CN114755743A - Point source reference target high-precision automatic calibration method - Google Patents
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Abstract
The invention provides an automatic point source reference target elevation precision calibration method, and relates to the field of optical remote sensing satellite on-orbit field calibration point source reference targets. The invention discloses a high-precision automatic calibration method for a point source reference target, which comprises the following steps: observing the sun vector by using a camera observation method; rotating the central optical axis of the reflector to the direction consistent with the sun vector in a pointing manner, and establishing a rotation transformation relation between an image plane of a camera observation image space coordinate system and an object plane of a local coordinate system; according to the coordinate rotation transformation relation, utilizing rotation angle readings of a pitching encoder and an azimuth encoder, the coordinates of the center of mass of the sun image and the parameters of the sun position at different times and different positions obtained by combining an astronomical algorithm; a multi-point observation equation is established, and a solution algorithm resolving model is optimized according to the principle of a least square method; the high-precision point source reference target tracking system is high in pointing accuracy based on the networked remote control capability, and the purposes of high-frequency and high-efficiency on-orbit radiation calibration and MTF detection of the high-spatial-resolution satellite are achieved.
Description
Technical Field
The invention relates to the technical field of calibrating a point source reference target in an orbit field of an optical remote sensing satellite, in particular to a point source reference target high-precision automatic calibration method.
Background
Remote sensing is that a detector is used for recording the electromagnetic wave characteristics of a target, the electromagnetic wave characteristics become available effective information through the quantitative processing of remote sensing information, and the on-orbit radiation scaling is one of the key technologies for the quantitative application of the remote sensing information along with the deep development of the remote sensing quantitative application technology. The point light source is arranged in a radiation calibration field according to the target, and the pointing accuracy can be improved only by geometric calibration of the point light source, so that the point light source can be applied to the radiation calibration, MTF detection and other experiments. In order to realize the on-orbit absolute radiometric calibration of the full dynamic range, ensure that the reflected light spot is incident to the entrance pupil of the satellite, meet different energy level requirements of a remote sensor and realize the on-orbit radiometric calibration and MTF detection, under the condition of reducing the divergence angle and curvature radius of the reflecting convex mirror, higher requirements are provided for the pointing accuracy of the reflective point light source, and the point light source reference target high-accuracy calibration is the basis and the premise for ensuring high-accuracy pointing. Aiming at a high-resolution satellite which is rapidly developed in recent years, a reflection type point light source uses light weight miniaturization and excellent optical characteristics as a detection reference target so as to realize the on-orbit absolute radiometric calibration of a high-resolution optical remote sensing satellite sensor with multi-space resolution, which has high precision, high frequency, business and full dynamic range, while the reflection type point light source adopting a convex mirror analyzes and estimates the value according to the divergence angle of 0.53 degrees of sunlight and geometric optical tracking, so that the reflection light spot received by the optical satellite sensor is only a very small area on the mirror surface and is generally in the centimeter magnitude, and meanwhile, the reflection sunlight by adopting the convex mirror can disperse the reflection light spot so as to reduce the energy efficiency of the reflection light spot entering a remote sensor, therefore, the on-orbit absolute radiometric calibration in the full dynamic range is realized, the reflection light spot is ensured to be incident to the entrance pupil of the satellite, the different energy level requirements of the remote sensor are met, and the on-orbit detection and the radiometric calibration are realized, under the condition of reducing the design of the divergence angle and the curvature radius of the reflecting convex mirror, higher requirements are put forward on the pointing accuracy of the reflecting point light source, the solar light beam incident to the convex mirror is ensured to be reflected to the entrance pupil of the high-resolution optical remote sensing satellite, and meanwhile, the volume and the weight of the reflecting mirror can be reduced, so that the improvement of the pointing accuracy of the system has important engineering practice significance, and then, a point light source reference target high-accuracy calibration model is established, the inherent arrangement error of the system is solved, and the great significance is realized for the improvement of the pointing accuracy of the system.
In an IGTF report, foreign Raytheon Space and Airborne Systems Stephen J.Schiller et al 2016 mentioned application of a reflector array based radiometric calibration method to Landsat Sensors, a convex mirror with a curvature radius of 10m and a diameter of 18 inches is used to obtain a large reflection spot, a large ground sampling interval of Landsat is met, and reflection of the reflection spot to a satellite entrance pupil is guaranteed, but the size and weight of the convex mirror are large, so that the development of an outfield test is inconvenient. The large reflector is used as a reflection type point source in the same manner in the safety light institute of Chinese academy of sciences in China, the reflector adopts a plane mirror, the in-orbit calibration detection of the medium and high orbit satellite is realized, and the pointing accuracy is superior to 0.1 degree.
Aiming at the problems, the method mainly solves the inherent geometric error of the system and improves the pointing accuracy of the system by high-precision calibration modeling of a point light source reference target, adopts a convex mirror with a smaller curvature radius as a reflective point source, reduces the volume and weight of the mirror, is convenient for engineering practice and application popularization, and realizes the on-orbit MTF detection and absolute radiometric calibration of polar orbit satellites.
The prior art can not establish a high-precision automatic calibration model aiming at a convex mirror, and is difficult to meet the requirements of high precision, high frequency and business of the prior high-resolution satellite. Therefore, on the basis of developing a point light source reference target tracking system, the invention provides an automatic calibration modeling method aiming at a point source reference target, establishes a high-precision automatic geometric calibration model, realizes the high precision pointed by the point source reference target tracking system based on the networking remote control capability, and realizes the purposes of high-frequency and high-efficiency on-orbit radiation calibration and MTF detection of a satellite with high spatial resolution.
Disclosure of Invention
Technical problem to be solved
Aiming at the defects of the prior art, the invention provides a point source reference target high-precision automatic calibration method, which achieves the high precision pointed by a point source reference target tracking system based on the networking remote control capability, and achieves the purposes of high-frequency and high-efficiency on-orbit radiation calibration and MTF detection of a satellite with high spatial resolution.
(II) technical scheme
In order to achieve the purpose, the invention is realized by the following technical scheme: a point source reference target high-precision automatic calibration method comprises the following steps:
observing the sun vector by using a camera observation method;
rotating the central optical axis of the reflector to the direction consistent with the sun vector in a pointing manner, and establishing a rotation transformation relation between an image plane of a camera observation image space coordinate system and an object plane of a local coordinate system;
according to the coordinate rotation transformation relation, utilizing rotation angle readings of a pitching encoder and an azimuth encoder, the coordinates of the center of mass of the sun image and the parameters of the sun position at different times and different positions obtained by combining an astronomical algorithm;
a multi-point observation equation is established, and a solution algorithm resolving model is optimized according to the principle of least square method;
geometric calibration is carried out on the equipment, the initial positions of the azimuth encoder and the pitch encoder are determined, the position is used as a reference point, the reflector automatically reflects incident solar rays, and alignment of the reflected rays of the reflector and a satellite light path is achieved.
Preferably, the sun vectorCamS is expressed as:
CamS＝[x-x0 y-y0 f]
wherein x and y are coordinate values of the centroid of the sun image at a certain moment in the pixel coordinate system, and x0,y0Is the coordinate of the principal point of the camera, and f is the focal length.
Preferably, the establishing of the rotation transformation relationship between the image plane of the camera observation image space coordinate system and the object plane of the local coordinate system specifically comprises:
left-hand rotation matrix of camera coordinate system
Transforming to reflector coordinate system, and establishing vector in reflector coordinate system
Sun vector left-multiplication rotation matrix under reflector coordinate system
Changing to pitchIn an axis coordinate system, the sun vector in a pitch axis coordinate system is expressed as
Left-handed pitch axis to azimuth axis rotation matrix
Converting the sun vector into an azimuth axis coordinate system, and expressing the sun vector as
Transformation from left-hand orientation coordinate system to local coordinate system rotation matrix
Transforming the sun vector into a local coordinate system, and expressing the sun vector in the local coordinate system as
And establishing a basic calibration model of the point source reference target through the transformation, and establishing a relation between a camera coordinate system and a local coordinate system.
Preferably, the camera placement error matrix comprises a levelness error matrix
Perpendicularity error matrix
Camera position error matrix
Establishing a high-precision calibration model
Preferably, in the automatic calibration process of the system by using the camera,on the basis of a high-precision calibration model, a checkerboard calibration camera result is considered at the same time, and a lens distortion correction term 1+ k is added1[(xi-x0)2+(yi-y0)2]Correcting the lens radial distortion error by adopting the first term approximation of Taylor series expansion to obtain a high-precision automatic geometric error calibration model added with a camera distortion correction term, which is expressed as
(III) advantageous effects
The invention provides a point source reference target high-precision automatic calibration method, which achieves high precision pointed by a point source reference target tracking system based on networked remote control capability, and achieves the purposes of high-frequency and high-efficiency on-orbit radiation calibration and MTF detection of a satellite with high spatial resolution.
Drawings
FIG. 1 is a flow chart of a high-precision automatic calibration method for a point source reference target according to the present invention;
FIG. 2 is a flow chart of a point source reference target calibration model calculation method of the invention;
FIG. 3 is a diagram of the solution and validation relationship of the model of the present invention;
FIG. 4 is a diagram of a theoretical verification method of the calibration model of the present invention;
FIG. 5 is a flow chart of experimental verification of the calibration model of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Examples
As shown in fig. 1, an embodiment of the present invention provides an automatic calibration method for high precision of a point source reference target, including:
observing the sun vector by using a camera observation method;
rotating the central optical axis of the reflector to the direction consistent with the sun vector, and establishing a rotation transformation relation between an image plane of a coordinate system of a camera observation image space and an object plane of a local coordinate system;
according to the coordinate rotation transformation relation, utilizing rotation angle readings of a pitching encoder and an azimuth encoder, the coordinates of the center of mass of the sun image and the parameters of the sun position at different times and different positions obtained by combining an astronomical algorithm;
a multi-point observation equation is established, and a solution algorithm resolving model is optimized according to the principle of a least square method;
geometric calibration is carried out on the equipment, the initial positions of the azimuth encoder and the pitch encoder are determined, the position is used as a reference point, the reflector automatically finishes reflection of incident solar rays, and alignment of reflected rays of the reflector and a satellite light path is realized.
Preferably, the sun vectorCamS is expressed as:
CamS＝[x-x0 y-y0 f]
wherein x and y are coordinate values of the centroid of the sun image at a certain moment in the pixel coordinate system, and x0,y0Is the coordinate of the principal point of the camera, and f is the focal length.
Preferably, the establishing of the rotation transformation relationship between the image plane of the camera observation image space coordinate system and the object plane of the local coordinate system specifically comprises:
left-hand rotation matrix of camera coordinate system
Transforming to reflector coordinate system, and establishing vector in reflector coordinate system
Sun vector left-multiplication rotation matrix under reflector coordinate system
Transforming to a pitching axis coordinate system, and expressing the sun vector in the pitching axis coordinate system as
Left-handed pitch axis to azimuth axis rotation matrix
Converting the sun vector into an azimuth axis coordinate system, and expressing the sun vector as
Rotation matrix for transforming left-hand azimuth coordinate system to local coordinate system
Transforming the sun vector into a local coordinate system, and expressing the sun vector in the local coordinate system as
And establishing a basic calibration model of the point source reference target through the transformation, and establishing a relation between a camera coordinate system and a local coordinate system.
Preferably, the camera placement error matrix comprises a levelness error matrix
Perpendicularity error matrix
Camera position error matrix
Establishing a high-precision calibration model
Preferably, the system is automated using a cameraIn the calibration process, the camera calibration result is calibrated by using the checkerboard on the basis of a high-precision calibration model, and a lens distortion correction term 1+ k is added1[(xi-x0)2+(yi-y0)2]Correcting the lens radial distortion error by adopting the first term approximation of Taylor series expansion to obtain a high-precision automatic geometric error calibration model added with a camera distortion correction term, which is expressed as
By constructing a high-precision automatic calibration model, the relationship between a camera coordinate system and a local coordinate system is established, therefore, any vector under the image space system can be converted into a local coordinate system through a coordinate rotation transformation relation, the sun vector represented reflector central optical axis vector observed by a camera is realized, the high-precision calibration of a point source reference target under the local coordinate system is realized, the comprehensive pointing precision of a point source reference target system is improved, the defects that the modeling of a point source reference target system which uses a convex mirror as a reflection type point source is not complete and the pointing precision is limited to be further improved are overcome, and the phenomenon that the quantity of reflection light spots in high altitude is low caused by the divergence angle of sunlight and the divergence characteristic of the convex mirror is further overcome, therefore, the convex mirror with small volume and light weight can be conveniently carried by the system, and engineering realization and application and popularization are facilitated. Meanwhile, the influence of artificial error factors existing in the normal direction of the reflector calibrated manually is overcome, the normal calibration precision of the reflector and the comprehensive pointing precision of a system are further improved, the point source reference target array normal direction automatic calibration of the sun observed by a camera instead of manually observing the sun by means of a sun observer is realized, the problem of the point source reference target array reflector normal direction automatic calibration of different energy level gradients in the fixed calibration field in a remote networked centralized control mode can be solved, and a solid foundation is laid for realizing high-precision, high-frequency, business and full-dynamic-range on-orbit MTF detection and on-orbit absolute radiometric calibration of a high-resolution optical remote sensing satellite sensor with multiple spatial resolutions.
As shown in fig. 2-5
From a reference target high-precision calibration model, a solution model is a multivariable model parameter solution problem, the number of observation equations is increased through multi-point observation, the solution is optimized by adopting a least square method principle, and the specific solution algorithm process of the model is shown in fig. 2:
the first step of model initial value setting, setting the geometric parameter initial value to be checked and corrected, including levelness bias error mu0V, a verticality offset error0Deviation error omega of verticality of pitching rotating shaft and azimuth rotating shaft0Setting verticality offset error gamma of camera0The initial values are all assigned to be 0,
and the second step of model linearization Taylor first-order expansion processing to establish an error equation.
The third step is to establish a multi-point observation equation,
with L ═ Ax0Wherein L is1A matrix of subtraction of the calculated parameters for the sun observation parameters at time 1, LnA matrix obtained by subtracting the calculation parameters from the sun observation parameters at the nth time, A1Expanding the partial derivative matrix of each variable for Taylor's formula at the 1 st moment, AnFor the partial derivative matrix, x, of variables at the Taylor expansion point at the nth time0Subtracting the Taylor spread point value from the parameter to be solved
The fourth step of regularization processing is carried out to solve the model, and x is obtained through inversion0＝(ATA)-1ATL。
The fifth step is to judge x0And (3) whether the requirement on the solving precision is reached to 0.00001, if so, ending the solving, and if not, entering a sixth step to update the expansion point value, and solving again until the precision meets the requirement, and ending the iterative solving.
After the model shown in fig. 2 is solved, whether the calculation result is correct or not needs to verify the correctness of the model in turn, and fig. 2 shows the relation between the calculation and the verification of the model.
After the model is specifically solved, the model needs to be verified, and a verification algorithm of the model is shown in fig. 3: verification algorithm based on mirror normalPointing to the sun, and verifying by utilizing the sun vector relation among different coordinate systems. Firstly, forward verification is carried out, and the reflector coordinate system is
And substituting the model for calculation, wherein the calculation result is the same as the unit vector representation of the sun in the local coordinate system. Secondly, performing reverse verification, substituting the vector representation of the sun in the local coordinate system into the model under the local coordinate system to reversely calculate the vector representation of the sun in the reflector coordinate system, wherein the calculated central optical axis vectors of the reflector in the reflector coordinate system are the same as each other
Therefore, the calculation result is the same as the prediction, thereby verifying the correctness of the coordinate conversion relationship between the mirror coordinate system and the local coordinate system.
After theoretical verification of the calibration model, the part further provides powerful experimental verification data support for feasibility and correctness of model establishment from the perspective of experimental verification, and the feasibility and correctness of the calibrated model are verified from the following aspects respectively. FIG. 3 shows the experimental verification process of the present invention. Collecting first experiment data; secondly, performing reliability linear fitting analysis on the experimental data by adopting a method combining a statistical method and a comparison method; thirdly, optimizing and solving the model by using a least square principle; fourthly, verifying by using an inverse solution target value method and a sun image centroid comparison method; and analyzing a fifth result.
The inverse solution target value algorithm is used for calculating unknown parameters for the model, and then the unknown parameters are used as known parameters of the model to participate in the process of calculating and solving the expected target position parameters of the system. The inverse model solving process provides a method for verifying whether the error result of the model solving system is correct or not. According to the high-precision geometric calibration model, the normal vector of the reflector points to the sun, so that the principal point of the sun camera coincides with the image centroid coordinate, namely xi＝x0，yi＝y0So there is a model left term equal to zero; the denominator term of the right term of the model is not 0, namely Xic1+Yic2+Zic3Not equal to 0, so there is formula
And if yes, solving the encoder azimuth, pitching alpha and beta values when the normal lines of the reflectors at different positions point to the sun at different moments by adopting a least square method according to the formula. Order to
Then is made by
And solving the alpha and beta values meeting the precision requirement, and further driving pitching and azimuth rotation to the target position according to the solved target value to acquire the solar image for verification.
An optimized model calculation algorithm is adopted to establish a multi-point observation equation, and the method comprises the steps of iterative solution in a circulating mode, calculation of geometric error parameters of the model and establishment of a foundation for realizing automatic calibration of a point source reference target. And (3) verifying the correctness of the model: and a mode of combining theoretical verification and experimental verification is adopted, so that the actual operability of model establishment is reliably guaranteed. The improved inverse solution target value algorithm is adopted, and the inverse solution model is used for resolving the target value, so that the complexity of the inverse solution model is greatly simplified.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Claims (5)
1. The point source reference target high-precision automatic calibration method is characterized by comprising the following steps of:
observing the sun vector by using a camera observation method;
rotating the central optical axis of the reflector to the direction consistent with the sun vector in a pointing manner, and establishing a rotation transformation relation between an image plane of a camera observation image space coordinate system and an object plane of a local coordinate system;
according to the coordinate rotation transformation relation, utilizing rotation angle readings of a pitching encoder and an azimuth encoder, the coordinates of the center of mass of the sun image and the parameters of the sun position at different times and different positions obtained by combining an astronomical algorithm;
a multi-point observation equation is established, and a solution algorithm resolving model is optimized according to the principle of a least square method;
geometric calibration is carried out on the equipment, the initial positions of the azimuth encoder and the pitch encoder are determined, the position is used as a reference point, the reflector automatically reflects incident solar rays, and alignment of the reflected rays of the reflector and a satellite light path is achieved.
2. The method for high-precision automatic calibration of a point source reference target according to claim 1, wherein: the sun vectorCamS is expressed as:
CamS＝[x-x0 y-y0 f]
wherein x and y are coordinate values of the centroid of the sun image at a certain moment in the pixel coordinate system, and x0,y0Is the camera principal point coordinate, and f is the focal length.
3. The method for automatically calibrating the high precision of the point source reference target according to claim 2, wherein the method comprises the following steps: the method for establishing the rotation transformation relation between the image plane of the camera observation image space coordinate system and the object plane of the local coordinate system specifically comprises the following steps:
left-hand rotation matrix of camera coordinate system
Transforming to reflector coordinate system, and establishing vector in reflector coordinate system
Sun vector left-multiplication rotation matrix under reflector coordinate system
Transforming to a pitching axis coordinate system, and expressing the sun vector in the pitching axis coordinate system as
Left-handed pitch axis to azimuth axis rotation matrix
Converting the sun vector into an azimuth axis coordinate system, and expressing the sun vector as
Rotation matrix for transforming left-hand azimuth coordinate system to local coordinate system
Transforming the sun vector into a local coordinate system, wherein the sun vector in the local coordinate system is expressed as
And establishing a basic calibration model of the point source reference target through the transformation, and establishing a relation between a camera coordinate system and a local coordinate system.
4. The method for automatically calibrating the high precision of the point source reference target according to claim 3, wherein the method comprises the following steps: the camera placement error matrix includes a levelness error matrix
Perpendicularity error matrix
Camera position error matrix
Establishing a high-precision calibration model
5. The method for high-precision automatic calibration of a point source reference target according to claim 4, wherein: in the process of automatically calibrating the system by using the camera, the camera calibration result by using the checkerboard is simultaneously considered on the basis of a high-precision calibration model, and a lens distortion correction term 1+ k is added1[(xi-x0)2+(yi-y0)2]Correcting the lens radial distortion error by adopting the first term approximation of Taylor series expansion to obtain a high-precision automatic geometric error calibration model added with a camera distortion correction term, which is expressed as
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| CN116558785A (en) * | 2023-07-10 | 2023-08-08 | 中国科学院合肥物质科学研究院 | Control circuit, control method and optical remote sensing satellite point source calibration system |
| CN116580103A (en) * | 2023-04-07 | 2023-08-11 | 钛玛科（北京）工业科技有限公司 | Lithium battery measurement calibration method and device |
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| 李瑞金: "卫星遥感点光源辐射标校方法与***研究", 万方学位论文数据库, 7 September 2021 (2021-09-07), pages 93 - 121 * |
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| CN116580103A (en) * | 2023-04-07 | 2023-08-11 | 钛玛科（北京）工业科技有限公司 | Lithium battery measurement calibration method and device |
| CN116558785A (en) * | 2023-07-10 | 2023-08-08 | 中国科学院合肥物质科学研究院 | Control circuit, control method and optical remote sensing satellite point source calibration system |
| CN116558785B (en) * | 2023-07-10 | 2023-10-20 | 中国科学院合肥物质科学研究院 | Control circuit, control method and optical remote sensing satellite point source calibration system |
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