CN109981952B - Image compensation method and device and computer storage medium - Google Patents
Image compensation method and device and computer storage medium Download PDFInfo
- Publication number
- CN109981952B CN109981952B CN201910259523.0A CN201910259523A CN109981952B CN 109981952 B CN109981952 B CN 109981952B CN 201910259523 A CN201910259523 A CN 201910259523A CN 109981952 B CN109981952 B CN 109981952B
- Authority
- CN
- China
- Prior art keywords
- line segment
- ccd line
- angle
- current
- imaged
- 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
- 238000000034 method Methods 0.000 title claims abstract description 41
- 238000003384 imaging method Methods 0.000 claims description 92
- 238000010586 diagram Methods 0.000 description 16
- 230000000694 effects Effects 0.000 description 15
- 238000006073 displacement reaction Methods 0.000 description 11
- 230000003287 optical effect Effects 0.000 description 11
- 238000012634 optical imaging Methods 0.000 description 10
- 238000012545 processing Methods 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000010408 sweeping Methods 0.000 description 2
- 238000001444 catalytic combustion detection Methods 0.000 description 1
- 238000012805 post-processing Methods 0.000 description 1
Images
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/50—Constructional details
- H04N23/54—Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N25/00—Circuitry of solid-state image sensors [SSIS]; Control thereof
- H04N25/70—SSIS architectures; Circuits associated therewith
- H04N25/71—Charge-coupled device [CCD] sensors; Charge-transfer registers specially adapted for CCD sensors
Landscapes
- Engineering & Computer Science (AREA)
- Multimedia (AREA)
- Signal Processing (AREA)
- Studio Devices (AREA)
- Image Processing (AREA)
Abstract
The embodiment of the invention discloses a method and a device for image compensation and a computer storage medium; the method can comprise the following steps: 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; and shooting the area to be imaged through the rotated CCD line segment.
Description
Technical Field
The invention relates to the technical field of aerospace observation, in particular to a method and a device for image compensation and a computer storage medium.
Background
The sweep imaging refers to a dynamic imaging mode for simultaneously imaging in the process of satellite attitude maneuver, and a satellite camera quickly reaches a certain angular speed in the rolling direction and then moves at a certain angular speed to image the ground. In addition, a linear CCD (Charge-Coupled Device) array is often used in the swing scan imaging, specifically, as shown in fig. 1, a certain number of CCD photosensitive elements are arranged on a straight line, and such a layout type CCD array is called a linear CCD array, which is also called a scanning type CCD. The large-breadth high-resolution visible light image can be obtained by scanning with the linear CCD array and splicing the remote sensing images obtained at each moment.
The image finally obtained in the sweep imaging process is spliced by a plurality of image strips obtained by sweeping the linear CCD array, as shown in fig. 2, from which it can be seen that: when the optical axis is vertical to the ground, the imaging effect is good, the shape of the actually imaged area is a regular rectangular strip, namely, the whole image obtained by scanning is close to the center position of the point under the satellite, and the imaging effect is good. When the optical axis and the orbital plane form a certain angle, the actual imaging area of the linear CCD array becomes an arc section due to the influence of the curvature of the earth, namely, the geometric distortion generated by the image strips on two sides of the image is more obvious.
For the above geometric distortion, as shown in fig. 3, the image displacement error generated from the center O of the region to be imaged to both ends is gradually increased due to the presence of the curvature of the earth. In the case of the swing scanning imaging process, when the height of the track and the imaging width are determined, the image displacement deviation of the obtained visible light image increases with the increase of the included angle between the optical axis and the track surface.
Disclosure of Invention
In view of the above, embodiments of the present invention are directed to a method, an apparatus, and a computer storage medium for image compensation; the image displacement deviation can be reduced, and the geometric distortion of the image can be reduced.
The technical scheme of the invention is realized as follows:
in a first aspect, an embodiment of the present invention provides a method for image compensation, where the method includes:
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;
and shooting the area to be imaged through the rotated CCD line segment.
In a second aspect, an embodiment of the present invention provides an apparatus for image compensation, where the apparatus includes: a division section, a determination section, a rotation 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 shooting control part is configured to shoot the area to be imaged through the rotated CCD line segment.
In a third aspect, an embodiment of the present invention provides a computer storage medium, where the computer storage medium stores an image compensation program, and the image compensation program, when executed by at least one processor, implements the steps of the image compensation method according to the first aspect.
The embodiment of the invention provides a method and a device for image compensation and a computer storage medium; after the linear CCD array is divided into a plurality of CCD line segments, the to-be-imaged area is imaged after each CCD line segment is rotated according to the to-be-imaged area, so that image displacement deviation is reduced, and geometric distortion caused in the process of imaging the ground sweep is reduced.
Drawings
FIG. 1 is a schematic diagram of a process for providing swept-ground imaging according to a conventional scheme;
FIG. 2 is a schematic diagram of stitching an image provided by a conventional scheme;
FIG. 3 is a schematic diagram of a conventional scheme providing imaging of a ground strip area by a linear CCD array;
FIG. 4 is a schematic diagram of an imaging bias effect provided by a conventional scheme;
FIG. 5 is a schematic diagram of an imaging effect provided by a conventional scheme;
FIG. 6 is a flowchart illustrating an image compensation method according to an embodiment of the present invention;
fig. 7 is a schematic flowchart of rotation control on each CCD line segment according to an embodiment of the present invention;
FIG. 8 is a schematic view of an imaging process provided by an embodiment of the present invention;
fig. 9 is a schematic diagram illustrating a CCD line segment dividing effect according to an embodiment of the present invention;
FIG. 10 is a schematic diagram illustrating a rotation effect according to an embodiment of the present invention;
FIG. 11 is a schematic illustration of an imaging system provided by an embodiment of the present invention;
FIG. 12 is a schematic diagram of an effect analysis provided by an embodiment of the present invention;
FIG. 13 is a schematic diagram of an effect analysis model provided in an embodiment of the present invention;
FIG. 14 is a schematic diagram of an apparatus for image compensation according to an embodiment of the present invention;
fig. 15 is a schematic diagram of a component of a determination section according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention.
Taking an optical imaging satellite at an orbital height H as an example, referring to fig. 1, which shows a conventional process of imaging a ground sweep, in fig. 1, a load of the optical imaging satellite is an optical camera composed of a linear CCD array, wherein an optical axis of the camera is perpendicular to a flight direction of the satellite, and the camera performs a rotating sweep along a rolling axis direction of the satellite and scans and images a ground area through the linear CCD array during the sweep; the scanning imaging process can be visible light scanning imaging, and finally, the image strips scanned at different moments are spliced to obtain a complete image of a target area.
Through the explanation of the imaging process, the finally scanned image is formed by splicing the image strip 1, the image strip 2 and the image strip n which are obtained by scanning the linear CCD array in a swinging mode, and the splicing schematic diagram of the image is shown in FIG. 2. When the optical axis is vertical to the ground, the imaging effect is good, the shape of the actually imaged area is a regular rectangular strip, namely, the whole image obtained by scanning is close to the central position of the sub-satellite point, and the imaging effect is good. The problem is that when the optical axis and the orbital plane form a certain angle, the actually imaged area of the linear CCD array becomes an arc segment due to the influence of the curvature of the earth, namely, the geometric distortion generated by the image strips on two sides of the image is more obvious.
Fig. 3 shows the reason for the above geometric distortion, and fig. 3 is a schematic diagram of imaging the ground a 'B' strip region through the linear CCD array at a certain time, and it can be seen that the image displacement error generated gradually increases from the center O of the region to be imaged to both ends due to the earth curvature. For the whole process of the sweep, when the height of the track and the imaging width are determined, the image displacement deviation of the obtained visible light image increases along with the increase of the included angle between the optical axis and the track surface.
The image displacement bias shown in fig. 3 is more pronounced for a wide-format imaging task for satellites. From the imaging deviation diagram from the center of the graph to the right of the graph in the imaging shown in fig. 4, it can be found that: the image element position from the central position to the outer position is more and more shifted, and the geometric distortion of the image is more and more obvious.
For the above geometric distortion, an imaging error analysis is performed on each imaging band at a certain time, at this time, the optical axis of the camera has a certain angle with the ground, the imaging effect at this angle is as shown in fig. 5, and the process is simplified to the model on the right side in fig. 5, it can be found that the displacement deviation generated by the image gradually increases from the middle position O to the two ends A, B, and the deviation angle is set to be α in consideration of the imaging condition of the CCDs on the two sides in the linear CCD array.
Based on the above analysis of the conventional ground sweeping imaging process and geometric distortion, it can be known that, because the conventional ground shooting manner employs an indivisible linear CCD array, the adjustment of the imaging angle of the target by the conventional satellite imaging system is generally adjusted by maneuvering the satellite platform attitude to drive the satellite imaging system to perform angle adjustment or by maneuvering the whole linear CCD array as a whole, but such a manner is still equivalent to shooting a curved arc segment by using a whole line segment, and is not particularly suitable for a wide shooting scene.
Based on the above analysis, referring to fig. 6, it shows an image compensation method provided by an embodiment of the present invention, which may be applied to an imaging satellite with a linear CCD array load, and the method may include:
s601: dividing the linear CCD array into a plurality of CCD line segments;
s602: 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;
s603: for each CCD line segment, rotating according to the current rotation angle to be rotated of each CCD line segment; the rotated CCD line segments are tangent to the area to be imaged;
s604: and shooting the area to be imaged through the rotated CCD line segment.
By the scheme shown in fig. 6, after the linear CCD array is divided into a plurality of CCD line segments, the area to be imaged is imaged after rotating for each CCD line segment according to the area to be imaged, thereby reducing image displacement deviation and reducing geometric distortion caused in the process of imaging the ground sweep.
For the technical solution shown in fig. 6, in a possible implementation manner, the determining a current to-be-rotated angle of each CCD line segment according to a current relative angle between a target region corresponding to each CCD line segment in a to-be-imaged region and each CCD line segment includes:
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.
For the foregoing implementation, preferably, the acquiring 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 includes:
acquiring attitude information of the current imaging Satellite and 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.
For the foregoing implementation manner, preferably, the determining 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 includes:
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.
It should be noted that after obtaining the current to-be-rotated angle of each CCD line segment, each CCD line segment can be rotated according to the current to-be-rotated angle of each CCD line segment, and preferably, in a specific implementation process, the rotating each CCD line segment according to the current to-be-rotated angle of each CCD line segment includes:
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.
With the above implementation and the preferred example for the above implementation, the implementation of rotation control on each CCD line segment is explained in detail. Taking an optical imaging satellite as an example, referring to fig. 7, a flow of performing rotation control on each CCD line segment is shown, specifically, firstly, attitude information of the current optical imaging satellite and position information of the current optical imaging satellite can be obtained through a sun sensor, a star sensor, a gyroscope and a Global Navigation Satellite System (GNSS) which are arranged on a platform of the optical imaging satellite; sending the attitude information of the current optical imaging satellite and the position information of the current optical imaging satellite as auxiliary information to a satellite integrated electronic system;
secondly, a computing unit in the satellite integrated electronic system calculates according to the attitude information of the current optical imaging satellite and the position information of the current optical imaging satellite to obtain the shape and the position information of the area to be imaged;
then, 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;
then, taking the current angle of each CCD line segment and the angle to be imaged of each CCD line segment as the input of a controller, obtaining the current angle to be rotated of each CCD line segment through difference, and transmitting the current angle to be rotated of each CCD line segment to a rotating device which is respectively and correspondingly configured for each CCD line segment;
and finally, 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.
As can be seen from the control flow shown in fig. 7, in order to meet the accuracy requirement of the rotation angle, closed-loop control is added, so that the current angle of each CCD line segment is measured and returned to the controller. Through the control flow shown in fig. 7, each CCD line segment can be accurately rotated to the target position.
After the rotation control of the CCD line segment at the current time is completed by the above technical solution, in a possible implementation manner, the method further includes:
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 corresponding target area in the area to be imaged and each CCD line segment.
Specifically, with the above implementation, at the next time, the rotation of each CCD line segment to an appropriate angle at the next time by the movement of the rotating means may be continued, and imaging may be performed again. Thus completing the scanning of the entire area in this manner. And finally, completing imaging effect analysis based on the scanning imaging mode.
With respect to the method of image compensation shown in fig. 6, the following specific example is used to describe the embodiments of the present invention in detail. The imaging flow of this specific example is shown in fig. 8. In the 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 an angle with the ground. The method comprises the steps of decomposing N CCD imaging units into m parts to obtain m CCD line segments consisting of N/m CCD imaging units, wherein specifically, a linear CCD array consists of 50 CCD units, the 50 CCD units are divided into 5 CCD line segments according to the group of 10 CCD units, and each CCD line segment is respectively provided with a corresponding rotating device, so that the CCD imaging units in the corresponding CCD line segments can be rotated according to a specified angle. The specific CCD line segment division is shown in fig. 9.
Taking the time t as an example, the current rotation angle to be measured of each CCD line segment is obtained by the above technical scheme. Specifically, the angle to be imaged of each CCD line segment is calculated and obtained by a calculating unit to be thetat1、θt2、θt3、 θt4、θt5To do soThe current angles of the CCD line segments at the moment are measured by the sensitive elements respectively
The current rotation angles of the CCD line segments are respectively alphat1、αt2、αt3、αt4、αt5Wherein
then, the 5 CCD line segments are respectively rotated by an angle alpha through a controllert1、αt2、αt3、αt4、 αt5And each CCD line segment is rotated to reach a predetermined position, and the effect of the rotation of a specific CCD line segment is shown in fig. 10, thereby achieving tangency with the corresponding target area in the area to be imaged. It should be noted that the target area corresponding to each CCD line segment is preferably a projection portion of each CCD line segment on the area corresponding to the area to be imaged.
Then, shooting and imaging the area to be imaged through the rotated CCD line segment;
in detail, the to-be-imaged area is imaged by applying the 5 CCD line segments in this specific example, and a schematic diagram thereof is shown in fig. 11, where a right side in fig. 11 is the current to-be-imaged area, and a left side is the rotated CCD line segment.
Then, at the next moment, the maneuvering of the rotating mechanism is continued to rotate the 5 CCD line segments of this specific example to an appropriate angle, and imaging is performed again; thus completing the scanning of the entire area in this manner.
And finally, carrying out imaging effect analysis based on the imaged final imaging picture.
It should be noted that, in the embodiment of the present invention, a certain time t is selected for effect analysis, and its schematic diagram is shown as 12, (a) in fig. 12 represents a conventional linear CCD array layout, (b) in fig. 12 represents a layout based on CCD line segments, and (c) in fig. 12 represents a target region to be imaged.
Based on fig. 12 for simplification, a model as shown in fig. 13 is obtained, for which it is known that: when the technical scheme of the embodiment of the invention is adopted for scanning and imaging, each CCD line segment can be tangent to the corresponding target area in the area to be imaged because the CCD line segments are respectively subjected to angle rotation. Referring to fig. 13, the displacement deviation of the image from the center position O to both ends A, B is controlled within a certain range, as shown on the right side of fig. 13, at one side B of the CCD line segment where the deviation angle is β, and α > β can be found in comparison with the angular deviation α at the same point B in the conventional linear CCD array imaging mode shown on the left side of fig. 13. Therefore, the technical scheme of the embodiment of the invention can effectively perform image displacement compensation.
Based on the technical solution described in the embodiments of the present invention, it can be known that: the CCD array is segmented, and the angle rotation is carried out on each CCD line segment, so that the integral scanning imaging width is narrowed; meanwhile, the phenomenon that images formed by adjacent CCD line segments are partially overlapped can be effectively solved by reasonably optimizing the rotating device and performing image post-processing. Furthermore, the number m of the CCD line segments is related to the structural complexity and the control complexity of the rotating device, so that considering the limit condition, i.e. maneuvering N CCD single chips, the structural complexity and the control complexity of the rotating device are significantly increased, and therefore, compared to the manner in which each CCD single chip is maneuvered, the technical solution of the embodiment of the present invention can significantly reduce the number of rotating devices, reduce the mechanism complexity, and improve the reliability of the system.
Based on the same inventive concept of the foregoing technical solution, referring to fig. 14, an image compensation apparatus 140 provided by an embodiment of the present invention is shown, which can be applied to an imaging satellite with a linear CCD array load, where the apparatus 140 may include: a dividing section 1401, a determining section 1402, a rotating section 1403, and a photographing control section 1404; wherein,
the dividing section 1401 configured to divide the linear charge coupled device CCD array into a plurality of CCD line segments;
the determining part 1402 is configured to determine a current to-be-rotated angle of each CCD line segment according to a current relative angle between each CCD line segment and a corresponding target region in the region to be imaged;
the rotating part 1403 is configured to rotate, for each CCD line segment, according to a current angle to be rotated of each CCD line segment;
the photographing control section 1404 is configured to photograph the region to be imaged by the rotated CCD line segment.
For the above scheme, in a specific implementation process, referring to fig. 15, the determining part 1402 includes: an attitude sensor 14021 arranged on an imaging satellite platform carrying the linear CCD array, a calculating unit 14022 arranged in the imaging satellite platform, a CCD angle measuring unit 14023 and a controller 14024; wherein,
the attitude and orbit sensor 14021 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 calculating unit 14022 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 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;
the CCD angle measuring unit 14023 is configured to obtain a current angle of each CCD line segment;
the controller 14024 is configured to determine a 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.
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) disposed on the imaging Satellite platform.
The computing unit 14022 may be specifically a computing processing component in an imaging satellite, and may be a processor in a satellite platform or a subsystem in a satellite load for implementing a specific function. The processor is a general term for a device with logic control function, and may include a CPU (central processing unit), a DSP (digital signal processor), an FPGA (field programmable gate array), and other devices, modules, or systems capable of implementing functions such as control, operation, and processing through programming.
For the above solution, in a specific implementation process, the rotating part 1403 includes a rotating device configured for each CCD line segment; wherein,
the rotating device is configured to rotate each CCD line segment according to the current angle to be rotated of each CCD line segment determined by the controller 14024.
In addition, in the embodiment of the present invention, a "part" may be a part of a circuit, a part of a processor, a part of a program, software, or the like, and may also be a unit, and may also be a module, or may be non-modular.
In addition, each component in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit. The integrated unit can be realized in a form of hardware or a form of a software functional module.
Based on the understanding that the technical solution of the present embodiment essentially or a part contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and include several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor (processor) to execute all or part of the steps of the method of the present embodiment. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
Accordingly, the present embodiment provides a computer storage medium, which may be specifically a computer readable storage medium, wherein the computer storage medium stores an image compensation program, and the image compensation program, when executed by at least one processor, implements the steps of the image compensation method according to any one of the preceding claims.
It should be noted that: the technical schemes described in the embodiments of the present invention can be combined arbitrarily without conflict.
The above description is only for the specific embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910259523.0A CN109981952B (en) | 2019-04-02 | 2019-04-02 | Image compensation method and device and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910259523.0A CN109981952B (en) | 2019-04-02 | 2019-04-02 | Image compensation method and device and computer storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109981952A CN109981952A (en) | 2019-07-05 |
| CN109981952B true CN109981952B (en) | 2021-07-20 |
Family
ID=67082345
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910259523.0A Active CN109981952B (en) | 2019-04-02 | 2019-04-02 | Image compensation method and device and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109981952B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101799293A (en) * | 2010-03-05 | 2010-08-11 | 武汉大学 | Satellite-borne three-non-colinear TDI CCD (Time Delayed and Integration Charge Coupled Device) image splicing method based on segmented affine transformation |
| CN104298887A (en) * | 2014-10-20 | 2015-01-21 | 中国空间技术研究院 | Relative radiation calibration method of multichip linear CCD (charge coupled device) camera |
| US9733338B1 (en) * | 2012-10-08 | 2017-08-15 | The Boeing Company | Single satellite geolocation systems and methods |
| CN108596852A (en) * | 2018-04-28 | 2018-09-28 | 中国科学院长春光学精密机械与物理研究所 | The image that area array cameras great-attitude angle is imaged mirror image geometric distortion maps restoring method |
| CN109191532A (en) * | 2018-08-09 | 2019-01-11 | 王涛 | A kind of airborne TLS CCD camera calibration method |
| CN109489640A (en) * | 2018-09-30 | 2019-03-19 | 上海航天控制技术研究所 | A kind of detector array for the first resolution ratio remote sensing of the earth in permanent ground |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108151711B (en) * | 2017-03-01 | 2018-10-16 | 哈尔滨工业大学 | A kind of optical satellite ring sweeps ultra-wide imaging method |
-
2019
- 2019-04-02 CN CN201910259523.0A patent/CN109981952B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101799293A (en) * | 2010-03-05 | 2010-08-11 | 武汉大学 | Satellite-borne three-non-colinear TDI CCD (Time Delayed and Integration Charge Coupled Device) image splicing method based on segmented affine transformation |
| US9733338B1 (en) * | 2012-10-08 | 2017-08-15 | The Boeing Company | Single satellite geolocation systems and methods |
| CN104298887A (en) * | 2014-10-20 | 2015-01-21 | 中国空间技术研究院 | Relative radiation calibration method of multichip linear CCD (charge coupled device) camera |
| CN108596852A (en) * | 2018-04-28 | 2018-09-28 | 中国科学院长春光学精密机械与物理研究所 | The image that area array cameras great-attitude angle is imaged mirror image geometric distortion maps restoring method |
| CN109191532A (en) * | 2018-08-09 | 2019-01-11 | 王涛 | A kind of airborne TLS CCD camera calibration method |
| CN109489640A (en) * | 2018-09-30 | 2019-03-19 | 上海航天控制技术研究所 | A kind of detector array for the first resolution ratio remote sensing of the earth in permanent ground |
Non-Patent Citations (2)
| Title |
|---|
| HJ-1卫星CCD数据的大气校正及其效果分析;郑盛等;《遥感学报》;20110725(第04期);全文 * |
| 三线阵测绘卫星的偏流角改正问题;胡莘等;《测绘科学技术学报》;20061030(第05期);全文 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109981952A (en) | 2019-07-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101679456B1 (en) | Systems and methods of capturing large area images in detail including cascaded cameras andor calibration features | |
| US9485499B2 (en) | System and method for processing multicamera array images | |
| CN110030978B (en) | Method and system for constructing geometric imaging model of full-link optical satellite | |
| US20220264014A1 (en) | Controlling a line of sight angle of an imaging platform | |
| CN104835159A (en) | Digital image correction method for continuous variable-focal-length optical imaging system | |
| CN106709944B (en) | Satellite remote sensing image registration method | |
| EP3529629B1 (en) | An aerial camera boresight calibration system | |
| CN113264201A (en) | Implementation method for active push-broom imaging of agile satellite | |
| CN110111260A (en) | A kind of method, apparatus and computer storage medium for planning Satellite Formation Flying strips mosaic imaging task | |
| US10696427B2 (en) | Method of controlling satellite | |
| US6320611B1 (en) | Method and device for air-ground recognition for optoelectronic equipment | |
| AU2022231762B2 (en) | A bundle adjustment system | |
| CN109981952B (en) | Image compensation method and device and computer storage medium | |
| CN112750075A (en) | Low-altitude remote sensing image splicing method and device | |
| Lee et al. | Georegistration of airborne hyperspectral image data | |
| CN108444446A (en) | A kind of image shift compensation method and device | |
| CN112816184A (en) | Uncontrolled calibration method and device for optical remote sensing satellite | |
| US8085299B2 (en) | Digital line scan camera | |
| CN111044076A (en) | Geometric calibration method for high-resolution first-number B satellite based on reference base map | |
| CN112212833B (en) | Mechanical splicing type TDI CCD push-broom camera integral geometric adjustment method | |
| CN116612067B (en) | Method, apparatus, device and computer readable storage medium for checking aviation quality | |
| JP7573560B2 (en) | Control device, control method and program | |
| US20220188996A1 (en) | Feature-free photogrammetric 3d imaging with cameras under unconstrained motion | |
| CN112449100B (en) | Aviation camera inclined image splicing method, device, terminal and storage medium | |
| Mord et al. | Electronic image alignment: implementation and applications to imaging system design |
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 |