CN115014294A - River channel agile imaging method for east-west satellite - Google Patents
River channel agile imaging method for east-west satellite Download PDFInfo
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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Abstract
The invention discloses a river channel agile imaging method of an east-west satellite, which comprises the following steps of obtaining parameter data of a remote sensing satellite and central line vector data of a target river channel, wherein the remote sensing satellite runs on an east-west satellite orbit and is provided with a satellite sensor; decomposing the central line vector data into coordinate data of a plurality of target points; acquiring imaging data of the corresponding target point through a satellite sensor according to the coordinate data of the target point and the parameter data of the remote sensing satellite; and performing mosaic processing on the imaging data of the target point to obtain the imaging data of the target river channel. The imaging data of the target river channel is obtained by matching the satellite sensor with an agile imaging technology, and the satellite sensor is carried on a satellite in an east-west satellite orbit, so that the timeliness of river channel monitoring is improved.
Description
Technical Field
The invention relates to a river channel agility imaging method of an east-west satellite, and belongs to the technical field of river channel optical remote sensing imaging.
Background
The orbit of the global remote sensing satellite is basically designed as a polar orbit satellite orbit, namely the orbit plane of the satellite always keeps a relative angle with the sun and has the advantages of being capable of obtaining global remote sensing image data through a south pole and a north pole. However, for a dynamic high-frequency satellite observation task, a satellite in a polar orbit satellite cannot visit the region in a short time. Due to the interference of natural conditions such as cloud and rain on satellite imaging, the observation period of the satellite on the counterweight region is greatly influenced, and therefore dynamic high-frequency monitoring on the counterweight region is influenced.
Meanwhile, most of the river channels in China are in east-west trend, the polar orbit satellite shoots the remote sensing image along the tracks of south and north poles, the remote sensing image of the whole river channel needs a long period, and the timeliness of acquiring the data of the whole river channel cannot be guaranteed. For example, for a certain east-west river channel, after taking an image of one scene by a polar orbit satellite, the polar orbit satellite needs to rotate around the satellite orbit in the north-south direction for one circle before executing the imaging task of the next scene target river channel. Therefore, the imaging task of the east-west river channel can be completed only by flying around the orbit of the south and north poles for many times, and the high-frequency dynamic observation of the river channel in China cannot be realized.
The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information forms the prior art already known to a person skilled in the art.
Disclosure of Invention
The invention aims to overcome the defects in the prior art and provides a river channel agility imaging method of an east-west satellite.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the invention provides a river agile imaging method for east-west satellites, which comprises the following steps,
acquiring parameter data of a remote sensing satellite and centerline vector data of a target river channel, wherein the remote sensing satellite runs on an east-west satellite orbit and is provided with a satellite sensor;
decomposing the central line vector data into coordinate data of a plurality of target points;
acquiring imaging data of the corresponding target point through a satellite sensor according to the coordinate data of the target point and the parameter data of the remote sensing satellite;
and performing mosaic processing on the imaging data of the target point to obtain the imaging data of the target river channel.
Further, the parameter data of the remote sensing satellite comprises the orbit height of the remote sensing satellite, the coordinate data of the remote sensing satellite and the coordinate data of the satellite point of the remote sensing satellite.
Further, calculating a yaw angle of the satellite sensor according to the coordinate data of the target point and the parameter data of the remote sensing satellite;
wherein the expression of the yaw angle is as follows:
wherein t represents time, α t Representing the roll angle at time t, arctan representing the arctangent function, H t Representing the orbital altitude, d, of the remote sensing satellite at time t t Representing the distance between the satellite-to-satellite point and the target point of the remote sensing satellite at the time t, (x' t ,y′ t ,z′ t ) Coordinate data of points under the satellite (x) representing remote sensing satellite at t moment t ,y t ,z t ) Coordinate data representing the target point at time t.
Further, according to the side swing angle, the satellite sensor is adjusted and corresponding target point imaging data are obtained; the satellite sensor is a sensor with panchromatic wave band and multispectral wave band.
Further, the coordinate data of the remote sensing satellite and the coordinate data of the off-satellite point of the remote sensing satellite are unified into coordinate data in a WGS84 geocentric coordinate system.
Further, the damascene process includes the steps of:
sequentially carrying out geometric correction on the imaging data of the target point to obtain a mosaic line corresponding to the imaging data of the target point;
matching the inlaid lines to obtain preliminary data of a target river channel;
and carrying out light and color homogenizing treatment on the preliminary data to obtain imaging data of the target river channel.
Further, the specific steps of the geometric correction are as follows,
sequentially selecting the imaging data of one target point as reference data and the imaging data of the next target point as correction data to obtain matching points of the reference data and the correction data with similar gray scale values;
and constructing mosaic lines of the imaging data of the target points according to the matching points.
Compared with the prior art, the invention has the following beneficial effects:
according to the river channel agility imaging method of the east-west satellite, provided by the invention, on one hand, the satellite sensors of east-west satellite orbits are utilized, so that the timeliness of satellite monitoring of most river channels in China is improved; on the other hand, by utilizing the agile imaging technology, the observation flexibility of the satellite sensor can be improved in a corresponding time window, and an observation task can be efficiently executed in a single satellite transit period.
Drawings
FIG. 1 is a flow chart of the satellite remote sensing imaging of the present invention.
Fig. 2 is an orbit diagram of an optical remote sensing satellite in east and west directions.
FIG. 3 is a schematic diagram of a geometric relationship between the satellite points and the target points of the remote sensing satellite.
Fig. 4 is a spliced view of satellite remote sensing imaging.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.
Examples
The embodiment provides a river agile imaging method for east-west satellites, as shown in fig. 1, comprising the following steps,
acquiring parameter data of a remote sensing satellite and central line vector data of a target river channel, wherein the remote sensing satellite runs on an east-west satellite orbit and is provided with a satellite sensor;
decomposing the central line vector data into coordinate data of a plurality of target points;
acquiring imaging data of a corresponding target point through a satellite sensor according to the coordinate data of the target point and the parameter data of the remote sensing satellite;
and carrying out mosaic processing on the imaging data of the target point to obtain the imaging data of the target river.
The technical concept of the invention is that aiming at river channels of most east-west trends in China, imaging data of the river channels are obtained by satellite sensors of east-west satellite orbits, and monitoring timeliness is improved; by using an agile imaging technology, the satellite sensor is controlled in real time according to the coordinate data of the target point, the imaging data of the corresponding target point is acquired, the flexibility of observation of the satellite sensor is improved, and the observation task is executed efficiently in a single satellite transit period.
The method comprises the following specific steps:
the method comprises the following steps: and selecting a remote sensing satellite.
As shown in FIG. 2, the remote sensing satellite is designed to run on a non-sun synchronous near-circular orbit with a satellite orbit inclination angle i, and the satellite orbit trends towards east and west. Meanwhile, a satellite sensor with panchromatic wave bands and multispectral wave bands is carried on the remote sensing satellite, and the satellite sensor has a side swing function, so that an agile imaging task of a river channel is facilitated.
Step two: and acquiring central line vector data of the target river channel, and decomposing the central line vector data into coordinate data of a plurality of target points.
Aiming at a specific target river channel area to be observed, according to the width of the satellite sensor, decomposing the central line vector data of the target river channel into a set P (P) of coordinate data of a plurality of target points 1 ，P 2 ，…，P n )。
Step three: and acquiring imaging data of the corresponding target point through the satellite sensor according to the coordinate data of the target point and the parameter data of the remote sensing satellite.
Firstly, calculating the longitude and latitude coordinates of the satellite points by the parameter data of the remote sensing satellite, wherein the specific expression is as follows,
φ′ t ＝arcsin(sini·sinθ) (1)
wherein t is time (phi' t ,λ′ t ) The longitude and latitude coordinates of the satellite at the time t, i is the orbit inclination angle of the satellite, theta is the angular distance between the satellite at the time t and the rising node, and lambda 0 Is longitude of ascending node, w e Is the rotational angular velocity of the earth. The antegrade orbit is '+', and the retrograde orbit is '-'. The formula for θ is:
where μ is the gravitational constant, a is the long radius of the satellite orbit, t 0 The moment the satellite passes the intersection point.
Then the longitude and latitude coordinates (phi ') of the sub-satellite points' t ,λ′ t ) Converted into spatial rectangular coordinate P' t (x′ t ,y′ t ,z′ t ). The specific coordinate system conversion formula is as follows:
wherein, the reference ellipsoid is the WGS84 reference standard. N is the curvature radius of the ellipsoidal unitary-ground circle, e is the first eccentricity of the ellipsoid, and H' is the geodetic height of the subsatellite point.
When the satellite reaches the initial point of the river, the agile imaging task of the target river is started to be executed. Firstly, the roll angle formed by the subsatellite point, the satellite sensor and the target point needs to be calculated.
As shown in FIG. 3, the orbital altitude H of the satellite at time t is obtained t And satellite lower point position P' t (x′ t ,y′ t ,z′ t ) And time tPosition P of target point (center point of single image) t (x t ,y t ,z t ). The three-dimensional coordinate system used in this embodiment is the WGS84 geocentric coordinate system.
Calculating the yaw angle alpha required to be adjusted by the current satellite sensor according to the space geometry and coordinate change principle t . The specific expression is as follows:
wherein t represents time, α t Representing the roll angle at time t, arctan representing the arctangent function, H t Representing the orbital altitude, d, of the remote sensing satellite at time t t Representing the distance between the satellite-to-satellite point and the target point of the remote sensing satellite at the time t, (x' t ,y′ t ,z′ t ) Coordinate data of points under the satellite (x) representing remote sensing satellite at t moment t ,y t ,z t ) Coordinate data representing the target point at time t.
The specific steps of acquiring the imaging data of the corresponding target point through the satellite sensor are as follows:
1) at the time of T (0), namely the time before the satellite carries the satellite sensor to acquire the imaging data of the first target point, the sidesway angle alpha required to be adjusted when the satellite sensor acquires the imaging data of the first target point is calculated 1 ；
2) At the time of T (1), namely when the satellite carrying the satellite sensor reaches the imaging position for acquiring the imaging data of the first target point, the yaw angle of the satellite sensor is alpha 1 The center of the imaging data acquired by the satellite sensor is the position P (1) where the first target point is located, and the acquired imaging data is R (1). Simultaneously, the required adjustment yaw angle alpha of the satellite sensor at the T (2) moment is calculated 2 ；
3) At time T (t), i.e. satellite mounting satellite sensorWhen the imaging position of the imaging data of the t-th target point is obtained, the side swing angle of the satellite sensor is alpha t The imaging data acquired by the satellite sensor is centered at the position P (t) where the t-th target point is located, and the acquired imaging data is R (t). Simultaneously, the required adjustment yaw angle alpha of the satellite sensor at the T (T +1) moment is calculated t+1 (ii) a Wherein t is more than or equal to 0 and less than or equal to n.
4) At the time of T (n), namely when the satellite-carried satellite sensor reaches the imaging position for acquiring the imaging data of the nth target point, the yaw angle of the satellite sensor is alpha n The imaging data acquired by the satellite sensor is centered at the position P (n) where the nth target point is located, and the acquired imaging data is R (n)).
Step four: and performing mosaic processing on the imaging data of the target point to obtain the imaging data of the target river.
And after the imaging task of the target river is completed, starting R (1) -R (n) splicing and inlaying tasks. The specific implementation steps of the splicing task shown in fig. 4 are as follows:
1) firstly, according to the image center pixel coordinate and its reference coordinate, making image geometric correction on the imaged R (1) to R (n) data to generate R Is just (1) To R Is just (n) of (a). The specific geometric correction method is to use R (1) as reference data and R (2) as correction data, and to use the gray values of the local areas of the two images to search for matching points with similar gray values.
2) And generating a series of homonymous points by using feature point matching. Construction of R from these homologous points Is just (1) To R Is just (n) a damascene line. According to the constitution of the inlaid wire, for R Is just for (1) To R Is just (n) matching the mosaic lines to realize mosaic of n images into 1 image data R Embedded block 。
3) Result data R to be tessellated Embedded block Counting histogram matching of the overlapped mosaic region, homogenizing and homogenizing, and finally generating R River with water-collecting device 。
The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, it is possible to make various improvements and modifications without departing from the technical principle of the present invention, and those improvements and modifications should be considered as the protection scope of the present invention.
Claims (7)
1. A river agile imaging method for east-west satellites is characterized by comprising the following steps,
acquiring parameter data of a remote sensing satellite and centerline vector data of a target river channel, wherein the remote sensing satellite runs on an east-west satellite orbit and is provided with a satellite sensor;
decomposing the central line vector data into coordinate data of a plurality of target points;
acquiring imaging data of the corresponding target point through a satellite sensor according to the coordinate data of the target point and the parameter data of the remote sensing satellite;
and performing mosaic processing on the imaging data of the target point to obtain the imaging data of the target river channel.
2. The method for river agility imaging of an east-west oriented satellite according to claim 1, wherein the parameter data of the remote sensing satellite comprises orbit height of the remote sensing satellite, coordinate data of the remote sensing satellite and coordinate data of an infrasatellite point of the remote sensing satellite.
3. The river agility imaging method for east-west satellite according to claim 2, wherein a yaw angle of a satellite sensor is calculated according to the coordinate data of the target point and the parameter data of the remote sensing satellite;
wherein the expression of the yaw angle is as follows:
wherein t represents time, α t Representing the roll angle at time t, arctan representing the arctangent function, H t Representing the orbital altitude, d, of the remote sensing satellite at time t t The distance between the satellite point of the remote sensing satellite at the t moment and the target point is shown, (x) t ′,y t ′,z t ') coordinate data of the satellite points at time t, and (x) t ,y t ,z t ) Coordinate data representing the target point at time t.
4. The method for river agility imaging of an east-west satellite according to claim 3, wherein a satellite sensor is adjusted and corresponding target point imaging data is obtained according to the yaw angle; the satellite sensor is a sensor with panchromatic wave band and multispectral wave band.
5. The method for river agility imaging of an east-west satellite according to claim 2, wherein the coordinate data of the remote sensing satellite and the coordinate data of the point below the satellite of the remote sensing satellite are both unified as coordinate data in a WGS84 geocentric coordinate system.
6. The method for river agility imaging of east-west satellites of claim 1 wherein said mosaicing process comprises the steps of:
sequentially carrying out geometric correction on the imaging data of the target point to obtain a mosaic line corresponding to the imaging data of the target point;
matching the inlaid lines to obtain preliminary data of a target river channel;
and carrying out light and color homogenizing treatment on the preliminary data to obtain imaging data of the target river channel.
7. The method of claim 6, wherein the geometric correction is performed by the following steps,
sequentially selecting the imaging data of one target point as reference data and the imaging data of the next target point as correction data to obtain matching points of the reference data and the correction data with similar gray scale values;
and constructing mosaic lines of the imaging data of the target points according to the matching points.
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