CN112070843A - On-orbit calibration method for geometric parameters of space camera - Google Patents
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Abstract
The invention relates to an on-orbit calibration method for geometric parameters of a space camera, belonging to the technical field of space optical remote sensors; the method comprises the following steps: establishing a model for calibrating geometric parameters of a camera; calculating the centroid position of the laser spot through a centroid extraction algorithm to serve as an initial value; when the camera on-orbit is subjected to a force-heat environment, the visual axis deflects relative to the self-collimating reflecting surface, the emitted laser deflects when passing through the self-collimating surface, and further deflects at the position on the receiving detector; calculating to obtain new centroid positions of the two laser spots; calculating the deflection of the camera visual axis relative to the auto-collimation surface according to the recorded light spot position and the double-vector attitude determination principle; the invention ensures that the multi-camera geometric parameters can be monitored in real time with high precision in real time during the on-orbit working period.
Description
Technical Field
The invention belongs to the technical field of space optical remote sensors, and relates to an on-orbit calibration method for geometric parameters of a space camera.
Background
For a multi-linear array space optical mapping camera, calibration of geometric parameters of the camera is an important means for realizing high-precision three-dimensional mapping. In the whole life activity periods of ground installation and adjustment, test and on-orbit and the like, the geometrical parameters of the cameras are periodically and slowly changed under the influence of factors such as gravity, vibration, temperature environment and the like, and the fluctuation of included angles among the cameras still reaches a plurality of angle seconds, which is obviously not enough for high-precision surveying and mapping. Therefore, how to realize the high-precision on-orbit real-time measurement of the geometric parameters of the camera is difficult.
The traditional method adopts a ground calibration field for calibration, has the defects of easy weather influence, poor real-time performance and the like, and is difficult to meet the requirement of an on-orbit real-time measurement task.
Disclosure of Invention
The technical problem solved by the invention is as follows: the method overcomes the defects of the prior art, provides the on-orbit calibration method of the geometric parameters of the space camera, and ensures that the geometric parameters of the multiple cameras can be monitored in real time with high precision in real time during the on-orbit working period.
The technical scheme of the invention is as follows:
an on-orbit calibration method for geometric parameters of a space camera comprises the following steps:
the method comprises the following steps that firstly, a camera is horizontally placed, and a first receiving detector M1, a second receiving detector M2 and a CCD linear array are arranged on a focal plane of the camera; the CCD linear array is vertically placed; the first receiving detector M1 and the second receiving detector M2 are symmetrically arranged at the upper end and the lower end of the CCD linear array; randomly arranging a first laser light source at the first receiving detector M1, wherein the irradiation spot of the first laser light source on the first receiving detector M1 is A1; randomly arranging a second laser light source at the second receiving detector M2, wherein the irradiation spot of the second laser light source on the second receiving detector M2 is B1;
step two, establishing a lens image side coordinate system O 'X'OTAY′OTAZOTAObject coordinate system OX of cameraOTAYOTAZOTAAnd a camera coordinate system OXHRCYHRCZHRC；
Step three, measuring the light spot A1 in a lens image side coordinate system O 'X'OTAY′OTAZOTACoordinates of lower A1 (x)01,y01) It is rewritten as a two-dimensional vector expression vA1(ii) a Measurement light spot B1 in lens image-side coordinate system O 'X'OTAY′OTAZOTACoordinates of lower B1 (x)02,y02) It is rewritten as a two-dimensional vector expression vB1(ii) a For vA1And vB1Corrected to obtain a corrected two-dimensional vector v'A1，v′B1；
Step four, two-dimensional vector v'A1Conversion to a three-dimensional vector v ″A1(ii) a V 'of a two-dimensional vector'B1Conversion to a three-dimensional vector v ″B1；
Step five, according to the three-dimensional vector
Setting up a camera at OXOTAYOTAZOTAFirst rotation matrix M under coordinate system0；
Sixthly, camera coordinate system OXHRCYHRCZHRCAround YHRCRotation, XHRCAxis and ZHRCThe shafts rotate by an angle omega; the irradiation spot of the first laser light source on the first receiving detector M1 becomes a 2; the irradiation spot of the second laser light source on the second receiving detector M2 is B2; repeating the third step to the fifth step, and establishing the position of the cameras corresponding to the light spot A2 and the light spot B2 on OXOTAYOTAZOTASecond rotation matrix M under coordinate systemt(ii) a According to a first rotation matrix M0And a second rotation matrix MtCalculating a rotation matrix MRot；
Step seven, calculating a camera coordinate system OXHRCYHRCZHRCRespectively wound around XHRC,YHRC,ZHRCThree-axis rotation angle
Step eight, calculating the focal length variable quantity of the camera after rotationF；
Step nine, obtaining the rotation angle according to the step seven
Calibrating the rotation angle of the camera around the 3-axis rotation; according to the focal length variable quantity obtained in the step eightFAnd calibrating the focal length.
In the above-mentioned on-orbit calibration method for geometric parameters of a space camera, in the second step,
camera lens image side coordinate system O 'X'OTAY′OTAZOTAThe establishing method comprises the following steps:
the point O' is the intersection point of the camera optical axis and the camera focal plane; o ' is a coordinate origin, O ' X 'OTAThe direction is from the origin O' toward the center of the positions of the first receiving detector M1 and the second receiving detector M2; o' ZOTAIs in the direction of the optical axis; o 'Y'OTAThe direction is determined by the right-hand rule;
object coordinate system OX of cameraOTAYOTAZOTAThe establishing method comprises the following steps:
point O is the camera centroid; o is the origin of coordinates, OXOTADirection and O 'X'OTAThe directions are opposite; OYOTADirection and OY'OTAThe directions are opposite; OZOTAThe direction is determined by the right-hand rule;
camera coordinate system OXHRCYHRCZHRCThe establishing method comprises the following steps:
point O is the origin of coordinates, OZHRCPointing from the center of the CCD to point O, OYHRCDirection and OYOTAIn the same direction, OXHRCThe direction is determined by the right-hand rule.
In the above-mentioned on-orbit calibration method for geometric parameters of space camera, in the third step, the two-dimensional vector expression vA1Comprises the following steps:
two-dimensional vector expression vB1Comprises the following steps:
for vA1And vB1The correction method comprises the following steps:
v′A1＝MA1·vA1
v′B1＝MB1·vB1
in the formula, MA1Is a first correction coefficient;
wherein, thetam1Is X in the first detector coordinate systemm1And O 'X'OTAZOTAA corner of the plane;
MB1is a second correction coefficient;
wherein, thetam2As X in the second detector coordinate systemm2And O 'X'OTAZOTAA corner of the plane;
namely:
in the above-mentioned on-orbit calibration method for geometric parameters of space camera, in the fourth step, the geometric parameters are converted into a three-dimensional vector v ″A1And a three-dimensional vector v ″B1The method comprises the following steps:
in the formula, xc1Centering the first receiving detector M1 in the coordinate system A0Xm1Ym1The abscissa of (1);
yc1centering the first receiving detector M1 in the coordinate system A0Xm1Ym1Ordinate in (1);
FOTAa camera focal length;
xc2centering the second receiving detector M2 in the coordinate system A0Xm2Ym2The abscissa of (1);
yc2centering the second receiving detector M2 in the coordinate system A0Xm2Ym2Ordinate in (c).
In the above-mentioned on-orbit calibration method for geometric parameters of space camera, in the fifth step, the first rotation matrix M0The establishing method comprises the following steps:
in the above-mentioned on-orbit calibration method for geometric parameters of space camera, in the sixth step, the rotation matrix MRotThe calculation method comprises the following steps:
in the above-mentioned on-orbit calibration method for geometric parameters of space camera, in the seventh step, the camera coordinate system OXHRCYHRCZHRCRespectively wound around XHRC,YHRC,ZHRCThree-axis rotation angle
The calculation method comprises the following steps:
in the above method for calibrating geometric parameters of a space camera in an on-orbit manner, in step eight, the focal length variation after the camera rotatesFThe calculation method comprises the following steps:
in the formula, v ″)A2(2) Is vector v ″A2The 2 nd element of (1);
v″A1(2) is vector v ″A1The 2 nd element of (1);
v″B2(2) is vector v ″B2The 2 nd element of (1);
v″B1(2) is vector v ″B1The 2 nd element of (1);
kf is the focal length correction factor.
Compared with the prior art, the invention has the beneficial effects that:
(1) according to the on-orbit calibration method for the geometric parameters of the space camera, the change of the geometric parameters of the camera can be measured in real time by arranging the transmitting and receiving devices on the focal plane of the camera;
(2) the invention adopts the principles of full optical path transmission and dual vector attitude determination, has high measurement precision and is beneficial to realizing the calibration of the geometrical parameters of the camera at the sub-arc second level;
(3) the method is simple in implementation process and beneficial to improving the absolute positioning accuracy of the remote sensing camera, particularly the surveying and mapping camera.
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FIG. 1 is a schematic diagram of the on-orbit calibration of geometric parameters of a space camera according to the present invention.
Detailed Description
The invention is further illustrated by the following examples.
The invention provides an on-orbit calibration method for geometric parameters of a space camera, which ensures that the geometric parameters of multiple cameras can be monitored in real time with high precision in real time during on-orbit working. The purpose of the invention is realized by the following technical scheme:
1) two laser light sources are arranged at two ends of a camera focal plane, the laser light sources pass through the whole optical system and then return to a receiving detector on the focal plane through an auto-collimation reflecting surface, two light spots formed by the detector are received, and accordingly a camera geometric parameter calibration simplified mathematical model is established;
2) calculating the centroid positions of the two laser spots in the step 1) through a centroid extraction algorithm to serve as initial values;
3) when the camera on-orbit is subjected to a force-heat environment, the visual axis deflects relative to the self-collimating reflecting surface, the laser emitted in the step 1) deflects when passing through the self-collimating surface, and further deflects at the position on the receiving detector;
4) calculating in the step 2) again to obtain new centroid positions of the two laser spots;
5) and (4) calculating the deflection of the camera visual axis relative to the auto-collimation surface according to the light spot positions recorded in the step 2) and the step 4) and a double-vector attitude determination principle, thereby acquiring a high-precision geometric parameter calibration value in real time.
The above steps are further detailed below, and details of specific settings in the steps are described in detail:
step one, when selecting a camera, the invention selects a large-caliber long-line camera. When selecting the receiving detector, the receiving detector generally selects a large-area array CMOS detector. Horizontally placing the camera, and arranging a first receiving detector M1, a second receiving detector M2 and a CCD linear array on the focal plane of the camera; the CCD linear array is vertically placed; the first receiving detector M1 and the second receiving detector M2 are symmetrically arranged at the upper end and the lower end of the CCD linear array; randomly arranging a first laser light source at the first receiving detector M1, wherein the irradiation spot of the first laser light source on the first receiving detector M1 is A1; a second laser light source is randomly arranged at the second receiving detector M2, and the irradiation spot of the second laser light source on the second receiving detector M2 is B1. The first and second laser sources are typically laser diodes, providing a stable laser source, as shown in fig. 1.
Step two, in the process of converting the laser spot into the final camera geometric parameter, frequent coordinate conversion is involved, so that a coordinate system for mutual conversion needs to be established, and the conversion design between the coordinate systems is carried out later, specifically: establishing a lens image side coordinate system O 'X'OTAY′OTAZOTAObject coordinate system OX of cameraOTAYOTAZOTAAnd a camera coordinate system OXHRCYHRCZHRC(ii) a Camera lens image side coordinate system O 'X'OTAY′OTAZOTAThe establishing method comprises the following steps:
the point O' is the intersection point of the camera optical axis and the camera focal plane; o ' is a coordinate origin, O ' X 'OTAThe direction is from the origin O' toward the center of the positions of the first receiving detector M1 and the second receiving detector M2; o' ZOTAIs in the direction of the optical axis; o 'Y'OTAThe direction is determined by the right-hand rule;
object coordinate system OX of cameraOTAYOTAZOTAThe establishing method comprises the following steps:
point O is the camera centroid; o is the origin of coordinates, OXOTADirection and O 'X'OTAThe directions are opposite; OYOTADirection and OY'OTAThe directions are opposite; OZOTAThe direction is determined by the right-hand rule;
camera coordinate system OXHRCYHRCZHRCThe establishing method comprises the following steps:
point O is the origin of coordinates, OZHRCPointing from the center of the CCD to point O, OYHRCDirection and OYOTAIn the same direction, OXHRCThe direction is determined by the right-hand rule.
Step three, at this time, initial coordinates are selected from the 2 receiving detectors M1 and M2 to be used as a reference for later conversion, and the invention selects 2 spot coordinates to be used as initial reference coordinates, namely, the measurement spot a1 is in the lens image side coordinate system O 'X'OTAY′OTAZOTACoordinates of lower A1 (x)01,y01) It is rewritten as a two-dimensional vector expression vA1(ii) a Measurement light spot B1 in lens image-side coordinate system O 'X'OTAY′OTAZOTACoordinates of lower B1 (x)02,y02) It is rewritten as a two-dimensional vector expression vB1；
A0(xc1,yc1)，B0(xc2,yc2) M1, M2 probe center points, respectively, their coordinates (x)c1,yc1)，(xc2,yc2) Value y in the lens object coordinate systemc1＝Lc1，yc2＝-Lc2(ii) a Wherein L isc1，Lc2Detectors M1, M2 center to O 'X'OTADistance on axis;
for vA1And vB1Corrected to obtain a corrected two-dimensional vector v'A1，v′B1(ii) a Two-dimensional vector expression vA1Comprises the following steps:
two-dimensional vector expression vB1Comprises the following steps:
for vA1And vB1The correction method comprises the following steps:
v′A1＝MA1·vA1
v′B1＝MB1·vB1
in the formula, MA1Is a first correction coefficient;
wherein, thetam1Is X in the first detector coordinate systemm1And O 'X'OTAZOTAA corner of the plane;
MB1is a second correction coefficient;
wherein, thetam2As X in the second detector coordinate systemm2And O 'X'OTAZOTAA corner of the plane;
namely:
θm1,θm2m1, M2 detector coordinate system X respectivelym1,Xm2And O 'X'OTAZOTAThe angle of rotation of the plane is generally small, and the two detectors are almost impossible to be absolutely parallel to O ' X ' mainly in consideration of the deviation of the process implementation 'OTAZOTAAnd (4) a plane.
The vector in the fourth step and the third step is a two-dimensional vector, and when a subsequent coordinate system is converted, the three-dimensional vector needs to be subjected to same-dimension conversion, so that the two-dimensional vector v'A1Conversion to a three-dimensional vector v ″A1(ii) a V 'of a two-dimensional vector'B1Conversion to a three-dimensional vector v ″B1(ii) a Conversion to a three-dimensional vector v ″A1And a three-dimensional vector v ″B1The method comprises the following steps:
in the formula, xc1Centering the first receiving detector M1 in the coordinate system A0Xm1Ym1The abscissa of (1);
yc1centering the first receiving detector M1 in the coordinate system A0Xm1Ym1Ordinate in (1);
FOTAa camera focal length;
xc2centering the second receiving detector M2 in the coordinate system A0Xm2Ym2The abscissa of (1);
yc2centering the second receiving detector M2 in the coordinate system A0Xm2Ym2Ordinate in (c).
Step five, establishing a conversion matrix of the initial camera in a rotating state, specifically: from three-dimensional vectors
Setting up a camera at OXOTAYOTAZOTAFirst rotation matrix M under coordinate system0(ii) a First rotation matrix M0The establishing method comprises the following steps:
step six, at the moment, the camera needs to be rotated before calibration, and a camera coordinate system OX is takenHRCYHRCZHRCAround YHRCRotation, XHRCAxis and ZHRCThe shafts rotate by an angle omega; the irradiation spot of the first laser light source on the first receiving detector M1 becomes a 2; the irradiation spot of the second laser light source on the second receiving detector M2 is B2; repeating the third step to the fifth step, and establishing the position of the cameras corresponding to the light spot A2 and the light spot B2 on OXOTAYOTAZOTASecond rotation matrix M under coordinate systemt(ii) a Second rotation matrix MtThe specific method is to change the reference points in the third step into the reference points
Measurement light spot A2 in lens image side coordinate system O 'X'OTAY′OTAZOTARewriting the lower coordinate into a two-dimensional vector expression; measurement light spot B2 in lens image-side coordinate system O 'X'OTAY′OTAZOTARewriting the lower coordinate into a two-dimensional vector expression; correcting to obtain a corrected two-dimensional vector; converting the two-dimensional vector into a three-dimensional vector; establishing camera at OX based on three-dimensional vectorOTAYOTAZOTASecond rotation matrix M under coordinate systemt。
According to a first rotation matrix M0And a second rotation matrix MtCalculating a rotation matrix MRot(ii) a Rotation matrix MRotThe calculation method comprises the following steps:
the geometric calibration parameter indexes of the camera mainly comprise 2, namely a camera coordinate system OXHRCYHRCZHRCRespectively wound around XHRC,YHRC,ZHRCThree-axis rotation angle
And the amount of change in focal length after rotation of the cameraF. The two parameters are thus calculated.
Step seven, calculating a camera coordinate system OXHRCYHRCZHRCRespectively wound around XHRC,YHRC,ZHRCThree-axis rotation angle
Camera coordinate system OXHRCYHRCZHRCRespectively wound around XHRC,YHRC,ZHRCThree-axis rotation angle
The calculation method comprises the following steps:
step eight, calculating the focal length variable quantity of the camera after rotationF(ii) a Focal length variation after camera rotationFThe calculation method comprises the following steps:
in the formula, v ″)A2(2) Is vector v ″A2The 2 nd element of (1);
v″A1(2) is vector v ″A1The 2 nd element of (1);
v″B2(2) is vector v ″B2The 2 nd element of (1);
v″B1(2) is vector v ″B1The 2 nd element of (1);
kf is the focal length correction factor.
Step nine, obtaining the rotation angle according to the step seven
Calibrating the rotation angle of the camera around the 3-axis rotation; according to the focal length variable quantity obtained in the step eightFAnd calibrating the focal length.
The invention can measure the change of the geometric parameters of the camera in real time by arranging the transmitting and receiving device on the focal plane of the camera; the full-optical path transmission and double-vector attitude determination principle are adopted, the measurement precision is high, and the calibration of the geometrical parameters of the camera at the sub-arc second level is facilitated; the implementation process is simple, and the method is favorable for improving the absolute positioning precision of the remote sensing camera, particularly the mapping camera
Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the present invention, and those skilled in the art can make variations and modifications of the present invention without departing from the spirit and scope of the present invention by using the methods and technical contents disclosed above.
Claims (8)
1. An on-orbit calibration method for geometric parameters of a space camera is characterized by comprising the following steps: the method comprises the following steps:
the method comprises the following steps that firstly, a camera is horizontally placed, and a first receiving detector M1, a second receiving detector M2 and a CCD linear array are arranged on a focal plane of the camera; the CCD linear array is vertically placed; the first receiving detector M1 and the second receiving detector M2 are symmetrically arranged at the upper end and the lower end of the CCD linear array; randomly arranging a first laser light source at the first receiving detector M1, wherein the irradiation spot of the first laser light source on the first receiving detector M1 is A1; randomly arranging a second laser light source at the second receiving detector M2, wherein the irradiation spot of the second laser light source on the second receiving detector M2 is B1;
step two, establishing a lens image side coordinate system O 'X'OTAY′OTAZOTAObject coordinate system OX of cameraOTAYOTAZOTAAnd a camera coordinate system OXHRCYHRCZHRC；
Step three, measuring the light spot A1 in a lens image side coordinate system O 'X'OTAY′OTAZOTACoordinates of lower A1 (x)01,y01) It is rewritten as a two-dimensional vector expression vA1(ii) a Measurement light spot A2 in lens image side coordinate system O 'X'OTAY′OTAZOTACoordinates of lower B1 (x)02,y02) It is rewritten as a two-dimensional vector expression vB1(ii) a For vA1And vB1Corrected to obtain a corrected two-dimensional vector v'A1，v′B1；
Step four, two-dimensional vector v'A1Conversion to a three-dimensional vector v ″A1(ii) a V 'of a two-dimensional vector'B1Conversion to a three-dimensional vector v ″B1；
Step five, according to the three-dimensional vector
Setting up a camera at OXOTAYOTAZOTAFirst rotation matrix M under coordinate system0；
Sixthly, camera coordinate system OXHRCYHRCZHRCAround YHRCRotation, XHRCAxis and ZHRCThe shafts rotate by an angle omega; the irradiation spot of the first laser light source on the first receiving detector M1 becomes a 2; the irradiation spot of the second laser light source on the second receiving detector M2 is B2; repeating the third step to the fifth step, and establishing the position of the cameras corresponding to the light spot A2 and the light spot B2 on OXOTAYOTAZOTASecond rotation matrix M under coordinate systemt(ii) a According to a first rotation matrix M0And a second rotation matrix MtCalculating a rotation matrix MRot；
Step seven, calculating a camera coordinate system OXHRCYHRCZHRCRespectively wound around XHRC,YHRC,ZHRCThree-axis rotation angle
Step eight, calculating the focal length variable quantity of the camera after rotationF；
Step nine, obtaining the rotation angle according to the step seven
Calibrating the rotation angle of the camera around the 3-axis rotation; according to the focal length variable quantity obtained in the step eightFAnd calibrating the focal length.
2. The on-orbit calibration method for the geometric parameters of the space camera according to claim 1, characterized in that: in the second step, the first step is carried out,
camera lens image side coordinate system O 'X'OTAY′OTAZOTAThe establishing method comprises the following steps:
the point O' is the intersection point of the camera optical axis and the camera focal plane; o ' is a coordinate origin, O ' X 'OTAThe direction is from the origin O' toward the center of the positions of the first receiving detector M1 and the second receiving detector M2; o' ZOTAIs in the direction of the optical axis;O′Y′OTAthe direction is determined by the right-hand rule;
object coordinate system OX of cameraOTAYOTAZOTAThe establishing method comprises the following steps:
point O is the camera centroid; o is the origin of coordinates, OXOTADirection and O 'X'OTAThe directions are opposite; OYOTADirection and OY'OTAThe directions are opposite; OZOTAThe direction is determined by the right-hand rule;
camera coordinate system OXHRCYHRCZHRCThe establishing method comprises the following steps:
point O is the origin of coordinates, OZHRCPointing from the center of the CCD to point O, OYHRCDirection and OYOTAIn the same direction, OXHRCThe direction is determined by the right-hand rule.
3. The on-orbit calibration method for the geometric parameters of the space camera according to claim 2, characterized in that: in the third step, a two-dimensional vector expression vA1Comprises the following steps:
two-dimensional vector expression vB1Comprises the following steps:
for vA1And vB1The correction method comprises the following steps:
v′A1＝MA1·vA1
v′B1＝MB1·vB1
in the formula, MA1Is a first correction coefficient;
wherein, thetam1Is X in the first detector coordinate systemm1And O 'X'OTAZOTAA corner of the plane;
MB1is a second correction coefficient;
wherein, thetam2As X in the second detector coordinate systemm2And O 'X'OTAZOTAA corner of the plane;
namely:
4. the on-orbit calibration method for the geometric parameters of the space camera according to claim 3, characterized in that: in the fourth step, the three-dimensional vector v ″, is convertedA1And a three-dimensional vector v ″B1The method comprises the following steps:
in the formula, xc1Centering the first receiving detector M1 in the coordinate system A0Xm1Ym1The abscissa of (1);
yc1centering the first receiving detector M1 in the coordinate system A0Xm1Ym1Ordinate in (1);
FOTAa camera focal length;
xc2centering the second receiving detector M2 in the coordinate system A0Xm2Ym2The abscissa of (1);
yc2centering the second receiving detector M2 in the coordinate system A0Xm2Ym2Ordinate in (c).
5. The on-orbit calibration method for the geometric parameters of the space camera according to claim 4, characterized in that: in the fifth step, the first rotation matrix M0The establishing method comprises the following steps:
6. the on-orbit calibration method for the geometric parameters of the space camera according to claim 5, characterized in that: in the sixth step, the matrix M is rotatedRotThe calculation method comprises the following steps:
7. the on-orbit calibration method for the geometric parameters of the space camera according to claim 6, characterized in that: in said seventh step, the camera coordinate system OXHRCYHRCZHRCRespectively wound around XHRC,YHRC,ZHRCThree-axis rotation angle
The calculation method comprises the following steps:
8. the on-orbit calibration method for the geometric parameters of the space camera according to claim 7, characterized in that: in the eighth step, the focal length variation after the camera rotatesFThe calculation method comprises the following steps:
in the formula, v ″)A2(2) Is vector v ″A2The 2 nd element of (1);
v″A1(2) is vector v ″A1The 2 nd element of (1);
v″B2(2) is vector v ″B2The 2 nd element of (1);
v″B1(2) is vector v ″B1The 2 nd element of (1);
kf is the focal length correction factor.
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