CN115426455B - Image motion compensation mechanism of space camera and control method thereof - Google Patents
Image motion compensation mechanism of space camera and control method thereof Download PDFInfo
- Publication number
- CN115426455B CN115426455B CN202211365583.9A CN202211365583A CN115426455B CN 115426455 B CN115426455 B CN 115426455B CN 202211365583 A CN202211365583 A CN 202211365583A CN 115426455 B CN115426455 B CN 115426455B
- Authority
- CN
- China
- Prior art keywords
- motion compensation
- image motion
- space camera
- information
- compensation mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Studio Devices (AREA)
Abstract
The invention discloses a space camera image motion compensation mechanism and a control method thereof, wherein the space camera image motion compensation mechanism comprises: the fixing mechanism comprises a grating ruler and a guide rail, and the grating ruler is fixedly connected with the guide rail; the moving mechanism comprises a reading head and a space camera imaging module, and the reading head is fixedly connected with the space camera imaging module; the motor comprises a motor stator and a motor rotor, the motor is connected with the fixed mechanism through the motor stator, and the motor rotor is connected with the movement mechanism and used for driving the movement mechanism; the grating ruler is arranged opposite to the reading head; the motion mechanism is connected with the guide rail in a sliding way; the space camera image motion compensation mechanism only uses one motor to drive the space camera imaging module, so that a target ground object shot by the space camera imaging module is kept relatively still in a focal plane all the time, image motion compensation is realized, the design complexity of the image motion compensation mechanism is reduced, and the electronics cost is reduced.
Description
Technical Field
The invention relates to the technical field of space remote sensing, in particular to an image motion compensation mechanism of a space camera and a control method thereof.
Background
The high-resolution imaging system plays an important role in the field of aerospace remote sensing, the space camera is used as a core component of the imaging system, and when imaging is carried out in the satellite movement process, due to the fact that an imaging target can move relatively on the focal plane of the space camera, the image is seriously trailing, namely, the image moving phenomenon is caused; the existing image motion compensation technology is mostly applied in an optical element compensation mode based on a quick reflector, an image motion compensation mechanism of the quick reflector comprises a reflector, a flexible hinge support, a motion element, a displacement sensor, a control circuit and the like, at least 4 same motion elements are needed to drive the flexible hinge support diagonally, so that the reflector moves, the direction of an optical path is adjusted to perform image motion compensation, and the image motion compensation mechanism of the quick reflector is complex in composition, so that the assembly difficulty of each sub-component is improved, the design complexity of the image motion compensation mechanism is increased, and the electronic cost is increased.
Therefore, how to reduce the design complexity of the image motion compensation mechanism to reduce the cost of electronics is an urgent problem to be solved.
Disclosure of Invention
The invention mainly aims to provide an image motion compensation mechanism of a space camera and a control method thereof, aiming at solving the problem of how to reduce the design complexity of the image motion compensation mechanism so as to reduce the electronic cost.
In order to achieve the above object, the present invention provides an image motion compensation mechanism for a space camera, the image motion compensation mechanism comprising:
the fixing mechanism comprises a grating ruler and a guide rail, and the grating ruler is fixedly connected with the guide rail;
the moving mechanism comprises a reading head and a space camera imaging module, and the reading head is fixedly connected with the space camera imaging module;
the motor comprises a motor stator and a motor rotor, the motor stator is connected with the fixing mechanism, and the motor rotor is connected with the movement mechanism and used for driving the movement mechanism;
the grating ruler is arranged opposite to the reading head;
the motion mechanism is connected with the guide rail in a sliding mode.
Optionally, the spatial camera image motion compensation mechanism further includes:
a control unit;
the control unit is used for acquiring ground betting information and determining image motion compensation information based on the ground betting information;
the control unit is further used for acquiring the information of the grating ruler read by the reading head so as to determine the current position of the space camera imaging module;
the control unit is further used for determining driving information based on the image motion compensation information and the current position, and inputting the driving information into the motor, so that the motor rotor drives the motion mechanism to drive the space camera imaging module to perform image motion compensation motion on the guide rail.
Optionally, the distance between the grating ruler and the reading head is 1 mm to 2 mm.
In order to achieve the above object, the present invention provides a method for controlling an image motion compensation mechanism of a space camera, wherein the method for controlling the image motion compensation mechanism of the space camera is applied to the image motion compensation mechanism of the space camera, and the method for controlling the image motion compensation mechanism of the space camera comprises the following steps:
acquiring ground betting information through a control unit, and determining image motion compensation information based on the ground betting information;
determining, by the control unit, a current position of a space camera imaging module in a space camera image motion compensation mechanism;
and determining driving information according to the image motion compensation information and the current position through the control unit, and controlling a motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information.
Optionally, the step of determining image motion compensation information based on the above-ground annotation information comprises:
determining the relative geocentric movement speed of the image motion compensation mechanism of the space camera based on the ground upper annotation information, and determining the relative ground object movement speed based on the relative geocentric movement speed;
and determining image motion compensation information of an imaging module of the space camera in the image motion compensation mechanism of the space camera based on the relative ground object motion speed.
Optionally, the step of determining a relative geocentric movement velocity of the image motion compensation mechanism of the space camera based on the above-ground annotation information, and determining the relative ground object movement velocity based on the relative geocentric movement velocity includes:
acquiring the orbit height of a space camera image motion compensation mechanism corresponding to the above-ground annotation information, and acquiring the equivalent radius of the earth, the universal gravitation constant and the earth mass;
calculating the relative geocentric motion speed of the space camera image motion compensation mechanism based on the orbit height, the earth equivalent radius, the universal gravitation constant and the earth mass;
and calculating the relative ground object motion speed of the image motion compensation mechanism of the space camera based on the relative geocentric motion speed, the orbit height and the equivalent radius of the earth.
Optionally, the image motion compensation information includes an image motion compensation speed and an image motion compensation range, and the step of determining the image motion compensation information of the space camera imaging module in the space camera image motion compensation mechanism based on the relative ground object motion speed includes:
acquiring a camera focal length and a track height of the space camera image motion compensation mechanism, and calculating the image motion compensation speed of a space camera imaging module in the space camera image motion compensation mechanism based on the camera focal length, the track height and the relative ground object motion speed;
and acquiring the exposure time of the image motion compensation mechanism of the space camera, and calculating the image motion compensation range of an imaging module of the space camera in the image motion compensation mechanism of the space camera based on the exposure time and the image motion compensation speed.
Optionally, the step of determining, by the control unit, a current position of a space camera imaging module in the space camera image motion compensation mechanism comprises:
and acquiring reading head data and grating ruler data in the image motion compensation mechanism of the space camera through the control unit, and decoding the reading head data and the grating ruler data to obtain the current position of an imaging module of the space camera in the image motion compensation mechanism of the space camera.
Optionally, the step of determining, by the control unit, driving information according to the image motion compensation information and the current position includes:
inputting the image motion compensation information and the current position into a pre-established encoder for encoding through the control unit to generate a control signal;
inputting the control signal into a pre-created driving module through the control unit, and generating driving information based on the control signal through the driving module.
Optionally, the step of controlling a motor in the spatial camera image motion compensation mechanism to drive the spatial camera imaging module to perform image motion compensation motion based on the driving information includes:
and inputting the driving information into a motor in the image motion compensation mechanism of the space camera, and controlling a motor rotor in the motor to move through the motor according to the driving information so as to drive the imaging module of the space camera to perform image motion compensation movement.
The image motion compensation mechanism of the space camera provided by the invention comprises: the fixing mechanism comprises a grating ruler and a guide rail, and the grating ruler is fixedly connected with the guide rail; the moving mechanism comprises a reading head and a space camera imaging module, and the reading head is fixedly connected with the space camera imaging module; the motor comprises a motor stator and a motor rotor, the motor is connected with the fixed mechanism through the motor stator, and the motor rotor is connected with the movement mechanism and used for driving the movement mechanism; the grating ruler is arranged opposite to the reading head; the motion mechanism is connected with the guide rail in a sliding way; the space camera image motion compensation mechanism only uses one motor to drive the space camera imaging module, so that a target ground object shot by the space camera imaging module is kept relatively still in a focal plane all the time, image motion compensation is realized, the design complexity of the image motion compensation mechanism is reduced, and the electronics cost is reduced. The invention provides a control method of a space camera image motion compensation mechanism, which comprises the steps of obtaining ground betting information through a control unit, and determining image motion compensation information based on the ground betting information; determining, by the control unit, a current position of a space camera imaging module in a space camera image motion compensation mechanism; determining driving information according to the image motion compensation information and the current position through the control unit, and controlling a motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information; the image motion compensation is realized by determining the image motion compensation information and the current position of the imaging module of the space camera in the image motion compensation mechanism of the space camera, determining the driving information based on the image motion compensation information and the current position, and controlling the imaging module of the space camera in the image motion compensation mechanism of the space camera to move based on the driving information, so that the image motion phenomenon in the exposure time can be effectively compensated, and the imaging quality is improved.
Drawings
FIG. 1 is a schematic structural diagram of an embodiment of an image motion compensation mechanism of a space camera according to the present invention;
FIG. 2 is a schematic flow chart illustrating a control method for an image motion compensation mechanism of a space camera according to an embodiment of the present invention;
FIG. 3 is a schematic control flow chart of the control unit according to the present invention.
The reference numbers illustrate:
| reference numerals | Name (R) | Reference numerals | Name (R) |
| 1 | Motor stator | 2 | Motor rotor |
| 3 | Grating ruler | 4 | |
| 5 | Second frame | 6 | Space |
| 7 | First frame | 8 | Guide rail |
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The image motion compensation mechanism of the space camera provided by the invention comprises:
the fixing mechanism comprises a grating ruler and a guide rail, and the grating ruler is fixedly connected with the guide rail;
the moving mechanism comprises a reading head and a space camera imaging module, and the reading head is fixedly connected with the space camera imaging module;
the motor comprises a motor stator and a motor rotor, the motor is connected with the fixed mechanism through the motor stator, and the motor rotor is connected with the movement mechanism and used for driving the movement mechanism;
the grating ruler is arranged opposite to the reading head, and the distance between the grating ruler and the reading head is 1 mm to 2 mm;
the motion mechanism is connected with the guide rail in a sliding way.
Further, the spatial camera image motion compensation mechanism further comprises:
a control unit;
the control unit is used for acquiring ground betting information and determining image motion compensation information based on the ground betting information;
the control unit is also used for acquiring the information of the grating ruler read by the reading head so as to determine the current position of the space camera imaging module;
the control unit is also used for determining driving information based on the image motion compensation information and the current position, and inputting the driving information into the motor, so that the motor rotor drives the motion mechanism to drive the space camera imaging module to perform image motion compensation motion on the guide rail.
Optionally, in a possible embodiment, a fixing mechanism in the image motion compensation mechanism of the space camera is slidably connected to the moving mechanism through a guide rail therein, a grating ruler in the fixing mechanism is fixed on the guide rail, a reading head in the moving mechanism is fixed on the imaging module of the space camera, and the grating ruler and the reading head are arranged opposite to each other, so that the reading head can conveniently obtain information of the grating ruler. In a specific operation process, the control unit acquires ground betting information and determines image motion compensation information based on the ground betting information; the control unit acquires information of the grating ruler read by the reading head to determine the current position of the space camera imaging module; the control unit determines driving information based on the image motion compensation information and the current position, and inputs the driving information into the motor, so that the motor rotor drives the motion mechanism to drive the space camera imaging module to perform image motion compensation motion on the guide rail.
Preferably, in a possible embodiment, as shown in fig. 1, fig. 1 is a schematic structural diagram of an embodiment of the image motion compensation mechanism of the space camera of the present invention, wherein the image motion compensation mechanism of the space camera includes:
fixing mechanism, fixing mechanism include motor stator 1, grating chi 3, first frame 7 and guide rail 8, and motor stator 1, grating chi 3 and guide rail 8 are fixed in on the first frame 7.
The moving mechanism comprises a motor rotor 2, a reading head 4, a second frame 5 and a space camera imaging module 6, and the motor rotor 2, the reading head 4 and the space camera imaging module 6 are fixed on the second frame 5;
the second frame 5 is slidably connected to the first frame 7 by means of rails 8, i.e. the second frame is movable on the rails 8.
Specifically, the motor is a voice coil motor, the grating ruler 3 is a linear grating ruler, the guide rail 8 is a linear guide rail, and the size of the first frame 7 is larger than that of the second frame 5.
In the fixing mechanism, the voice coil motor stator 1 is fixed on the outer side of the first frame 7 through screws, the linear grating ruler 3 is fixed on the inner side of the first frame 7, and the linear guide rail 8 is fixed on the inner side of the first frame 7.
In the motion mechanism, the space camera imaging module 6 is fixed on the second frame 5 through screws, the voice coil motor mover 2 is fixed on the outer side of the second frame 5 through screws, and the reading head 4 is fixed on the outer side of the second frame 5 and keeps a distance of 1 mm to 2 mm, preferably, the distance is 2 mm with the linear grating ruler 3.
The second frame 5 is slidably connected to the first frame 7 by two linear guides 8 parallel to each other.
The first frame 7 is fixed to an imaging lens barrel of the space camera.
The length of the linear grating ruler 3 is larger than that of the linear guide rail 8, so that the position information of the space camera imaging module 6 moving in the linear guide rail 8 can be correspondingly determined.
Further, the image motion compensation mechanism of the space camera further comprises: the control unit is used for generating driving information and inputting the driving information into the motor so that the motor rotor 2 controls the second frame 5 to drive the space camera imaging module 6 to perform reciprocating linear motion on the guide rail 8 to perform image motion compensation; optionally, the control unit may also be independent of the spatial camera image motion compensation mechanism.
Generally, the orbit height of a satellite with a spatial camera image motion compensation mechanism, the exposure time of the spatial camera and the camera focal length of the spatial camera are all determined, so that when a spatial camera imaging module in the spatial camera image motion compensation mechanism performs image motion compensation motion, the required moving distance, i.e. the range is also fixed, and a formula for specifically calculating the range is as follows:
wherein L is the measuring range; v. of c The image moving speed on the focal plane of the space camera with the image moving compensation mechanism of the space camera can be determined by the orbital height H of the satellite, the equivalent radius of the earth,Calculating a universal gravitation constant and the mass of the earth; t is t o Is the exposure duration of the space camera; f is the camera focal length of the space camera; v. of i The motion speed of the satellite carrying the space camera image motion compensation mechanism relative to the ground object on the earth surface can be obtained by calculating the motion speed of the satellite relative to the earth center, the orbit height of the satellite and the earth equivalent radius. Such as: assuming that the orbit height of a satellite carrying the space camera image motion compensation mechanism is 485 kilometers, the camera focal length of the space camera is 2.8 meters, and the exposure time of the space camera is 10 milliseconds, a measuring range of at least 0.404 millimeter is required; an exposure time of 100 milliseconds requires a range of at least 4.04 millimeters.
After the measuring range is determined, the length of the guide rail 8 can be determined according to the measuring range; optionally, the length of the guide rail 8 is the same as the span; alternatively, to avoid special situations, the length of the guide rail 8 may be 0.2 mm to 0.5 mm greater than the measuring distance.
Through the installation of linear guide 8, guarantee that single voice coil motor active cell 2 drives space camera imaging module 6 and carries out reciprocating linear motion on linear guide 8 to realize like moving compensation. Compared with the existing fast-reverse image shift compensation scheme, the space camera image shift compensation mechanism can realize the image shift compensation of the space camera by only using one voice coil motor, can save 3 voice coil motors and corresponding structural designs, reduces the design of a driving electronic circuit of the 3 voice coil motors, greatly reduces the design complexity of the image shift compensation mechanism to reduce the electronic cost, and is more favorable for the application of the space camera. And, adopt high-resolution straight line grating chi 3 as feedback element, can improve the precision of image motion compensation, the higher the precision, the more clear imaging effect after the compensation.
Based on the image motion compensation mechanism of the space camera provided by the invention, a control method of the image motion compensation mechanism of the space camera is provided.
Referring to fig. 2 and fig. 2 are schematic flow charts of an embodiment of a control method of an image motion compensation mechanism of a space camera according to the present invention, the control method of the image motion compensation mechanism of the space camera is applied to the image motion compensation mechanism of the space camera, and the control method of the image motion compensation mechanism of the space camera includes the following steps:
step S10, acquiring ground betting information through a control unit, and determining image motion compensation information based on the ground betting information;
step S20, determining the current position of a space camera imaging module in the space camera image motion compensation mechanism through the control unit;
and S30, determining driving information according to the image motion compensation information and the current position through the control unit, and controlling a motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information.
The control method of the space camera image motion compensation mechanism in the embodiment is used for a control unit in a space remote sensing satellite, the control unit can be embedded in the space camera image motion compensation mechanism or independent of the space camera image motion compensation mechanism, and the control unit controls the space camera image motion compensation mechanism. For convenience of description, the control unit is taken as an example for description; the control unit acquires ground casting information, determines the relative geocentric movement speed of the space camera image motion compensation mechanism based on the ground casting information, determines the relative ground object movement speed based on the relative geocentric movement speed, and determines the image motion compensation information of a space camera imaging module in the space camera image motion compensation mechanism based on the relative ground object movement speed; the control unit acquires reading head data and grating ruler data in the space camera image motion compensation mechanism, and decodes the reading head data and the grating ruler data to obtain the current position of a space camera imaging module in the space camera image motion compensation mechanism; the control unit inputs the image motion compensation information and the current position into a pre-established encoder for encoding to generate a control signal, inputs the control signal into a pre-established driving module, and generates driving information based on the control signal through the driving module; the control unit inputs the driving information into a motor in the image motion compensation mechanism of the space camera, and the motor controls a motor rotor in the motor to move according to the driving information so as to drive the imaging module of the space camera to perform image motion compensation motion. As shown in fig. 3, fig. 3 is a schematic control flow diagram of a control unit, and the control unit includes: the system comprises a ground upper note information processing module, a task planning module, a control module, a driving module and an encoder decoding module.
The method for controlling the image motion compensation mechanism of the space camera obtains ground betting information, and determines image motion compensation information based on the ground betting information; determining the current position of a space camera imaging module in a space camera image motion compensation mechanism; determining driving information according to the image motion compensation information and the current position, and controlling a motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information; and determining a driving signal based on the image motion compensation information and the current position, and controlling a space camera imaging module in the space camera image motion compensation mechanism to perform image motion compensation, so that the accuracy of the camera image motion compensation is improved, the image motion caused by motion in the exposure time of the space camera is compensated, and the imaging quality is improved.
The respective steps will be described in detail below:
step S10, acquiring ground betting information through a control unit, and determining image motion compensation information based on the ground betting information;
in this embodiment, the control unit acquires ground betting information, which is information acquired by a satellite equipped with a space camera image motion compensation mechanism and includes orbit height, earth equivalent radius, universal gravitation constant, earth mass, and the like; the control unit determines image motion compensation information based on the ground annotation information; specifically, as shown in fig. 3, the control unit obtains the ground betting information through the ground betting information processing module, decodes the ground betting information, inputs the decoded ground betting information into the task planning module, determines the image motion compensation task through the task planning module, starts the control module, inputs the decoded ground betting information into the control module, and determines the image motion compensation information through the control module.
Specifically, the step of determining image motion compensation information based on the above-ground betting information includes:
step S101, determining the relative geocentric movement speed of the image motion compensation mechanism of the space camera based on the ground upper note information, and determining the relative ground object movement speed based on the relative geocentric movement speed;
in the step, the control unit determines the relative geocentric movement speed of the image motion compensation mechanism of the space camera based on the ground upper note information, and determines the relative ground object movement speed based on the relative geocentric movement speed; as shown in fig. 3, the control unit inputs the decoded ground-based on-ground information into the control module, determines the relative geocentric movement velocity of the space camera image motion compensation mechanism through the control module, and calculates the relative ground object movement velocity of the space camera image motion compensation mechanism according to the relative geocentric movement velocity.
Specifically, step S101 includes:
step S1011, acquiring the orbit height of the space camera image motion compensation mechanism corresponding to the above-ground annotation information, and acquiring the equivalent radius of the earth, the universal gravitation constant and the earth mass;
step S1012, calculating a relative geocentric movement velocity of the spatial camera image motion compensation mechanism based on the orbit height, the earth equivalent radius, the gravitational constant, and the earth mass;
and S1013, calculating the relative ground object motion speed of the image motion compensation mechanism of the space camera based on the relative geocentric motion speed, the orbit height and the earth equivalent radius.
In steps S1011 to S1013, as shown in fig. 3, the control unit obtains, by the control module, the orbit height of the spatial camera image motion compensation mechanism corresponding to the decoded ground-based annotation information, and obtains the equivalent radius of the earth, the gravitational constant, and the earth mass, and calculates, by the control module, the relative geocentric motion velocity of the spatial camera image motion compensation mechanism based on the orbit height, the equivalent radius of the earth, the gravitational constant, and the earth mass, and calculates, by the control module, the relative geocentric motion velocity of the spatial camera image motion compensation mechanism based on the relative geocentric motion velocity, the orbit height, and the equivalent radius of the earth;
it should be noted that the formula for calculating the relative geocentric motion velocity of the image motion compensation mechanism of the space camera is as follows:
wherein v is o The relative earth center motion speed of the image motion compensation mechanism of the space camera is H, the orbit height of the space camera is H, R is the equivalent radius of the earth, G is the universal gravitation constant, and M is the earth mass.
The formula for calculating the relative ground object motion speed of the image motion compensation mechanism of the space camera is as follows:
wherein v is i Speed of relative ground object movement, v, of image-motion compensating mechanism for space camera o The relative geocentric motion speed of the image motion compensation mechanism of the space camera is H, the orbit height of the space camera is H, and R is the equivalent radius of the earth.
And S102, determining image motion compensation information of an imaging module of the space camera in the image motion compensation mechanism of the space camera based on the relative ground object motion speed.
In the step, after calculating the relative ground object movement speed of the image movement compensation mechanism of the space camera, the control unit determines the image movement compensation information of the imaging module of the space camera in the image movement compensation mechanism of the space camera based on the relative ground object movement speed.
Specifically, the image motion compensation information includes an image motion compensation speed and an image motion compensation range, and step S102 includes:
step S1021, acquiring a camera focal length and a track height of the space camera image motion compensation mechanism, and calculating the image motion compensation speed of a space camera imaging module in the space camera image motion compensation mechanism based on the camera focal length, the track height and the relative ground object motion speed;
in this step, as shown in fig. 3, the control unit obtains the camera focal length and the track height of the spatial camera image motion compensation mechanism through the control module, and calculates the image motion compensation speed of the spatial camera imaging module in the spatial camera image motion compensation mechanism based on the camera focal length, the track height and the relative ground object motion speed through the control module; the formula for calculating the image motion compensation speed of the imaging module of the space camera is specifically as follows:
wherein v is c Compensating the speed of image motion of the imaging module of the space camera, f is the focal length of the camera, H is the height of the track, v i Relative to the speed of the ground object movement.
Step S1022, acquiring an exposure duration of the spatial camera image motion compensation mechanism, and calculating the image motion compensation range of the spatial camera imaging module in the spatial camera image motion compensation mechanism based on the exposure duration and the image motion compensation speed.
In this step, as shown in fig. 3, after the control unit calculates the image motion compensation speed of the space camera imaging module through the control module, the control module obtains the exposure duration of the space camera image motion compensation mechanism, and calculates the image motion compensation range of the space camera imaging module in the space camera image motion compensation mechanism based on the exposure duration and the image motion compensation speed; the formula for calculating the image motion compensation range of the space camera imaging module is specifically as follows:
wherein L is the image motion compensation range of the space camera imaging module, v c Compensating for speed, t, of image movement of an imaging module of a space camera o For exposure duration, f is camera focal length, H is track height, v i Relative to the speed of the ground object movement. It can be understood that the image motion compensation range is the distance that the space camera imaging module needs to move on the guide rail when performing image motion compensation.
Step S20, determining the current position of an imaging module of the space camera in the image motion compensation mechanism of the space camera through the control unit;
specifically, step S20 includes:
step S201, reading head data and grating ruler data in the image motion compensation mechanism of the space camera are obtained through the control unit, and the reading head data and the grating ruler data are decoded to obtain the current position of an imaging module of the space camera in the image motion compensation mechanism of the space camera.
In this embodiment, the control unit obtains reading head data of a reading head and grating scale data of a grating scale in the image motion compensation mechanism of the space camera, and decodes the reading head data and the grating scale data to obtain a current position of an imaging module of the space camera in the image motion compensation mechanism of the space camera; specifically, as shown in fig. 3, the control unit obtains, through the encoder decoding module, reading head data of a reading head and grating scale data of a grating scale in the image motion compensation mechanism of the space camera, and decodes, through the encoder decoding module, the reading head data and the grating scale data to obtain a current position of an imaging module of the space camera in the image motion compensation mechanism of the space camera on the guide rail.
And S30, determining driving information according to the image motion compensation information and the current position through the control unit, and controlling a motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information.
In the embodiment, after determining the image motion compensation information and the current position, the control unit determines the driving information based on the image motion compensation information and the current position, and controls a motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information; it can be understood that, as shown in fig. 1, the motor is a voice coil motor, the space camera imaging module 6 is fixed on the second frame 5 through screws, the voice coil motor rotor 2 is fixed on the outer side of the second frame 5 through screws, and the voice coil motor rotor 2 drives the second frame 5 to move on the guide rail 8 based on the driving information, so as to drive the space camera imaging module 6 on the second frame 5 to move together, thereby implementing image motion compensation.
Specifically, the step of determining the driving information according to the image motion compensation information and the current position includes:
step S301, inputting the image motion compensation information and the current position into a pre-established encoder for encoding through the control unit, and generating a control signal;
in this step, as shown in fig. 3, the control unit inputs the image motion compensation information and the current position to an encoder in a pre-created encoder decoding module through the control module for encoding to obtain encoder feedback information, and performs closed-loop control through the control module according to the encoder feedback information to realize a high-precision speed closed-loop algorithm and a high-precision position closed-loop algorithm and generate a control signal.
Step S302, inputting the control signal into a pre-created driving module through the control unit, and generating driving information based on the control signal through the driving module.
In this step, as shown in fig. 3, the control unit obtains the control signal generated by the encoder decoding module, inputs the control signal into a pre-created driving module, and generates a driving signal capable of driving the voice coil motor after amplifying the control signal by the driving module.
Specifically, the step of controlling a motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information includes:
step S303, the driving information is input into a motor in the image motion compensation mechanism of the space camera through the control unit, and a motor rotor in the motor is controlled to move through the motor according to the driving information so as to drive the imaging module of the space camera to perform image motion compensation movement.
In this step, as shown in fig. 3, the control unit inputs driving information into the voice coil motor in the image motion compensation mechanism of the space camera through the driving module, so that the voice coil motor makes linear motion, and thereby the second frame with the imaging module of the space camera is pushed to complete real-time tracking of the speed of information noted on the ground, so as to implement image motion compensation of the image motion compensation mechanism of the space camera within the exposure time of the space camera.
The control unit of the embodiment acquires ground betting information, determines the relative geocentric motion speed and the relative ground object motion speed of the space camera image motion compensation mechanism based on the ground betting information, and determines the image motion compensation information of the space camera imaging module in the space camera image motion compensation mechanism based on the relative ground object motion speed and the relative ground object motion speed; the control unit acquires reading head data and grating ruler data in the image motion compensation mechanism of the space camera, and decodes the reading head data and the grating ruler data to obtain the current position of an imaging module of the space camera in the image motion compensation mechanism of the space camera; the control unit inputs the image motion compensation information and the current position into a pre-established encoder for encoding to generate a control signal, inputs the control signal into a pre-established driving module, and generates driving information based on the control signal through the driving module; the control unit inputs the driving information into a motor in the space camera image motion compensation mechanism, and a motor rotor in the motor is controlled to move through the motor according to the driving information so as to drive the space camera imaging module to perform image motion compensation motion. And determining a driving signal based on the image motion compensation information and the current position, and controlling a space camera imaging module in the space camera image motion compensation mechanism to perform image motion compensation, so that the accuracy of the camera image motion compensation is improved, the image motion caused by motion in the exposure time of the space camera is compensated, and the imaging quality is improved.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of other like elements in a process, method, article, or system comprising the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention essentially or contributing to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (such as a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present specification and the attached drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (8)
1. An image motion compensation mechanism of a space camera, the image motion compensation mechanism of the space camera comprising:
the fixing mechanism comprises a grating ruler, a guide rail, a first frame and a motor stator, the motor stator is fixed on the outer side of the first frame through a screw, the grating ruler is fixed on the inner side of the first frame, and the guide rail is fixed on the inner side of the first frame;
the moving mechanism comprises a reading head, a space camera imaging module, a second frame and a motor rotor, wherein the space camera imaging module is fixed on the second frame through screws, the motor rotor is fixed on the outer side of the second frame through screws, and the reading head is fixed on the outer side of the second frame;
the motor comprises a motor stator and a motor rotor, and is a voice coil motor;
the grating ruler is arranged opposite to the reading head;
the first frame in the fixing mechanism is in sliding connection with the second frame in the moving mechanism through the guide rail;
the space camera image motion compensation mechanism further comprises:
a control unit;
the control unit is used for acquiring ground uploadcast information and determining image motion compensation information based on the ground uploadcast information;
the control unit is also used for acquiring the information of the grating ruler read by the reading head so as to determine the current position of the space camera imaging module;
the control unit is further configured to determine driving information based on the image motion compensation information and the current position, and input the driving information into the motor, so that the motor mover drives the motion mechanism to drive the space camera imaging module to perform image motion compensation motion on the guide rail.
2. The image motion compensation mechanism of claim 1, wherein the distance between the grating scale and the reading head is 1 mm to 2 mm.
3. A control method for the image motion compensation mechanism of a space camera, which is applied to the image motion compensation mechanism of the space camera according to claim 1, and comprises the following steps:
acquiring ground betting information through a control unit, and determining image motion compensation information based on the ground betting information;
determining, by the control unit, a current position of a space camera imaging module in a space camera image motion compensation mechanism;
determining driving information according to the image motion compensation information and the current position through the control unit, and controlling a motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information;
wherein, the step of controlling the motor in the image motion compensation mechanism of the space camera to drive the imaging module of the space camera to perform image motion compensation motion based on the driving information comprises:
and inputting the driving information into a motor in the image motion compensation mechanism of the space camera, and controlling a motor rotor in the motor to move through the motor according to the driving information so as to drive the imaging module of the space camera to perform image motion compensation movement.
4. The method for controlling an image motion compensation mechanism of a space camera according to claim 3, wherein the step of determining image motion compensation information based on the ground betting information comprises:
determining the relative geocentric movement speed of the image motion compensation mechanism of the space camera based on the ground upper annotation information, and determining the relative ground object movement speed based on the relative geocentric movement speed;
and determining image motion compensation information of an imaging module of the space camera in the image motion compensation mechanism of the space camera based on the relative ground object motion speed.
5. The method as claimed in claim 4, wherein the step of determining the relative geocentric motion velocity of the spatial camera image motion compensation mechanism based on the ground reference information and determining the relative geocentric motion velocity based on the relative geocentric motion velocity comprises:
acquiring the orbit height of a space camera image motion compensation mechanism corresponding to the above-ground annotation information, and acquiring the equivalent radius of the earth, the universal gravitation constant and the earth mass;
calculating the relative geocentric motion speed of the space camera image motion compensation mechanism based on the orbit height, the earth equivalent radius, the universal gravitation constant and the earth mass;
and calculating the relative ground object motion speed of the image motion compensation mechanism of the space camera based on the relative geocentric motion speed, the orbit height and the equivalent radius of the earth.
6. The method as claimed in claim 4, wherein the image motion compensation information includes an image motion compensation speed and an image motion compensation range, and the step of determining the image motion compensation information of the space camera imaging module in the image motion compensation mechanism of the space camera based on the relative ground object motion speed includes:
acquiring a camera focal length and a track height of the space camera image motion compensation mechanism, and calculating the image motion compensation speed of a space camera imaging module in the space camera image motion compensation mechanism based on the camera focal length, the track height and the relative ground object motion speed;
and acquiring the exposure time of the space camera image motion compensation mechanism, and calculating the image motion compensation range of a space camera imaging module in the space camera image motion compensation mechanism based on the exposure time and the image motion compensation speed.
7. The method as claimed in claim 3, wherein the step of determining the current position of the space camera imaging module in the space camera motion compensation mechanism by the control unit comprises:
and acquiring reading head data and grating ruler data in the image motion compensation mechanism of the space camera through the control unit, and decoding the reading head data and the grating ruler data to obtain the current position of an imaging module of the space camera in the image motion compensation mechanism of the space camera.
8. The method for controlling the image motion compensation mechanism of the space camera according to claim 6, wherein the step of determining the driving information by the control unit based on the image motion compensation information and the current position includes:
inputting the image motion compensation information and the current position into a pre-established encoder for encoding through the control unit to generate a control signal;
inputting the control signal into a pre-created driving module through the control unit, and generating driving information based on the control signal through the driving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211365583.9A CN115426455B (en) | 2022-11-03 | 2022-11-03 | Image motion compensation mechanism of space camera and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211365583.9A CN115426455B (en) | 2022-11-03 | 2022-11-03 | Image motion compensation mechanism of space camera and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115426455A CN115426455A (en) | 2022-12-02 |
| CN115426455B true CN115426455B (en) | 2023-04-07 |
Family
ID=84207181
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211365583.9A Active CN115426455B (en) | 2022-11-03 | 2022-11-03 | Image motion compensation mechanism of space camera and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115426455B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115065765A (en) * | 2022-06-16 | 2022-09-16 | 中国科学院长春光学精密机械与物理研究所 | Aerial reconnaissance camera electronic system supporting different-speed image motion compensation function and different-speed image motion compensation method |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103245332B (en) * | 2013-04-02 | 2015-04-22 | 中国科学院长春光学精密机械与物理研究所 | Row cycle real-time adjustment system and method for large-view-field space camera |
| CN104767942B (en) * | 2015-04-23 | 2018-11-09 | 中国科学院光电技术研究所 | A kind of fixed point shooting formula aviation measuring camera cam image shift compensation mechanism control method |
| CN107168356A (en) * | 2017-06-28 | 2017-09-15 | 广东电网有限责任公司电力科学研究院 | A kind of airphoto displacement acquisition methods and airphoto control method for movement |
| CN107659776A (en) * | 2017-09-27 | 2018-02-02 | 中国科学院长春光学精密机械与物理研究所 | High-resolution satellite dynamic mobility prolonging exposure time method |
| CN109632267B (en) * | 2018-12-06 | 2020-04-10 | 中国科学院长春光学精密机械与物理研究所 | Dynamic optical target simulation device and dynamic imaging test equipment and method |
| CN112770030B (en) * | 2020-12-30 | 2022-02-15 | 长光卫星技术有限公司 | Cam type focal plane image motion compensation device for space camera |
| CN114954979A (en) * | 2022-05-27 | 2022-08-30 | 中国科学院西安光学精密机械研究所 | Continuous sweep linear motion image motion compensation system and method |
-
2022
- 2022-11-03 CN CN202211365583.9A patent/CN115426455B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115065765A (en) * | 2022-06-16 | 2022-09-16 | 中国科学院长春光学精密机械与物理研究所 | Aerial reconnaissance camera electronic system supporting different-speed image motion compensation function and different-speed image motion compensation method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115426455A (en) | 2022-12-02 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR100275916B1 (en) | Voice Coil Drive Positioner for Positioning Magnetic Heads in Multitrack Tape Drives | |
| US10754170B2 (en) | Actuator and driving apparatus of camera module | |
| KR101022646B1 (en) | Linear motor system and reaction force compensation method thereof | |
| CN103267210A (en) | Six-freedom-degree parallel pointing platform | |
| CN101009238A (en) | Gantry positioning system | |
| US9579763B2 (en) | Machine tool | |
| US20120039590A1 (en) | Single actuator configuration for a camera module | |
| US20070035266A1 (en) | Movable body position control device and stage device using the movable body position control device | |
| CN103744161B (en) | A kind of High Precision Automatic adjustment image planes device and method of adjustment thereof | |
| CN115426455B (en) | Image motion compensation mechanism of space camera and control method thereof | |
| JP4443891B2 (en) | Stage equipment | |
| US20180278850A1 (en) | Actuator and driving apparatus of camera module | |
| EP0663715B1 (en) | Self-propelled linear motion drive apparatus | |
| CN203630384U (en) | Large-size grating manufacturing equipment | |
| US20120206081A1 (en) | Partial arc curvilinear direct drive servomotor | |
| CN1295704C (en) | Head positioning control method and disc apparatus with the same method | |
| CN108453676B (en) | Two-dimensional precision motion platform and motion method thereof | |
| EP0373262A1 (en) | Image-reproducing apparatus | |
| KR102574408B1 (en) | Actuator of camera module | |
| JP2945598B2 (en) | Scanning device with self-propelled linear motion carriage | |
| CN203365777U (en) | Piezoelectric ceramic linear motor focusing device applied for optical system | |
| CN114954979A (en) | Continuous sweep linear motion image motion compensation system and method | |
| KR20160087682A (en) | Optical image stabilizer and method of controlling the same | |
| US8013561B2 (en) | Driving mechanism having position encoder for two-dimensional positioning | |
| CN115514896B (en) | Image motion compensation method, device and system for area-array camera and readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |