating parameter calculation by using corresponding points on the image pair obtained correspondingly, calculating a calibrating parameter correction value by adopting a least square method based on the elevation value obtained in the step 3, and updating camera parameters;
and 5, returning to repeat the steps 3 and 4 until the difference value of the internal parameters obtained by two successive times of calculation is smaller than a preset limit difference, and ending iteration to obtain an autonomous in-orbit geometric calibration result of the stereo mapping satellite camera.
In step 1, when the image overlapping region matches the corresponding point with multi-degree overlap, the corresponding point is matched in a short section of region in the row direction of the image pair to be calibrated.
In step 2, the strict geometric imaging model of the optical satellite image is a strict geometric imaging model of the optical camera considering the unified characteristic of the side-view imaging external parameters, and is realized as follows,
camera installation matrix
Is a change matrix from the satellite body coordinate system to the camera coordinate system and is decomposed into a matrix
And a correction matrix
Wherein the design matrix is directly based on the design values (p) of three mounting angles of the camera0,r0,y0) Determining the correction matrix based on the three rotation angles to be solved
It is determined that,
further, an optical camera imaging strict geometric model considering the side-view imaging external parameter unified characteristic is constructed as follows,
wherein, (x, y, z) is the three-dimensional coordinate of the image point in the camera coordinate system, and mu is the zoom coefficient;
and
respectively representing a rotation matrix from a WGS84 coordinate system to a J2000 coordinate system and a rotation matrix from the J2000 coordinate system to a satellite body coordinate system; (X)gps,Ygps,Zgps) Coordinates of the phase center of the GPS antenna in the WGS84 coordinate system are expressed, and the coordinates are acquired by the GPS mounted on the satellite, (X)g,Yg,Zg) Representing the rectangular coordinates of the object point corresponding to the image point in the WGS84 coordinate system.
And is used for optical satellite geometry preprocessing.
The invention provides an autonomous on-orbit geometric calibration system of an optical stereo mapping satellite camera, which is used for executing the autonomous on-orbit geometric calibration method of the optical stereo mapping satellite camera.
The invention has the advantages that: the method realizes the integral calibration of the optical three-dimensional surveying and mapping satellite load under the condition of not needing the adjustment reference data and the elevation reference data of the ground calibration field, solves the problem of high cost caused by excessively depending on the ground calibration field in the traditional method, is not limited by the position of the fixed calibration field, does not need to consider the influence of weather factors on the calibration like the traditional method, and has higher timeliness.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of the present invention;
fig. 2 is a schematic diagram of location distribution of matching of the same-name points in the embodiment of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings.
Aiming at the limitation of the traditional method under the condition without a calibration field, the invention provides an autonomous geometric calibration method without ground calibration field reference data for a stereo mapping satellite, an in-orbit geometric calibration adjustment equation is constructed by utilizing the relative constraint condition between crossed and overlapped images acquired by a stereo mapping camera and the stereo intersection condition of the stereo mapping camera, and the high-precision calculation of a plurality of stereo mapping camera calibration parameters can be realized simultaneously without the constraint of the ground calibration field reference data. The dependence of the traditional calibration method on the calibration field plane reference data DOM and the elevation reference data DEM is eliminated, the on-orbit geometric calibration cost can be greatly reduced, and the timeliness of the on-orbit geometric calibration is improved.
The method provided by the embodiment adopts a method combining local iterative solution and integral iterative optimization to perform autonomous in-orbit geometric calibration of the optical stereo mapping satellite camera. Referring to fig. 1, in the autonomous in-orbit geometric calibration method for an optical stereo mapping satellite camera provided in the embodiment, a process may be divided into 5 steps, and the following steps are specifically implemented:
step 1, selecting a stereopair with more than 50% overlap in the same area acquired by a stereo mapping satellite, and matching homonymous points with multi-degree overlap in an image overlap area.
In the embodiment, a stereo pair with more than 50% overlap in the same area acquired by a stereo mapping satellite is selected, homonymous points with multi-degree overlap are matched in an image overlap region, in addition, nonlinear and irregular distortion errors are brought to a calibration result in a camera due to random jitter of an external orientation element model fitting error, in order to limit the influence of the nonlinear and irregular distortion errors, the optimal fitting of the geometric distortion of each probe element of a CCD in the camera is realized, and the homonymous points (such as dense homonymous points in the figure 2) are preferably matched in a short section of region in the direction of the movement (along the track) of the image pair to be calibrated.
In a specific implementation, it is not necessary to match the corresponding points in the entire scene image, and the corresponding points are matched in a section of region shorter in the row (along) direction of the image pair to be marked, for example, a section of region with a length of 1024 or 2048. When dense homonymous points are taken, the image can be uniformly covered in the row direction (vertical track) direction.
And 2, constructing an in-orbit geometric calibration model, wherein the method comprises the steps of adopting a cubic polynomial to fit a probe pointing angle to construct a calibration model of the camera, and then introducing the calibration model into a strict geometric imaging model of the optical satellite image to construct an autonomous in-orbit geometric calibration model of the stereoscopic surveying and mapping satellite camera.
In an embodiment, the specific implementation of step 2 includes the following sub-steps:
1) imaging model considering side-looking imaging external parameter unified characteristic
Camera mounting matrix
Decomposing the change matrix from the satellite body coordinate system to the camera coordinate system into a matrix
And a correction matrix
Wherein the design matrix can be directly based on the design values (p) of the three mounting angles of the camera0,r0,y0) Determining, and the correction matrix can be based on the three rotation angles to be solved
The determination is as follows:
and then constructing an optical camera imaging strict geometric model taking the unified characteristic of the side-looking imaging external parameters into consideration as follows:
wherein: (x, y, z) is the three-dimensional coordinate of the image point in the camera coordinate system, and mu is a scaling coefficient;
and
respectively representing a rotation matrix of the WGS84 coordinate system to the J2000 coordinate system, and a rotation matrix of the J2000 coordinate system to the satellite body coordinate system, wherein,
is obtained according to the ephemeris parameters at the imaging moment,
is obtained by combining star sensor and gyro for attitude determination; (X)gps,Ygps,Zgps) Coordinates of the phase center of the GPS antenna in the WGS84 coordinate system are expressed, and the coordinates are acquired by the GPS mounted on the satellite, (X)g,Yg,Zg) The transformation relationship between rectangular coordinates of the object point corresponding to the image point in the WGS84 coordinate system and geographic coordinates (L at, L on, Hei) (dimension, precision, elevation) is as follows:
wherein, N is the curvature radius of the earth prime circle, and e is the first eccentricity of the earth ellipsoid.
2) Internal calibration model construction
The internal calibration model adopts a pointing angle model based on a cubic polynomial, as shown in formulas (6) and (7), namely the cubic polynomial is utilized to align the pointing angle of each probe element on the camera linear array CCD under a camera coordinate system
And (6) fitting.
Wherein s is a probe number, (a)0,a1,a2,a3,b0,b1,b2,b3) Is a cubic polytype coefficient.
3) On-orbit geometric calibration model construction
Introducing the built internal calibration model into a strict geometric imaging model to obtain an on-orbit geometric calibration model as shown in formula (8):
and 3, calculating an object space elevation value corresponding to each connecting point by adopting a multi-sheet front intersection method based on the stereo constraint condition of the stereo pair.
In an embodiment, the following sub-steps are included:
step 3.1, adjustment optimization model construction based on least square
Whether the object space coordinates corresponding to each pair of homonymous points are solved based on multi-piece intersection or camera calibration parameters are solved based on autonomous geometric calibration, a least square adjustment method is adopted, and firstly, in the formula (8):
wherein the content of the first and second substances,
represents the intermediate variable of the right part of the equal sign of the calibration model (8).
Then, an adjustment equation (G) for least squares adjustment solution can be constructedx,Gy)：
Step 3.2, determining the elevation of the same-name point based on multiple forward meetings
According to the adjustment model constructed in the previous step 3.1, an error equation v can be established for each pair of stereo homonymous points through model linearization processingpThe following formula:
vp＝AX-L (11)
wherein, X ═ d L at, d L on, dHei]TThe correction vector of the three-dimensional coordinate of the object space point is obtained; a ═ A1,A2,…An]T(n is the number of images) is a matrix of error equation coefficients, where each element AiIs obtained by corresponding each point in a stereo homonymous point pair, i is 1,2 and … n, establishing an adjustment equation according to the image corresponding to each point and performing linearization, L is [ L ]1,L2,…Ln]TIs a constant vector of error equations in which each element LiSimilarly, each point in the stereo homonymy point pair is equal to the current value of the adjustment equation established by the image corresponding to each point, and the specific details are as follows:
calculating X by using the least square adjustment, as shown in formula (12);
X＝(ATA)-1(ATL) (12)
and updating the current value of the object coordinate according to the solved correction value, and finishing iteration when the results of the two adjustment solutions are smaller than the tolerance.
Step 4, calculating the calibration parameters, including constructing an error equation for calculating the calibration parameters by using the same-name points on the image pairs acquired by each camera, calculating the calibration parameter correction value by adopting a least square method based on the elevation value obtained in the step 3, and updating the camera parameters;
and for each camera, calculating the calibration parameters of the camera under the constraint of the intersection elevation by using the same name point on the acquired image pair, wherein the calculation process of each camera is the same. According to the adjustment model constructed in the previous step 3.1, an error equation can be constructed for the jth homonymous image point through model linearization processing, as shown in formula (13):
vq＝BjY+Cjtj-Rj(13)
wherein v isqFor the correction vector, Y ═ da1da2da3db1db2db3]TCorrecting the vector for the calibration parameters in the camera, pointing to the coefficients (a) in the angular model0,b0) Directly replacing with a design initial value;
expressing object space plane coordinate correction vectors of the image points with the same name, wherein the elevation of the object space coordinate uses the elevation value of the intersection, and the plane coordinate of the intersection is used as an initial value;
a constant term representing an error equation;
matrix array
Respectively, represent the corresponding partial derivative coefficient matrices.
Y is calculated using least squares adjustment, as shown in equation (14):
Y＝M-1W (14)
where the intermediate variable M, W is calculated as follows,
where m represents the number of homologous points on the superimposed image acquired by the camera. The calculation process of each camera is the same, and the description is omitted here.
And 5, returning to repeat the steps 3) and 4) until the difference value of the internal parameters obtained by two successive times of calculation is smaller than a preset limit difference, and finishing calculation to obtain an autonomous in-orbit geometric calibration result of the stereo mapping satellite camera.
In the examples, the tolerance is set to 10-12I.e. when the difference between two successive solutions is less than 10-12And returning to the step 3, and repeating the step 3-5 for iterative calculation until the correction numbers of the internal calibration parameters are all smaller than the threshold value 10-12And then stop.
In specific implementation, the above processes can be automatically operated by adopting a computer software technology, and a system device of the operation method is also within the protection scope of the invention.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.
Claims (6)
1. An autonomous in-orbit geometric calibration method for an optical stereo mapping satellite camera is characterized by comprising the following steps: comprises the following steps of (a) carrying out,
step 1, selecting a stereopair with more than 50% overlap in the same area acquired by a stereo mapping satellite, and matching homonymous points with multi-degree overlap in an image overlap area;
step 2, fitting a probe pointing angle by using a cubic polynomial to construct a calibration model of the camera, and then introducing the calibration model into a strict geometric imaging model of an optical satellite image to establish an autonomous in-orbit geometric calibration model of the stereoscopic surveying and mapping satellite camera;
step 3, calculating an object space elevation value corresponding to each connection point by adopting a multi-sheet intersection method based on a stereo constraint condition of a stereo pair according to the autonomous on-orbit geometric calibration model obtained in the step 2;
step 4, for each camera, constructing an error equation for calibrating parameter calculation by using corresponding points on the image pair obtained correspondingly, calculating a calibrating parameter correction value by adopting a least square method based on the elevation value obtained in the step 3, and updating camera parameters;
and 5, returning to repeat the steps 3 and 4 until the difference value of the internal parameters obtained by two successive times of calculation is smaller than a preset limit difference, and ending iteration to obtain an autonomous in-orbit geometric calibration result of the stereo mapping satellite camera.
2. The autonomous in-orbit geometric calibration method for optical stereo mapping satellite cameras according to claim 1, characterized in that: in step 1, when the image overlapping area is matched with the corresponding point with multi-degree overlapping, the corresponding point is matched in a section of area which is shorter in the row direction of the image pair to be calibrated.
3. The autonomous in-orbit geometric calibration method for optical stereo mapping satellite cameras according to claim 1 or 2, characterized in that: in step 2, the strict geometric imaging model of the optical satellite image is a strict geometric imaging model of the optical camera considering the unified characteristic of the side-looking imaging external parameters, and is realized as follows,
camera installation matrix
Is a change matrix from the satellite body coordinate system to the camera coordinate system and is decomposed into a matrix
And a correction matrix
Wherein the design matrix is directly based on the design values (p) of three mounting angles of the camera0,r0,y0) Determining the correction matrix based on the three rotation angles to be solved
It is determined that,
further, an optical camera imaging strict geometric model considering the side-view imaging external parameter unified characteristic is constructed as follows,
wherein, (x, y, z) is the three-dimensional coordinate of the image point in the camera coordinate system, and mu is the zoom coefficient;
and
respectively representing a rotation matrix from a WGS84 coordinate system to a J2000 coordinate system and a rotation matrix from the J2000 coordinate system to a satellite body coordinate system; (X)gps,Ygps,Zgps) Coordinates of the phase center of the GPS antenna in the WGS84 coordinate system are expressed, and the coordinates are acquired by the GPS mounted on the satellite, (X)g,Yg,Zg) Representing the rectangular coordinates of the object point corresponding to the image point in the WGS84 coordinate system.
4. The autonomous in-orbit geometric calibration method for optical stereo mapping satellite cameras according to claim 1 or 2, characterized in that:
the method is used for geometrical preprocessing of the optical satellite.
5. The autonomous in-orbit geometric calibration method for optical stereo mapping satellite cameras according to claim 3, characterized in that: the method is used for geometrical preprocessing of the optical satellite.
6. An autonomous in-orbit geometric calibration system of an optical stereo mapping satellite camera is characterized in that: autonomous in-orbit geometric calibration method for the execution of the optical stereographic satellite camera of claims 1 to 5.
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112802118A (en) * | 2021-01-05 | 2021-05-14 | 湖北工业大学 | On-orbit time-sharing geometric calibration method for optical satellite sensor |
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| CN114252060A (en) * | 2021-12-31 | 2022-03-29 | 中铁第一勘察设计院集团有限公司 | Large scene manufacturing method based on space satellite image |
| CN114252060B (en) * | 2021-12-31 | 2023-12-08 | 中铁第一勘察设计院集团有限公司 | Large scene manufacturing method based on space satellite images |
| CN114838739A (en) * | 2022-05-20 | 2022-08-02 | 北京市遥感信息研究所 | Satellite image geometric calibration method considering complete regression cycle |
| CN114838739B (en) * | 2022-05-20 | 2024-05-03 | 北京市遥感信息研究所 | Satellite image geometric calibration method considering complete regression period |
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