CN112070843B - 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 aerospace 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 light spot by a centroid extraction algorithm as an initial value; when the visual axis of the on-orbit forced thermal environment of the camera deflects relative to the self-collimation reflecting surface, the emitted laser deflects when passing through the self-collimation surface, and then the position on the receiving detector deflects; calculating to obtain new centroid positions of the two laser spots; calculating deflection of the camera visual axis relative to the self-alignment plane according to the recorded light spot position and the double-vector attitude determination principle; the invention ensures that the geometrical parameters of the multiple cameras can be monitored in real time with high precision during the on-orbit working.
Description
Technical Field
The invention belongs to the technical field of aerospace 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, the calibration of geometric parameters of the camera is an important means for realizing high-precision stereoscopic mapping. In the full life activity periods of ground adjustment, test and on-orbit and the like, the geometric parameters of the cameras are periodically slowly changed under the influence of factors such as gravity, vibration and temperature environment, and the fluctuation of included angles among the cameras still reaches several angular seconds, which is obviously insufficient for high-precision mapping. Therefore, how to realize high-precision on-orbit real-time measurement of the geometric parameters of the camera is a difficulty.
The traditional method adopts a ground calibration field for calibration, has the defects of being easily influenced by weather, poor in instantaneity and the like, and is difficult to meet the requirements of on-orbit real-time measurement tasks.
Disclosure of Invention
The invention solves the technical problems that: the on-orbit calibration method for the geometrical parameters of the space camera is provided, which overcomes the defects of the prior art and ensures that the geometrical parameters of the multi-camera can be monitored in real time with high precision during on-orbit operation.
The solution 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 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 arranged; 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 an irradiation light 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 light 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' OTA Y′ OTA Z OTA Object coordinate system OX of camera OTA Y OTA Z OTA And camera coordinate system OX HRC Y HRC Z HRC ；
Step three, measuring the light spot A1 in a lens image space coordinate system O 'X' OTA Y′ OTA Z OTA The lower coordinates A1 (x 01 ,y 01 ) It is rewritten as a two-dimensional vector expression v A1 The method comprises the steps of carrying out a first treatment on the surface of the The measuring light spot B1 is arranged in a lens image space coordinate system O 'X' OTA Y′ OTA Z OTA The lower coordinate B1 (x 02 ,y 02 ) It is rewritten as a two-dimensional vector expression v B1 The method comprises the steps of carrying out a first treatment on the surface of the For v A1 And v B1 Correcting to obtain a corrected two-dimensional vector v' A1 ，v′ B1 ；
Step four, the two-dimensional vector v' A1 Converted into a three-dimensional vector v A1 The method comprises the steps of carrying out a first treatment on the surface of the The two-dimensional vector v' B1 Converted into a three-dimensional vector v B1 ；
Step five, according to the three-dimensional vectorEstablishing a camera at OX OTA Y OTA Z OTA First rotation matrix M in coordinate system 0 ；
Step six, camera coordinate system OX HRC Y HRC Z HRC Around Y HRC Rotate, X HRC Axis and Z HRC The shafts are rotated by omega angles; the irradiation spot of the first laser light source on the first receiving detector M1 becomes A2; the irradiation light spot of the second laser light source on the second receiving detector M2 is B2; repeating the third to fifth steps, and establishing the camera corresponding to the light spot A2 and the light spot B2 at the OX OTA Y OTA Z OTA Second rotation matrix M in coordinate system t The method comprises the steps of carrying out a first treatment on the surface of the According to a first rotation matrix M 0 And a second rotation matrix M t Calculating a rotation matrix M Rot ；
Step seven, calculating a camera coordinate system OX HRC Y HRC Z HRC Respectively around X HRC ,Y HRC ,Z HRC Rotation angle of triaxial
Step eight, calculating the focal length change delta after the camera rotates F ；
Step nine, according to the rotation angle obtained in step sevenCalibrating a rotation angle of the camera around the 3-axis rotation; according to the focal length change delta obtained in the step eight F And (5) calibrating the focal length.
In the above-mentioned on-orbit calibration method for geometric parameters of a space camera, in the second step,
lens image side coordinate system O 'X' OTA Y′ OTA Z OTA The establishment method of (1) comprises the following steps:
the point O' is the intersection point of the optical axis of the camera and the focal plane of the camera; o ' is the origin of coordinates, O ' X ' OTA The direction points to the centers of the positions of the first receiving detector M1 and the second receiving detector M2 from the origin O'; o' Z OTA Is the direction of the optical axis; o 'Y' OTA The direction is determined by the right hand rule;
camera object coordinate system OX OTA Y OTA Z OTA The establishment method of (1) comprises the following steps:
the point O is the mass center of the camera; o is the origin of coordinates, OX OTA Direction and O 'X' OTA The directions are opposite; OY OTA Direction and OY' OTA The directions are opposite; OZ OTA The direction is determined by the right hand rule;
camera coordinate system OX HRC Y HRC Z HRC The establishment method of (1) comprises the following steps:
o point is the origin of coordinates, OZ HRC Point to O point from CCD center, OY HRC Direction and OY OTA Direction is consistent, OX HRC The direction is determined by the right hand rule.
In the above-mentioned on-orbit calibration method for geometric parameters of a space camera, in the third step, the two-dimensional vector expression v A1 The method comprises the following steps:
two-dimensional vector expression v B1 The method comprises the following steps:
for v A1 And v B1 The correction method comprises the following steps:
v′ A1 ＝M A1 ·v A1
v′ B1 ＝M B1 ·v B1
wherein M is A1 Is the first correction coefficient;
wherein θ m1 For X in the first detector coordinate system m1 With O 'X' OTA Z OTA A corner of the plane;
M B1 is the second correction coefficient;
wherein θ m2 For X in the second detector coordinate system m2 With O 'X' OTA Z OTA A 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 three-dimensional vectors v A1 And a three-dimensional vector v B1 The method of (1) is as follows:
wherein x is c1 Centered on coordinate system A0X for the first receiving detector M1 m1 Y m1 The abscissa of (2);
y c1 centered on coordinate system A0X for the first receiving detector M1 m1 Y m1 The ordinate of (a);
F OTA a camera focal length;
x c2 centered on coordinate system A0X for the second receiving detector M2 m2 Y m2 The abscissa of (2);
y c2 centered on coordinate system A0X for the second receiving detector M2 m2 Y m2 Is shown on the ordinate of (c).
In the above-mentioned method for calibrating geometric parameters of a space camera on-orbit, in the fifth step, the first rotation matrix M 0 The establishment method of (1) comprises the following steps:
in the above-mentioned on-orbit calibration method for geometric parameters of a space camera, in the sixth step, the matrix M is rotated Rot The calculation method of (1) is as follows:
in the above-mentioned method for calibrating geometric parameters of a space camera on-orbit, in the seventh step, the camera coordinate system OX HRC Y HRC Z HRC Respectively around X HRC ,Y HRC ,Z HRC Rotation angle of triaxialThe calculation method of (1) is as follows:
in the above-mentioned method for calibrating geometric parameters of a space camera on-orbit, in the eighth step, the focal length change delta after the rotation of the camera F The calculation method of (1) is as follows:
in the formula v A2 (2) Is vector v A2 Is the 2 nd element of (2);
v″ A1 (2) Is vector v A1 Is the 2 nd element of (2);
v″ B2 (2) Is vector v B2 Is the 2 nd element of (2);
v″ B1 (2) Is vector v B1 Is the 2 nd element of (2);
kf is a focal length correction coefficient.
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, provided by the invention, the change of the geometric parameters of the space 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 full light path transmission and double vector attitude determination principle, has high measurement precision, and is favorable for realizing the geometric parameter calibration of the camera in the sub-angle second level;
(3) The invention has simple implementation process and is beneficial to improving the absolute positioning precision of the remote sensing camera, especially the mapping camera.
Drawings
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 below with reference to examples.
The invention provides a method for on-orbit calibration of geometric parameters of a space camera, which ensures that the geometric parameters of the multi-camera can be monitored in real time with high precision during on-orbit operation. The invention aims at realizing the following technical scheme:
1) Placing two laser light sources at two ends of a focal plane of the camera, enabling the laser light sources to pass through the whole optical system and then return to a receiving detector on the focal plane through an auto-collimation reflecting surface, and receiving the formed two light spots by the detector, thereby establishing a simplified mathematical model for calibrating geometric parameters of the camera;
2) Calculating the centroid positions of the two laser spots in the step 1) through a centroid extraction algorithm, and taking the centroid positions as initial values;
3) When the visual axis of the on-orbit forced thermal environment of the camera deflects relative to the self-collimating reflecting surface, the laser emitted in the step 1) deflects when passing through the self-collimating surface, and then the position on the receiving detector also deflects;
4) Step 2) calculation is carried out again, and new centroid positions of the two laser spots are obtained;
5) And (3) calculating deflection of the camera visual axis relative to the self-alignment plane according to the light spot positions recorded in the step (2) and the step (4) and the double-vector attitude determination principle, so as to obtain a high-precision geometric parameter calibration value in real time.
The steps are further detailed, and specific setting details in the steps are described in detail below:
step one, when a camera is selected, the invention selects a large-caliber long linear array camera. When selecting a receiving detector, the receiving detector generally selects a large area array CMOS detector. Horizontally placing a camera, and arranging a first receiving detector M1, a second receiving detector M2 and a CCD linear array on a focal plane of the camera; the CCD linear array is vertically arranged; 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 an irradiation light spot of the first laser light source on the first receiving detector M1 is A1; the second receiving detector M2 is randomly provided with a second laser light source, and the irradiation light 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.
In the process of converting the laser light spot into the final geometric parameters of the camera, frequent coordinate conversion is involved, so that a coordinate system for mutual conversion needs to be established, and a conversion design between the coordinate systems is performed at the back, specifically: establishing a coordinate system O ' X ' of the lens image side ' OTA Y′ OTA Z OTA Object space coordinates of cameraSeries OX OTA Y OTA Z OTA And camera coordinate system OX HRC Y HRC Z HRC The method comprises the steps of carrying out a first treatment on the surface of the Lens image side coordinate system O 'X' OTA Y′ OTA Z OTA The establishment method of (1) comprises the following steps:
the point O' is the intersection point of the optical axis of the camera and the focal plane of the camera; o ' is the origin of coordinates, O ' X ' OTA The direction points to the centers of the positions of the first receiving detector M1 and the second receiving detector M2 from the origin O'; o' Z OTA Is the direction of the optical axis; o 'Y' OTA The direction is determined by the right hand rule;
camera object coordinate system OX OTA Y OTA Z OTA The establishment method of (1) comprises the following steps:
the point O is the mass center of the camera; o is the origin of coordinates, OX OTA Direction and O 'X' OTA The directions are opposite; OY OTA Direction and OY' OTA The directions are opposite; OZ OTA The direction is determined by the right hand rule;
camera coordinate system OX HRC Y HRC Z HRC The establishment method of (1) comprises the following steps:
o point is the origin of coordinates, OZ HRC Point to O point from CCD center, OY HRC Direction and OY OTA Direction is consistent, OX HRC The direction is determined by the right hand rule.
Step three, the initial coordinates of the 2 receiving detectors M1 and M2 are selected at this time as the reference for the subsequent conversion, and the invention selects the coordinates of 2 light spots as the initial reference coordinates, that is, the measuring light spot A1 is in the lens image side coordinate system O 'X' OTA Y′ OTA Z OTA The lower coordinates A1 (x 01 ,y 01 ) It is rewritten as a two-dimensional vector expression v A1 The method comprises the steps of carrying out a first treatment on the surface of the The measuring light spot B1 is arranged in a lens image space coordinate system O 'X' OTA Y′ OTA Z OTA The lower coordinate B1 (x 02 ,y 02 ) It is rewritten as a two-dimensional vector expression v B1 ；
A 0 (x c1 ,y c1 )，B 0 (x c2 ,y c2 ) The center points of the M1 and M2 detectors, respectively, whose coordinates (x c1 ,y c1 )，(x c2 ,y c2 ) Taking the value under the object coordinate system of the lens, y c1 ＝L c1 ，y c2 ＝-L c2 The method comprises the steps of carrying out a first treatment on the surface of the Wherein L is c1 ，L c2 The centers of the detectors M1 and M2 are respectively from O 'X' OTA Distance on the axis;
for v A1 And v B1 Correcting to obtain a corrected two-dimensional vector v' A1 ，v′ B1 The method comprises the steps of carrying out a first treatment on the surface of the Two-dimensional vector expression v A1 The method comprises the following steps:
two-dimensional vector expression v B1 The method comprises the following steps:
for v A1 And v B1 The correction method comprises the following steps:
v′ A1 ＝M A1 ·v A1
v′ B1 ＝M B1 ·v B1
wherein M is A1 Is the first correction coefficient;
wherein θ m1 For X in the first detector coordinate system m1 With O 'X' OTA Z OTA A corner of the plane;
M B1 is the second correction coefficient;
wherein θ m2 For X in the second detector coordinate system m2 With O 'X' OTA Z OTA A corner of the plane;
namely:
θ m1 ,θ m2 m1 and M2 detector coordinate systems X m1 ,X m2 With O 'X' OTA Z OTA The angle of rotation of the plane, which is generally small, is almost impossible to achieve with two detectors absolutely parallel to O ' X ' mainly considering the deviations in process implementation ' OTA Z OTA A plane.
The vectors in the fourth step and the third step are two-dimensional vectors, and when the subsequent coordinate system is converted, the three-dimensional vectors are required to be subjected to the same-dimensional conversion, so that the two-dimensional vectors v' A1 Converted into a three-dimensional vector v A1 The method comprises the steps of carrying out a first treatment on the surface of the The two-dimensional vector v' B1 Converted into a three-dimensional vector v B1 The method comprises the steps of carrying out a first treatment on the surface of the Converted into a three-dimensional vector v A1 And a three-dimensional vector v B1 The method of (1) is as follows:
wherein x is c1 Centered on coordinate system A0X for the first receiving detector M1 m1 Y m1 The abscissa of (2);
y c1 centered on coordinate system A0X for the first receiving detector M1 m1 Y m1 The ordinate of (a);
F OTA a camera focal length;
x c2 centered on coordinate system A0X for the second receiving detector M2 m2 Y m2 The abscissa of (2);
y c2 centered on coordinate system A0X for the second receiving detector M2 m2 Y m2 Is shown on the ordinate of (c).
Step five, establishing the initial camera to be in a rotating stateThe conversion matrix specifically comprises: according to three-dimensional vectorsEstablishing a camera at OX OTA Y OTA Z OTA First rotation matrix M in coordinate system 0 The method comprises the steps of carrying out a first treatment on the surface of the First rotation matrix M 0 The establishment method of (1) comprises the following steps:
step six, the camera is required to rotate before calibration, and a camera coordinate system OX is adopted HRC Y HRC Z HRC Around Y HRC Rotate, X HRC Axis and Z HRC The shafts are rotated by omega angles; the irradiation spot of the first laser light source on the first receiving detector M1 becomes A2; the irradiation light spot of the second laser light source on the second receiving detector M2 is B2; repeating the third to fifth steps, and establishing the camera corresponding to the light spot A2 and the light spot B2 at the OX OTA Y OTA Z OTA Second rotation matrix M in coordinate system t The method comprises the steps of carrying out a first treatment on the surface of the Second rotation matrix M t The specific method of (a) is that the datum point in the step three is changed into
The measuring light spot A2 is arranged in a lens image space coordinate system O 'X' OTA Y′ OTA Z OTA The lower coordinates are rewritten into a two-dimensional vector expression; the measuring light spot B2 is arranged in a lens image space coordinate system O 'X' OTA Y′ OTA Z OTA The lower coordinates are rewritten 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 from three-dimensional vectors OTA Y OTA Z OTA Second rotation matrix M in coordinate system t 。
According to a first rotation matrix M 0 And a second rotation matrix M t Calculating a rotation matrix M Rot The method comprises the steps of carrying out a first treatment on the surface of the Rotation matrix M Rot The calculation method of (1) is as follows:
the number of the geometric calibration parameter indexes of the camera is mainly 2, and the geometric calibration parameter indexes are respectively a camera coordinate system OX HRC Y HRC Z HRC Respectively around X HRC ,Y HRC ,Z HRC Rotation angle of triaxialAnd the focal length change delta after camera rotation F . These two parameters are thus calculated.
Step seven, calculating a camera coordinate system OX HRC Y HRC Z HRC Respectively around X HRC ,Y HRC ,Z HRC Rotation angle of triaxialCamera coordinate system OX HRC Y HRC Z HRC Respectively around X HRC ,Y HRC ,Z HRC Three-axis rotation angle->The calculation method of (1) is as follows:
step eight, calculating the focal length change delta after the camera rotates F The method comprises the steps of carrying out a first treatment on the surface of the Focal length change delta after camera rotation F The calculation method of (1) is as follows:
in the formula v A2 (2) Is vector v A2 Is the 2 nd element of (2);
v″ A1 (2) Is vector v A1 Is the 2 nd element of (2);
v″ B2 (2) Is vector v B2 Is the 2 nd element of (2);
v″ B1 (2)is vector v B1 Is the 2 nd element of (2);
kf is a focal length correction coefficient.
Step nine, according to the rotation angle obtained in step sevenCalibrating a rotation angle of the camera around the 3-axis rotation; according to the focal length change delta obtained in the step eight F And (5) calibrating the focal length.
According to the invention, the transmitting and receiving devices are arranged on the focal plane of the camera, so that the geometrical parameter change of the camera can be measured in real time; the full-optical-path transmission and double-vector attitude determination principle is adopted, so that the measurement accuracy is high, and the sub-angular second camera geometric parameter calibration is facilitated; the implementation process is simple, and the absolute positioning precision of the remote sensing camera, especially the mapping camera, is improved
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
Claims (2)
1. An on-orbit calibration method for geometric parameters of a space camera is characterized by comprising the following steps of: the method comprises the following steps:
the method comprises the 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 arranged; 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 an irradiation light 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 light 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' OTA Y′ OTA Z OTA Object coordinate system OX of camera OTA Y OTA Z OTA And camera coordinate system OX HRC Y HRC Z HRC ；
Step three, measuring the light spot A1 in a lens image space coordinate system O 'X' OTA Y′ OTA Z OTA The lower coordinates A1 (x 01 ,y 01 ) It is rewritten as a two-dimensional vector expression v A1 The method comprises the steps of carrying out a first treatment on the surface of the The measuring light spot A2 is arranged in a lens image space coordinate system O 'X' OTA Y′ OTA Z OTA The lower coordinate B1 (x 02 ,y 02 ) It is rewritten as a two-dimensional vector expression v B1 The method comprises the steps of carrying out a first treatment on the surface of the For v A1 And v B1 Correcting to obtain a corrected two-dimensional vector v' A1 ，v′ B1 ；
Step four, the two-dimensional vector v' A1 Converted into a three-dimensional vector v A1 The method comprises the steps of carrying out a first treatment on the surface of the The two-dimensional vector v' B1 Converted into a three-dimensional vector v B1 ；
Step five, according to the three-dimensional vectorEstablishing a camera at OX OTA Y OTA Z OTA First rotation matrix M in coordinate system 0 ；
Step six, camera coordinate system OX HRC Y HRC Z HRC Around Y HRC Rotate, X HRC Axis and Z HRC The shafts are rotated by omega angles; the irradiation spot of the first laser light source on the first receiving detector M1 becomes A2; the irradiation light spot of the second laser light source on the second receiving detector M2 is B2; repeating the third to fifth steps, and establishing the camera corresponding to the light spot A2 and the light spot B2 at the OX OTA Y OTA Z OTA Second rotation matrix M in coordinate system t The method comprises the steps of carrying out a first treatment on the surface of the According to a first rotation matrix M 0 And a second rotation matrix M t Calculating a rotation matrix M Rot ；
Step seven, calculating a camera coordinate system OX HRC Y HRC Z HRC Respectively around X HRC ,Y HRC ,Z HRC Rotation angle of triaxial
Step eight, calculating the focal length change delta after the camera rotates F ；
Step nine, according to the rotation angle obtained in step sevenCalibrating a rotation angle of the camera around the 3-axis rotation; according to the focal length change delta obtained in the step eight F Performing focal length calibration;
in the second step, the first step is performed,
lens image side coordinate system O 'X' OTA Y′ OTA Z OTA The establishment method of (1) comprises the following steps:
the point O' is the intersection point of the optical axis of the camera and the focal plane of the camera; o ' is the origin of coordinates, O ' X ' OTA The direction points to the centers of the positions of the first receiving detector M1 and the second receiving detector M2 from the origin O'; o' Z OTA Is the direction of the optical axis; o 'Y' OTA The direction is determined by the right hand rule;
camera object coordinate system OX OTA Y OTA Z OTA The establishment method of (1) comprises the following steps:
the point O is the mass center of the camera; o is the origin of coordinates, OX OTA Direction and O 'X' OTA The directions are opposite; OY OTA Direction and OY' OTA The directions are opposite; OZ OTA The direction is determined by the right hand rule;
camera coordinate system OX HRC Y HRC Z HRC The establishment method of (1) comprises the following steps:
o point is the origin of coordinates, OZ HRC Point to O point from CCD center, OY HRC Direction and OY OTA Direction is consistent, OX HRC The direction is determined by the right hand rule;
in the third step, the two-dimensional vector expression v A1 The method comprises the following steps:
two-dimensional vector expression v B1 The method comprises the following steps:
for v A1 And v B1 The correction method comprises the following steps:
v′ A1 ＝M A1 ·v A1
v′ B1 ＝M B1 ·v B1
wherein M is A1 Is the first correction coefficient;
wherein θ m1 For X in the first detector coordinate system m1 With O 'X' OTA Z OTA A corner of the plane;
M B1 is the second correction coefficient;
wherein θ m2 For X in the second detector coordinate system m2 With O 'X' OTA Z OTA A corner of the plane;
namely:
in the fourth step, the three-dimensional vector v' is converted into A1 And a three-dimensional vector v B1 The method of (1) is as follows:
wherein x is c1 Centered on coordinate system A0X for the first receiving detector M1 m1 Y m1 The abscissa of (2);
y c1 centered on coordinate system A0X for the first receiving detector M1 m1 Y m1 The ordinate of (a);
F OTA a camera focal length;
x c2 centered on coordinate system A0X for the second receiving detector M2 m2 Y m2 The abscissa of (2);
y c2 centered on coordinate system A0X for the second receiving detector M2 m2 Y m2 The ordinate of (a);
in the sixth step, the matrix M is rotated Rot The calculation method of (1) is as follows:
in the seventh step, the camera coordinate system OX HRC Y HRC Z HRC Respectively around X HRC ,Y HRC ,Z HRC Rotation angle of triaxialThe calculation method of (1) is as follows:
in the eighth step, the focal length change delta after the rotation of the camera F The calculation method of (1) is as follows:
in the formula v A2 (2) Is vector v A2 Is the 2 nd element of (2);
v″ A1 (2) Is vector v A1 Is the 2 nd element of (2);
v″ B2 (2) Is vector v B2 Is the 2 nd element of (2);
v″ B1 (2) Is vector v B1 Is the 2 nd element of (2);
kf is a focal length correction coefficient.
2. The on-orbit calibration method for geometric parameters of a space camera according to claim 1, wherein the method comprises the following steps: in the fifth step, a first rotation matrix M 0 The establishment method of (1) comprises the following steps:
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