CN109981952B - A kind of image compensation method, device and computer storage medium - Google Patents

Abstract

The embodiment of the present invention discloses an image compensation method, a device and a computer storage medium; the method may include: dividing a linear charge-coupled element CCD array into a plurality of CCD line segments; The current relative angle between the target area and each of the CCD line segments determines the current angle to be rotated of each of the CCD line segments; for each of the CCD line segments, the rotation is performed according to the current angle to be rotated of each of the CCD line segments ; Photograph the to-be-imaged area through the rotated CCD line segment.

Description

A kind of image compensation method, device and computer storage medium

technical field

The present invention relates to the technical field of aerospace observation, and in particular, to a method, device and computer storage medium for image compensation.

Background technique

Sweep imaging refers to a dynamic imaging method that simultaneously performs imaging during the satellite attitude maneuver. The satellite camera rapidly reaches a certain angular velocity in the rolling direction, and then moves at a certain angular velocity to image the ground. Linear charge-coupled device (CCD, Charge-Coupled Device) arrays are often used in swing imaging. Specifically, as shown in Figure 1, a certain number of CCD photosensitive elements are arranged in a straight line. Such a layout The form of CCD array is called linear CCD array, also known as scanning CCD. By scanning with a linear CCD array and splicing the remote sensing images obtained at each moment, a large-format high-resolution visible light image can be obtained.

The final image obtained in the sweeping imaging process is composed of multiple image strips obtained by sweeping the linear CCD array, as shown in Figure 2. It can be seen from this that when the optical axis is perpendicular to the ground, it has better performance. The shape of the actual imaging area is a regular rectangular strip, that is, the whole image obtained by scanning, close to the center of the sub-satellite point, the imaging effect is better. However, when the optical axis forms a certain angle with the orbital surface, due to the influence of the curvature of the earth, the area actually imaged by the linear CCD array becomes an arc, that is, the more obvious the geometric distortion of the image strips on both sides in the image.

For the above geometric distortion, as shown in FIG. 3 , from the center O of the area to be imaged to the two ends, due to the existence of the curvature of the earth, the generated image displacement error gradually increases. For the swing imaging process, when the track height and imaging width are determined, the image displacement deviation of the obtained visible light image will increase with the increase of the angle between the optical axis and the track plane.

SUMMARY OF THE INVENTION

In view of this, the embodiments of the present invention are expected to provide an image compensation method, device, and computer storage medium, which can reduce the image displacement deviation and reduce the geometric distortion of imaging.

The technical scheme of the present invention is realized as follows:

In a first aspect, an embodiment of the present invention provides an image compensation method, and the method includes:

Divide the linear charge-coupled element CCD array into multiple CCD line segments;

Determine the current angle to be rotated of each described CCD line segment according to the current relative angle between the target area corresponding to each CCD line segment in the area to be imaged and each described CCD line segment;

For each described CCD line segment, rotate according to the current angle to be rotated of each described CCD line segment;

The to-be-imaged area is photographed by the rotated CCD line segment.

In a second aspect, an embodiment of the present invention provides an image compensation device, the device includes: a dividing part, a determining part, a rotating part, and a shooting control part; wherein,

The dividing part is configured to divide the linear charge-coupled element CCD array into a plurality of CCD line segments;

The determining part is configured to determine the current angle to be rotated of each described CCD line segment according to the current relative angle between the target area corresponding to each CCD line segment in the area to be imaged and each described CCD line segment;

The rotating part is configured to rotate according to the current angle to be rotated of each described CCD line segment for each described CCD line segment;

The photographing control part is configured to photograph the to-be-imaged area through the rotated CCD line segment.

In a third aspect, an embodiment of the present invention provides a computer storage medium, wherein the computer storage medium stores an image compensation program, and when the image compensation program is executed by at least one processor, the first The steps of the image compensation method described in one aspect.

The embodiment of the present invention provides an image compensation method, device and computer storage medium; after dividing a linear CCD array into multiple CCD line segments, rotate each CCD line segment according to the area to be imaged, and then image the area to be imaged, Thereby, the deviation of image displacement is reduced, and the geometric distortion caused in the process of imaging the ground swing is reduced.

Description of drawings

FIG. 1 is a schematic diagram of the process of ground swing imaging provided by a conventional solution;

Fig. 2 is the stitching schematic diagram of a kind of image that conventional scheme provides;

FIG. 3 is a schematic diagram of imaging the ground strip area through a linear CCD array provided by a conventional solution;

4 is a schematic diagram of an imaging bias effect provided by a conventional solution;

5 is a schematic diagram of an imaging effect provided by a conventional scheme;

FIG. 6 is a schematic flowchart of an image compensation method according to an embodiment of the present invention;

7 is a schematic flowchart of performing rotation control on each CCD line segment provided by an embodiment of the present invention;

FIG. 8 is a schematic diagram of an imaging process according to an embodiment of the present invention;

9 is a schematic diagram of a CCD line segment division effect provided by an embodiment of the present invention;

10 is a schematic diagram of a rotation effect provided by an embodiment of the present invention;

11 is a schematic diagram of imaging provided by an embodiment of the present invention;

12 is a schematic diagram of an effect analysis provided by an embodiment of the present invention;

13 is a schematic diagram of a model for effect analysis provided by an embodiment of the present invention;

14 is a schematic diagram of the composition of an apparatus for image compensation provided by an embodiment of the present invention;

FIG. 15 is a schematic diagram of the composition of a determination part provided by an embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Taking the optical imaging satellite at the orbital height H as an example, please refer to Fig. 1, which shows the process of conventional sweep imaging. In Fig. 1, the payload of the optical imaging satellite is an optical camera composed of a linear CCD array, where , the optical axis of the camera is perpendicular to the flight direction of the satellite, and the camera rotates and sweeps along the direction of the satellite's roll axis, and scans and images the ground area through a linear CCD array during the sweeping process; this scanning and imaging process can be specifically visible light. Scanning and imaging, and finally stitching the image strips obtained by scanning at different times to obtain a complete image of the target area.

Through the elaboration of the above imaging process, the final image obtained by scanning is composed of image strip 1, image strip 2, and image strip n obtained by sweeping the linear CCD array respectively. . When the optical axis is perpendicular to the ground, it can have a better imaging effect. The shape of the actual imaged area is a regular rectangular strip, that is, the entire image obtained by scanning is close to the center of the sub-satellite point, and the imaging effect is better. . The problem is that when the optical axis forms a certain angle with the orbital surface, due to the influence of the curvature of the earth, the area actually imaged by the linear CCD array becomes an arc segment, that is, the geometric distortion produced by the image strips closer to both sides in the image is more obvious.

Figure 3 shows the reasons for the above-mentioned geometric distortion. Figure 3 is a schematic diagram of imaging the A'B' strip area on the ground through a linear CCD array at a certain time. It can be seen that from the center O of the area to be imaged to both ends, due to The existence of the curvature of the earth, the resulting image displacement error gradually increases. For the whole process of swing and sweep, when the track height and imaging width are determined, the image displacement deviation of the obtained visible light image will increase with the increase of the angle between the optical axis and the track plane.

The image displacement bias shown in Figure 3 is more pronounced for the satellite's wide-format imaging mission. From the schematic diagram of the imaging deviation from the center of the graph to the right side of the graph shown in Fig. 4, it can be found that the pixel position deviation from the central position to the outer position is larger and larger, and the geometric distortion of the image is more and more obvious.

For the above geometric distortion, the imaging error analysis is carried out for each imaging band at a certain moment, when the optical axis of the camera is at a certain angle with the ground, and the imaging effect at this angle is shown in Figure 5. Simplified to the model on the right in Figure 5, it can be found that from the middle position O to the two ends A and B, the displacement deviation generated by the image gradually increases. Considering the imaging situation of the two CCDs in the linear CCD array, the deviation angle here is Set to alpha.

Based on the above analysis of the conventional ground swing imaging process and geometric distortion, it can be known that since the conventional ground shooting method adopts an indivisible linear CCD array, the conventional satellite imaging system generally adjusts the imaging angle of the target by The attitude maneuver of the satellite platform drives the satellite imaging system to adjust the angle or adjusts the entire linear CCD array by performing the overall maneuver, but this method is still equivalent to using the entire line segment to shoot the curved arc, especially not suitable for wide-format shooting scene.

Based on the above analysis, referring to Fig. 6, it shows a method for image compensation provided by an embodiment of the present invention. The method can be applied to an imaging satellite with a linear CCD array load, and the method can include:

S601: Divide the linear CCD array into multiple CCD line segments;

S602: Determine the current angle to be rotated of each CCD line segment according to the current relative angle between the target area corresponding to each CCD line segment in the area to be imaged and each of the CCD line segments;

S603: for each described CCD line segment, rotate according to the current angle to be rotated of each described CCD line segment; wherein, the rotated CCD line segment is all tangent to the described area to be imaged;

S604: Photograph the to-be-imaged area through the rotated CCD line segment.

Through the scheme shown in Figure 6, after dividing the linear CCD array into multiple CCD line segments, each CCD line segment is rotated according to the area to be imaged, and then the area to be imaged is imaged, thereby reducing the image displacement deviation and reducing the impact on the ground. Geometric distortion caused by scanning imaging.

For the technical solution shown in FIG. 6, in a possible implementation manner, the current relative angle between the target area corresponding to each CCD line segment in the area to be imaged and each of the CCD line segments is determined according to the The current angle to be rotated of the CCD line segment, including:

Obtain the current attitude information of the imaging satellite and the current position information of the imaging satellite based on the attitude and orbit sensor provided on the imaging satellite platform carrying the linear CCD array;

Based on the computing unit arranged in the imaging satellite platform, the shape and position information of the area to be imaged are calculated according to the attitude information of the current imaging satellite and the position information of the current imaging satellite;

The to-be-imaged angle of each CCD line segment corresponding to each of the target areas is obtained according to the shape and position information of the to-be-imaged area; wherein, the to-be-imaged angle of each CCD line segment is used to indicate that each CCD line segment should be imaged the angle of arrival;

The current angle to be rotated of each CCD line segment is determined according to the current angle of each CCD line segment and the to-be-imaged angle of each CCD line segment.

For the above-mentioned implementation, preferably, the attitude information of the current imaging satellite and the position information of the current imaging satellite are obtained based on the attitude and orbit sensor of the imaging satellite platform carrying the linear CCD array, including:

Obtain the attitude information of the current imaging satellite and the current Location information of imaging satellites.

For the above implementation manner, preferably, determining the current angle to be rotated of each of the CCD line segments according to the current angle of each of the CCD line segments and the to-be-imaged angle of each of the CCD line segments, including:

Differentiate the current angle of each CCD line segment and the to-be-imaged angle of each CCD line segment to obtain the current to-be-rotated angle of each CCD line segment.

It should be noted that, after obtaining the current to-be-rotated angle of each of the CCD line segments, each of the CCD line segments can be rotated according to the current to-be-rotated angle of each of the CCD line segments. In the implementation process, for each of the CCD line segments, the rotation is performed according to the current to-be-rotated angle of each of the CCD line segments, including:

Each of the CCD line segments is rotated according to the current to-be-rotated angle of each of the CCD line segments by means of a correspondingly configured rotating device for each of the CCD line segments.

Through the above implementation manner and preferred examples for the above implementation manner, the implementation manner of performing rotation control on each of the CCD line segments is described in detail. Taking the optical imaging satellite as an example, see FIG. 7 , which shows the flow of rotation control for each of the CCD line segments. Sensors, gyroscopes, and global navigation satellite systems (GNSS) obtain the current attitude information of the optical imaging satellite and the current position information of the optical imaging satellite; and combine the above-mentioned current attitude information of the optical imaging satellite and The current position information of the optical imaging satellite is sent to the satellite integrated electronic system as auxiliary information;

Secondly, the computing unit in the satellite integrated electronic system calculates and obtains the shape and position information of the area to be imaged according to the attitude information of the above-mentioned current optical imaging satellite and the position information of the current optical imaging satellite;

Next, obtain the to-be-imaged angle of each CCD line segment corresponding to each of the target areas according to the shape and position information of the to-be-imaged area; wherein, the to-be-imaged angle of each CCD line segment is used to represent each CCD The angle the line segment should reach;

Then, take the current angle of each CCD line segment and the to-be-imaged angle of each CCD line segment as the input of the controller, obtain the current to-be-rotated angle of each CCD line segment through difference, and use each The current to-be-rotated angle of the CCD line segment is transmitted to a correspondingly configured rotating device for each of the CCD line segments;

Finally, each of the CCD line segments is rotated according to the current to-be-rotated angle of each of the CCD line segments through the correspondingly configured rotation devices of each of the CCD line segments.

It can be seen from the control flow shown in Fig. 7 that, in order to meet the accuracy requirements of the rotation angle, a closed-loop control is added, thereby increasing the measurement of the current angle of each of the CCD line segments and returning to the controller. Through the control flow shown in FIG. 7, each CCD line segment can be accurately rotated to the target position.

After completing the rotation control of the CCD line segment at the current moment by the above technical solutions, in a possible implementation, the method also includes:

At the next moment of the current moment, determine the next moment of each CCD line segment according to the relative angle between the target area corresponding to each CCD line segment in the area to be imaged and each of the CCD line segments at the next moment The angle to be rotated.

Specifically, for the above implementation, at the next moment, each CCD line segment can be rotated to an appropriate angle at the next moment by continuing to operate the rotating device, and then imaging is performed. The scanning of the entire area is thus completed in this manner. Finally, the imaging effect analysis is completed based on the above scanning imaging method.

For the image compensation method shown in FIG. 6, the embodiment of the present invention will be described in detail by using the following specific examples. The imaging flow of this specific example is shown in FIG. 8 . In this specific example, a linear CCD array composed of N CCD imaging units is set to sweep and image the ground, and at time t, the optical axis of the camera is at a certain angle with the ground. Decomposition containing N CCD imaging units into m parts, thereby obtaining m CCD line segments consisting of N/m CCD imaging units, specifically, the linear CCD array is composed of 50 CCD units, and 10 CCD units are One group, the 50 CCD units are divided into 5 CCD line segments, each CCD line segment is equipped with a corresponding rotating device, so that the CCD imaging unit in the corresponding CCD line segment can be rotated according to a specified angle. The specific CCD line segment division is shown in Figure 9.

则CCD线段的当前待旋转角度分别为α_t1、α_t2、α_t3、α_t4、α_t5，其中，

Taking time t as an example, the current to-be-rotated angle of each CCD line segment is obtained through the foregoing technical solution. Specifically, the to-be-imaging angles of each CCD line segment obtained through calculation by the computing unit are θ _t1 , θ _t2 , θ _t3 , θ _t4 , θ _t5 , and the current angles of the CCD line segment measured by the sensitive element at this time are respectively

Then the current to-be-rotated angles of the CCD line segment are α _t1 , α _t2 , α _t3 , α _t4 , α _t5 , where,

Next, the above-mentioned five CCD line segments are rotated by the angles α _t1 , α _t2 , α _t3 , α _t4 , α _t5 respectively by the controller, so that each CCD line segment is rotated to reach a predetermined position. The specific rotation effect of the CCD line segment is shown in Figure 10 As shown, tangent to the corresponding target area in the to-be-imaged area is achieved. It should be noted that the target area corresponding to each CCD line segment is preferably the projected portion of each CCD line segment corresponding to the area to be imaged.

Then, photograph and image the to-be-imaged area through the rotated CCD line segment;

In detail, the five CCD line segments in this specific example are used to image the area to be imaged. The schematic diagram is shown in Figure 11. In Figure 11, the right side is the current area to be imaged, and the left side is the rotated CCD line segment.

Then, at the next moment, continue to move through the rotation mechanism, so that the 5 CCD line segments of this specific example are rotated to an appropriate angle, and then imaging is performed; thus, the scanning of the entire area is completed in this way.

Finally, the imaging effect analysis is performed based on the final imaging picture of the imaging.

It should be noted that, in the embodiment of the present invention, a certain time t is selected for effect analysis, the schematic diagram is shown in 12, (a) in FIG. 12 represents a conventional linear CCD array layout, and (b) in FIG. 12 Indicates the layout based on CCD line segments, and (c) in FIG. 12 represents the target area to be imaged.

Based on the simplification of FIG. 12, the model shown in FIG. 13 can be obtained. According to this model, it can be known that: when the technical solution described in the embodiment of the present invention is used for scanning and imaging, the angle rotation is performed for each CCD line segment, so that the Each CCD line segment can be tangent to the corresponding target area in the area to be imaged. Referring to Figure 13, from the middle position O to the two ends A and B, the displacement deviation generated by the image is controlled within a certain range. As shown on the right side of Figure 13, at one side B of the CCD line segment, the deviation angle here is β, comparing the angle deviation α at the same point B of the conventional linear CCD array imaging method shown in the left side of FIG. 13 , it can be found that α>β. Therefore, image displacement compensation can be effectively performed by using the technical solutions described in the embodiments of the present invention.

Based on the technical solutions described in the embodiments of the present invention, it can be known that: due to the segmentation of the CCD array and the angular rotation of each CCD line segment, the overall scanning imaging width can be narrowed; The phenomenon of partial overlapping of images formed by adjacent CCD line segments can be effectively solved by rationally optimizing the rotating device and post-processing of the images. Further, the number m of CCD line segments is related to the structural complexity and control complexity of the rotating device. Therefore, considering the limit situation, that is, to maneuver all N CCDs, it will significantly increase the structural complexity and control complexity of the rotating device. Therefore, compared with the way in which each CCD is rotated and maneuvered, the technical solutions described in the embodiments of the present invention can significantly reduce the number of rotating devices, reduce the complexity of the mechanism, and improve the reliability of the system.

Based on the same inventive concept as the foregoing technical solutions, see FIG. 14 , which shows an image compensation apparatus 140 provided by an embodiment of the present invention, which can be applied to an imaging satellite with a linear CCD array payload. The apparatus 140 may include: dividing part 1401, determination part 1402, rotation part 1403 and shooting control part 1404; wherein,

The dividing part 1401 is configured to divide the linear charge-coupled element CCD array into a plurality of CCD line segments;

The determining part 1402 is configured to determine the current angle to be rotated of each of the CCD line segments according to the current relative angle between the target area corresponding to each CCD line segment in the area to be imaged and each of the CCD line segments;

The rotating part 1403 is configured to rotate for each of the CCD line segments according to the current angle to be rotated of each of the CCD line segments;

The photographing control part 1404 is configured to photograph the to-be-imaged area through the rotated CCD line segment.

For the above solution, in the specific implementation process, referring to FIG. 15 , the determining part 1402 includes: an attitude and orbit sensor 14021 arranged on the imaging satellite platform carrying the linear CCD array, a sensor 14021 arranged in the imaging satellite platform The calculation unit 14022, the CCD angle measurement unit 14023 and the controller 14024; wherein,

The attitude and orbit sensor 14021 is configured to obtain the current attitude information of the imaging satellite and the current position information of the imaging satellite; and,

The calculation unit 14022 is configured to calculate the shape and position information of the area to be imaged according to the attitude information of the current imaging satellite and the position information of the current imaging satellite; and, according to the to-be-imaged area The shape and position information of the area obtains the to-be-imaged angle of each CCD line segment corresponding to each of the target areas; wherein, the to-be-imaged angle of each CCD line segment is used to represent the angle that each CCD line segment should reach;

The CCD angle measuring unit 14023 is configured to obtain the current angle of each of the CCD line segments;

The controller 14024 is configured to determine the current angle to be rotated of each of the CCD line segments according to the current angle of each of the CCD line segments and the to-be-imaged angle of each of the CCD line segments.

In detail, the attitude and orbit sensor 14021 may include a sun sensor, a star sensor, a gyroscope, and a Global Navigation Satellite System (GNSS, Global Navigation Satellite System) provided on the imaging satellite platform.

The computing unit 14022 may specifically be a computing processing component in an imaging satellite, and may be a processor in a satellite platform or a subsystem in a satellite payload that implements specific functions. The processor is a general term for devices with logic control functions, which may include CPU (Central Processing Unit), DSP (Digital Signal Processor), FPGA (Field Programmable Logic Gate Array), and other devices that can realize control and operation through programming. , processing and other functions of the device, module or system.

For the above scheme, in the specific implementation process, the rotating part 1403 includes a rotating device correspondingly configured for each of the CCD line segments; wherein,

The rotating device is configured to rotate each of the CCD line segments according to the current to-be-rotated angle of each of the CCD line segments determined by the controller 14024.

In addition, in this embodiment of the present invention, a "part" may be a part of a circuit, a part of a processor, a part of a program or software, etc., of course, a unit, a module or a non-modular part.

In addition, each component in this embodiment may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software function modules.

If the integrated unit is implemented in the form of a software function module and is not sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this embodiment is essentially or The part that contributes to the prior art or the whole or part of the technical solution can be embodied in the form of a software product, the computer software product is stored in a storage medium, and includes several instructions for making a computer device (which can be A personal computer, a server, or a network device, etc.) or a processor (processor) executes all or part of the steps of the method described in this embodiment. And the aforementioned storage medium includes: U disk, mobile hard disk, read only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or CD and other media that can store program codes.

Therefore, this embodiment provides a computer storage medium, which may be a computer-readable storage medium. The computer storage medium stores an image compensation program, and when the image compensation program is executed by at least one processor, any one of the foregoing solutions is implemented. The steps of any one of the image compensation methods.

It should be noted that the technical solutions described in the embodiments of the present invention may be combined arbitrarily unless there is a conflict.

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims (8)

1. A method of image compensation, the method comprising:

dividing a linear Charge Coupled Device (CCD) array into a plurality of CCD line segments;

determining the current to-be-rotated angle of each CCD line segment according to the current relative angle between the target area corresponding to each CCD line segment in the to-be-imaged area and each CCD line segment;

for each CCD line segment, rotating according to the current to-be-rotated angle of each CCD line segment; the rotated CCD line segments are tangent to the area to be imaged;

shooting the area to be imaged through the rotated CCD line segment;

the determining the current angle to be rotated of each CCD line segment according to the current relative angle between the target area corresponding to each CCD line segment in the area to be imaged and each CCD line segment comprises the following steps:

acquiring attitude information of the current imaging satellite and position information of the current imaging satellite based on an attitude and orbit sensor arranged on an imaging satellite platform carrying the linear CCD array;

calculating the shape and the position information of the area to be imaged according to the attitude information of the current imaging satellite and the position information of the current imaging satellite based on a calculation unit arranged in the imaging satellite platform;

acquiring the angle to be imaged of each CCD line segment corresponding to each target area according to the shape and position information of the area to be imaged; the angle to be imaged of each CCD line segment is used for representing the angle which each CCD line segment should reach;

and determining the current angle to be rotated of each CCD line segment according to the current angle of each CCD line segment and the angle to be imaged of each CCD line segment.

2. The method of claim 1, wherein the obtaining attitude information of the current imaging satellite and position information of the current imaging satellite based on an attitude sensor disposed on an imaging satellite platform carrying the linear CCD array comprises:

and acquiring the attitude information of the current imaging satellite and the position information of the current imaging satellite through a sun sensor, a star sensor, a gyroscope and a Global Navigation Satellite System (GNSS) which are arranged on the imaging satellite platform.

3. The method of claim 1, wherein determining the current angle to be rotated of each CCD line segment according to the current angle of each CCD line segment and the angle to be imaged of each CCD line segment comprises:

and differentiating the current angle of each CCD line segment and the angle to be imaged of each CCD line segment to obtain the current angle to be rotated of each CCD line segment.

4. The method of claim 1, wherein the rotating, for each CCD line segment, according to a current angle to be rotated of each CCD line segment comprises:

and rotating each CCD line segment according to the current to-be-rotated angle of each CCD line segment through a rotating device correspondingly configured for each CCD line segment.

5. The method of claim 1, further comprising:

and at the next moment of the current moment, determining the angle to be rotated at the next moment of each CCD line segment according to the relative angle of each CCD line segment at the next moment between the target area corresponding to the CCD line segment in the area to be imaged and each CCD line segment.

6. An apparatus for image compensation, the apparatus comprising: a dividing section, a determining section, a rotating section, and a photographing control section; wherein,

the dividing part is configured to divide the linear charge coupled device CCD array into a plurality of CCD line segments;

the determining part is configured to determine a current to-be-rotated angle of each CCD line segment according to a current relative angle between a target area corresponding to each CCD line segment in the to-be-imaged area and each CCD line segment;

the rotating part is configured to rotate each CCD line segment according to the current angle to be rotated of each CCD line segment; the rotated CCD line segments are tangent to the area to be imaged;

the shooting control part is configured to shoot the area to be imaged through the rotated CCD line segment;

wherein the determining section includes: the attitude and orbit sensor is arranged on an imaging satellite platform bearing the linear CCD array, and the computing unit, the CCD angle measuring unit and the controller are arranged in the imaging satellite platform; wherein,

the attitude and orbit sensor is configured to acquire attitude information of the current imaging satellite and position information of the current imaging satellite; and the number of the first and second groups,

the computing unit is configured to calculate the shape and the position information of the region to be imaged according to the attitude information of the current imaging satellite and the position information of the current imaging satellite; acquiring the to-be-imaged angle of each CCD line segment corresponding to each target area according to the shape and position information of the to-be-imaged area; the angle to be imaged of each CCD line segment is used for representing the angle which each CCD line segment should reach;

the CCD angle measuring unit is configured to acquire the current angle of each CCD line segment;

the controller is configured to determine a current angle to be rotated of each CCD line segment according to a current angle of each CCD line segment and an angle to be imaged of each CCD line segment.

7. The apparatus according to claim 6, wherein said rotating portion comprises a rotating means correspondingly configured for each of said CCD line segments; wherein,

the rotating device is configured to rotate each CCD line segment according to the current to-be-rotated angle of each CCD line segment determined by the controller.

8. A computer storage medium storing an image compensation program that when executed by at least one processor implements the steps of the image compensation method of any one of claims 1 to 5.

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